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tatbot
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calibration-1750098050

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  21. logs/episode_000008.txt +0 -0
  22. logs/episode_000009.txt +0 -0
  23. logs/episode_000010.txt +0 -0
  24. logs/episode_000011.txt +0 -0
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  29. videos/chunk-000/observation.images.head/episode_000000.mp4 +3 -0
  30. videos/chunk-000/observation.images.head/episode_000001.mp4 +3 -0
  31. videos/chunk-000/observation.images.head/episode_000002.mp4 +3 -0
  32. videos/chunk-000/observation.images.head/episode_000003.mp4 +3 -0
  33. videos/chunk-000/observation.images.head/episode_000004.mp4 +3 -0
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  37. videos/chunk-000/observation.images.head/episode_000008.mp4 +3 -0
  38. videos/chunk-000/observation.images.head/episode_000009.mp4 +3 -0
  39. videos/chunk-000/observation.images.head/episode_000010.mp4 +3 -0
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  41. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  42. videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
  43. videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
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  49. videos/chunk-000/observation.images.wrist/episode_000008.mp4 +3 -0
  50. videos/chunk-000/observation.images.wrist/episode_000009.mp4 +3 -0
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1
+ 2025y-06m-16d-13h-21m-18s INFO: calculating paths
2
+ 2025y-06m-16d-13h-21m-18s INFO: 🎨 dipping ink for the first time
3
+ 2025y-06m-16d-13h-21m-18s INFO: ✒️ dipping ink...
4
+ 2025y-06m-16d-13h-21m-18s INFO: dipping ink
5
+ 2025y-06m-16d-13h-21m-18s INFO: hover over inkcap
6
+ 2025y-06m-16d-13h-21m-18s DEBUG: 🎛️ performing ik on batch of size 2
7
+ 2025y-06m-16d-13h-21m-18s DEBUG: 🎛️ ik solution: Traced<ShapedArray(float32[16])>with<DynamicJaxprTrace>
8
+ 2025y-06m-16d-13h-21m-18s DEBUG: 🎛️ ik time: 0.52s
9
+ 2025y-06m-16d-13h-21m-21s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.512357, dtype=float32), 'left.joint_1.pos': Array(1.333232, dtype=float32), 'left.joint_2.pos': Array(1.0855865, dtype=float32), 'left.joint_3.pos': Array(-1.3231509, dtype=float32), 'left.joint_4.pos': Array(-6.518379e-08, dtype=float32), 'left.joint_5.pos': Array(0.5123571, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10341262, dtype=float32), 'right.joint_1.pos': Array(0.6682697, dtype=float32), 'right.joint_2.pos': Array(0.93664724, dtype=float32), 'right.joint_3.pos': Array(-1.5719212, dtype=float32), 'right.joint_4.pos': Array(-0.682048, dtype=float32), 'right.joint_5.pos': Array(-1.3025972, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
10
+ 2025y-06m-16d-13h-21m-21s DEBUG: 🦾 Setting right arm positions: [Array(0.10341262, dtype=float32), Array(0.6682697, dtype=float32), Array(0.93664724, dtype=float32), Array(-1.5719212, dtype=float32), Array(-0.682048, dtype=float32), Array(-1.3025972, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
11
+ 2025y-06m-16d-13h-21m-23s DEBUG: 🦾 Setting left arm positions: [Array(0.512357, dtype=float32), Array(1.333232, dtype=float32), Array(1.0855865, dtype=float32), Array(-1.3231509, dtype=float32), Array(-6.518379e-08, dtype=float32), Array(0.5123571, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
12
+ 2025y-06m-16d-13h-21m-26s INFO: dip into inkcap
13
+ 2025y-06m-16d-13h-21m-26s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.512357, dtype=float32), 'left.joint_1.pos': Array(1.3408197, dtype=float32), 'left.joint_2.pos': Array(0.9760427, dtype=float32), 'left.joint_3.pos': Array(-1.2060193, dtype=float32), 'left.joint_4.pos': Array(3.178591e-08, dtype=float32), 'left.joint_5.pos': Array(0.51235706, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10341262, dtype=float32), 'right.joint_1.pos': Array(0.6682697, dtype=float32), 'right.joint_2.pos': Array(0.93664724, dtype=float32), 'right.joint_3.pos': Array(-1.5719212, dtype=float32), 'right.joint_4.pos': Array(-0.682048, dtype=float32), 'right.joint_5.pos': Array(-1.3025972, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
14
+ 2025y-06m-16d-13h-21m-26s DEBUG: 🦾 Setting right arm positions: [Array(0.10341262, dtype=float32), Array(0.6682697, dtype=float32), Array(0.93664724, dtype=float32), Array(-1.5719212, dtype=float32), Array(-0.682048, dtype=float32), Array(-1.3025972, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
15
+ 2025y-06m-16d-13h-21m-29s DEBUG: 🦾 Setting left arm positions: [Array(0.512357, dtype=float32), Array(1.3408197, dtype=float32), Array(0.9760427, dtype=float32), Array(-1.2060193, dtype=float32), Array(3.178591e-08, dtype=float32), Array(0.51235706, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
16
+ 2025y-06m-16d-13h-21m-32s INFO: retract from inkcap
17
+ 2025y-06m-16d-13h-21m-32s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.512357, dtype=float32), 'left.joint_1.pos': Array(1.333232, dtype=float32), 'left.joint_2.pos': Array(1.0855865, dtype=float32), 'left.joint_3.pos': Array(-1.3231509, dtype=float32), 'left.joint_4.pos': Array(-6.518379e-08, dtype=float32), 'left.joint_5.pos': Array(0.5123571, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10341262, dtype=float32), 'right.joint_1.pos': Array(0.6682697, dtype=float32), 'right.joint_2.pos': Array(0.93664724, dtype=float32), 'right.joint_3.pos': Array(-1.5719212, dtype=float32), 'right.joint_4.pos': Array(-0.682048, dtype=float32), 'right.joint_5.pos': Array(-1.3025972, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
18
+ 2025y-06m-16d-13h-21m-32s DEBUG: 🦾 Setting right arm positions: [Array(0.10341262, dtype=float32), Array(0.6682697, dtype=float32), Array(0.93664724, dtype=float32), Array(-1.5719212, dtype=float32), Array(-0.682048, dtype=float32), Array(-1.3025972, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
19
+ 2025y-06m-16d-13h-21m-35s DEBUG: 🦾 Setting left arm positions: [Array(0.512357, dtype=float32), Array(1.333232, dtype=float32), Array(1.0855865, dtype=float32), Array(-1.3231509, dtype=float32), Array(-6.518379e-08, dtype=float32), Array(0.5123571, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
20
+ 2025y-06m-16d-13h-21m-38s INFO: hover over path
21
+ 2025y-06m-16d-13h-21m-38s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05043641, dtype=float32), 'left.joint_1.pos': Array(1.2773551, dtype=float32), 'left.joint_2.pos': Array(1.0430707, dtype=float32), 'left.joint_3.pos': Array(-1.3365119, dtype=float32), 'left.joint_4.pos': Array(6.8637824e-08, dtype=float32), 'left.joint_5.pos': Array(0.05043646, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10341262, dtype=float32), 'right.joint_1.pos': Array(0.6682697, dtype=float32), 'right.joint_2.pos': Array(0.93664724, dtype=float32), 'right.joint_3.pos': Array(-1.5719212, dtype=float32), 'right.joint_4.pos': Array(-0.682048, dtype=float32), 'right.joint_5.pos': Array(-1.3025972, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
22
+ 2025y-06m-16d-13h-21m-38s DEBUG: 🦾 Setting right arm positions: [Array(0.10341262, dtype=float32), Array(0.6682697, dtype=float32), Array(0.93664724, dtype=float32), Array(-1.5719212, dtype=float32), Array(-0.682048, dtype=float32), Array(-1.3025972, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
23
+ 2025y-06m-16d-13h-21m-40s DEBUG: 🦾 Setting left arm positions: [Array(0.05043641, dtype=float32), Array(1.2773551, dtype=float32), Array(1.0430707, dtype=float32), Array(-1.3365119, dtype=float32), Array(6.8637824e-08, dtype=float32), Array(0.05043646, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
24
+ 2025y-06m-16d-13h-21m-43s INFO: recording path 0 of 12
25
+ 2025y-06m-16d-13h-21m-43s INFO: recording path 0
26
+ 2025y-06m-16d-13h-21m-43s DEBUG: None Tatbot read state: 0.8ms
27
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
28
+ 2025y-06m-16d-13h-21m-43s DEBUG: None Tatbot read head: 0.4ms
29
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
30
+ 2025y-06m-16d-13h-21m-43s DEBUG: None Tatbot read wrist: 0.2ms
31
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(218622278376) read took: 4.4ms
32
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(230422273017) read took: 9.3ms
33
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
34
+ 2025y-06m-16d-13h-21m-43s DEBUG: RealSenseCamera(230422273017) read took: 38.6ms
35
+ 2025y-06m-16d-13h-21m-43s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05043641, dtype=float32), 'left.joint_1.pos': Array(1.2773551, dtype=float32), 'left.joint_2.pos': Array(1.0430707, dtype=float32), 'left.joint_3.pos': Array(-1.3365119, dtype=float32), 'left.joint_4.pos': Array(6.8637824e-08, dtype=float32), 'left.joint_5.pos': Array(0.05043646, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10341262, dtype=float32), 'right.joint_1.pos': Array(0.6682697, dtype=float32), 'right.joint_2.pos': Array(0.93664724, dtype=float32), 'right.joint_3.pos': Array(-1.5719212, dtype=float32), 'right.joint_4.pos': Array(-0.682048, dtype=float32), 'right.joint_5.pos': Array(-1.3025972, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
36
+ 2025y-06m-16d-13h-21m-43s DEBUG: 🦾 Setting right arm positions: [Array(0.10341262, dtype=float32), Array(0.6682697, dtype=float32), Array(0.93664724, dtype=float32), Array(-1.5719212, dtype=float32), Array(-0.682048, dtype=float32), Array(-1.3025972, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
37
+ 2025y-06m-16d-13h-21m-46s DEBUG: RealSenseCamera(230422273017) read took: 2802.0ms
38
+ 2025y-06m-16d-13h-21m-46s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
39
+ 2025y-06m-16d-13h-21m-46s DEBUG: RealSenseCamera(218622278376) read took: 2814.2ms
40
+ 2025y-06m-16d-13h-21m-46s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
41
+ 2025y-06m-16d-13h-21m-46s DEBUG: 🦾 Setting left arm positions: [Array(0.05043641, dtype=float32), Array(1.2773551, dtype=float32), Array(1.0430707, dtype=float32), Array(-1.3365119, dtype=float32), Array(6.8637824e-08, dtype=float32), Array(0.05043646, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
42
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 2801.1ms
43
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 2802.1ms
44
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
45
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
46
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 18.0ms
47
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 23.3ms
48
+ 2025y-06m-16d-13h-21m-49s INFO: 🖼️ Updating visualization...
49
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read state: 0.5ms
50
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read head: 0.0ms
51
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read wrist: 0.0ms
52
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
53
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 32.9ms
54
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
55
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
56
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05043656, dtype=float32), 'left.joint_1.pos': Array(1.2774986, dtype=float32), 'left.joint_2.pos': Array(1.0193832, dtype=float32), 'left.joint_3.pos': Array(-1.3126808, dtype=float32), 'left.joint_4.pos': Array(1.1954569e-08, dtype=float32), 'left.joint_5.pos': Array(0.05043649, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06649777, dtype=float32), 'right.joint_1.pos': Array(0.68128765, dtype=float32), 'right.joint_2.pos': Array(0.90973395, dtype=float32), 'right.joint_3.pos': Array(-1.5719656, dtype=float32), 'right.joint_4.pos': Array(-0.6947134, dtype=float32), 'right.joint_5.pos': Array(-1.3561374, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
57
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting right arm positions: [Array(0.06649777, dtype=float32), Array(0.68128765, dtype=float32), Array(0.90973395, dtype=float32), Array(-1.5719656, dtype=float32), Array(-0.6947134, dtype=float32), Array(-1.3561374, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
58
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.1031891331076622 0.06649777293205261
59
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.6681544184684753 0.6812876462936401
60
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9363317489624023 0.9097339510917664
61
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.6822690367698669 -0.6947134137153625
62
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3029297590255737 -1.3561373949050903
63
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting left arm positions: [Array(0.05043656, dtype=float32), Array(1.2774986, dtype=float32), Array(1.0193832, dtype=float32), Array(-1.3126808, dtype=float32), Array(1.1954569e-08, dtype=float32), Array(0.05043649, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
64
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 119.8ms
65
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
66
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 115.5ms
67
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
68
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.3166629076004028 -1.3126808404922485
69
+ 2025y-06m-16d-13h-21m-49s INFO: 🖼️ Updating visualization...
70
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 12.6ms
71
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 17.6ms
72
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read state: 0.6ms
73
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read head: 0.0ms
74
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read wrist: 0.0ms
75
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
76
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
77
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
78
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
79
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05047685, dtype=float32), 'left.joint_1.pos': Array(1.2768776, dtype=float32), 'left.joint_2.pos': Array(1.0189503, dtype=float32), 'left.joint_3.pos': Array(-1.3128687, dtype=float32), 'left.joint_4.pos': Array(-2.9239004e-08, dtype=float32), 'left.joint_5.pos': Array(0.05047673, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06681512, dtype=float32), 'right.joint_1.pos': Array(0.68118006, dtype=float32), 'right.joint_2.pos': Array(0.9097456, dtype=float32), 'right.joint_3.pos': Array(-1.5719625, dtype=float32), 'right.joint_4.pos': Array(-0.6949398, dtype=float32), 'right.joint_5.pos': Array(-1.3558155, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
80
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting right arm positions: [Array(0.06681512, dtype=float32), Array(0.68118006, dtype=float32), Array(0.9097456, dtype=float32), Array(-1.5719625, dtype=float32), Array(-0.6949398, dtype=float32), Array(-1.3558155, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
81
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.06580453366041183 0.06681511551141739
82
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.6826505064964294 0.6811800599098206
83
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.5676738023757935 -1.5719624757766724
84
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.691805899143219 -0.6949397921562195
85
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting left arm positions: [Array(0.05047685, dtype=float32), Array(1.2768776, dtype=float32), Array(1.0189503, dtype=float32), Array(-1.3128687, dtype=float32), Array(-2.9239004e-08, dtype=float32), Array(0.05047673, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
86
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 114.5ms
87
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
88
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 120.7ms
89
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
90
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.3162813186645508 -1.3128687143325806
91
+ 2025y-06m-16d-13h-21m-49s INFO: 🖼️ Updating visualization...
92
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 14.9ms
93
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 18.6ms
94
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read state: 0.8ms
95
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read head: 0.0ms
96
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read wrist: 0.0ms
97
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 30.3ms
98
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.0ms
99
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
100
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
101
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05051702, dtype=float32), 'left.joint_1.pos': Array(1.2762566, dtype=float32), 'left.joint_2.pos': Array(1.0185177, dtype=float32), 'left.joint_3.pos': Array(-1.3130575, dtype=float32), 'left.joint_4.pos': Array(1.0501958e-07, dtype=float32), 'left.joint_5.pos': Array(0.05051691, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06713048, dtype=float32), 'right.joint_1.pos': Array(0.6810742, dtype=float32), 'right.joint_2.pos': Array(0.90975696, dtype=float32), 'right.joint_3.pos': Array(-1.5719593, dtype=float32), 'right.joint_4.pos': Array(-0.6951666, dtype=float32), 'right.joint_5.pos': Array(-1.3554964, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
102
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting right arm positions: [Array(0.06713048, dtype=float32), Array(0.6810742, dtype=float32), Array(0.90975696, dtype=float32), Array(-1.5719593, dtype=float32), Array(-0.6951666, dtype=float32), Array(-1.3554964, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
103
+ 2025y-06m-16d-13h-21m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.5707255601882935 -1.5719592571258545
104
+ 2025y-06m-16d-13h-21m-49s DEBUG: 🦾 Setting left arm positions: [Array(0.05051702, dtype=float32), Array(1.2762566, dtype=float32), Array(1.0185177, dtype=float32), Array(-1.3130575, dtype=float32), Array(1.0501958e-07, dtype=float32), Array(0.05051691, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
105
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 116.1ms
106
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
107
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 121.5ms
108
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
109
+ 2025y-06m-16d-13h-21m-49s INFO: 🖼️ Updating visualization...
110
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 11.5ms
111
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 17.0ms
112
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read state: 1.1ms
113
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read head: 0.0ms
114
+ 2025y-06m-16d-13h-21m-49s DEBUG: None Tatbot read wrist: 0.0ms
115
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
116
+ 2025y-06m-16d-13h-21m-49s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
117
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
118
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
119
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05055715, dtype=float32), 'left.joint_1.pos': Array(1.2756354, dtype=float32), 'left.joint_2.pos': Array(1.0180856, dtype=float32), 'left.joint_3.pos': Array(-1.3132466, dtype=float32), 'left.joint_4.pos': Array(-6.808966e-08, dtype=float32), 'left.joint_5.pos': Array(0.05055723, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06744298, dtype=float32), 'right.joint_1.pos': Array(0.6809697, dtype=float32), 'right.joint_2.pos': Array(0.9097679, dtype=float32), 'right.joint_3.pos': Array(-1.5719562, dtype=float32), 'right.joint_4.pos': Array(-0.6953943, dtype=float32), 'right.joint_5.pos': Array(-1.3551807, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
120
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting right arm positions: [Array(0.06744298, dtype=float32), Array(0.6809697, dtype=float32), Array(0.9097679, dtype=float32), Array(-1.5719562, dtype=float32), Array(-0.6953943, dtype=float32), Array(-1.3551807, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
121
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting left arm positions: [Array(0.05055715, dtype=float32), Array(1.2756354, dtype=float32), Array(1.0180856, dtype=float32), Array(-1.3132466, dtype=float32), Array(-6.808966e-08, dtype=float32), Array(0.05055723, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
122
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 117.7ms
123
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 112.6ms
124
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
125
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
126
+ 2025y-06m-16d-13h-21m-50s INFO: 🖼️ Updating visualization...
127
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 15.7ms
128
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 20.2ms
129
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read state: 0.9ms
130
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read head: 0.0ms
131
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read wrist: 0.0ms
132
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 32.2ms
133
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
134
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
135
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
136
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05059769, dtype=float32), 'left.joint_1.pos': Array(1.2750143, dtype=float32), 'left.joint_2.pos': Array(1.017654, dtype=float32), 'left.joint_3.pos': Array(-1.3134358, dtype=float32), 'left.joint_4.pos': Array(-1.5677153e-07, dtype=float32), 'left.joint_5.pos': Array(0.05059768, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06775399, dtype=float32), 'right.joint_1.pos': Array(0.68086696, dtype=float32), 'right.joint_2.pos': Array(0.9097787, dtype=float32), 'right.joint_3.pos': Array(-1.5719529, dtype=float32), 'right.joint_4.pos': Array(-0.6956226, dtype=float32), 'right.joint_5.pos': Array(-1.3548673, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
137
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting right arm positions: [Array(0.06775399, dtype=float32), Array(0.68086696, dtype=float32), Array(0.9097787, dtype=float32), Array(-1.5719529, dtype=float32), Array(-0.6956226, dtype=float32), Array(-1.3548673, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
138
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting left arm positions: [Array(0.05059769, dtype=float32), Array(1.2750143, dtype=float32), Array(1.017654, dtype=float32), Array(-1.3134358, dtype=float32), Array(-1.5677153e-07, dtype=float32), Array(0.05059768, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
139
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
140
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 116.8ms
141
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
142
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
143
+ 2025y-06m-16d-13h-21m-50s INFO: 🖼️ Updating visualization...
144
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 16.0ms
145
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 21.7ms
146
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read state: 0.9ms
147
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read head: 0.0ms
148
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read wrist: 0.0ms
149
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
150
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 32.8ms
151
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
152
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
153
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05063828, dtype=float32), 'left.joint_1.pos': Array(1.2743928, dtype=float32), 'left.joint_2.pos': Array(1.0172224, dtype=float32), 'left.joint_3.pos': Array(-1.3136258, dtype=float32), 'left.joint_4.pos': Array(-9.7632835e-08, dtype=float32), 'left.joint_5.pos': Array(0.0506382, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06806199, dtype=float32), 'right.joint_1.pos': Array(0.68076575, dtype=float32), 'right.joint_2.pos': Array(0.90978855, dtype=float32), 'right.joint_3.pos': Array(-1.5719498, dtype=float32), 'right.joint_4.pos': Array(-0.6958519, dtype=float32), 'right.joint_5.pos': Array(-1.354558, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
154
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting right arm positions: [Array(0.06806199, dtype=float32), Array(0.68076575, dtype=float32), Array(0.90978855, dtype=float32), Array(-1.5719498, dtype=float32), Array(-0.6958519, dtype=float32), Array(-1.354558, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
155
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting left arm positions: [Array(0.05063828, dtype=float32), Array(1.2743928, dtype=float32), Array(1.0172224, dtype=float32), Array(-1.3136258, dtype=float32), Array(-9.7632835e-08, dtype=float32), Array(0.0506382, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
156
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 118.9ms
157
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
158
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 114.4ms
159
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
160
+ 2025y-06m-16d-13h-21m-50s INFO: 🖼️ Updating visualization...
161
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 19.5ms
162
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 18.8ms
163
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read state: 1.2ms
164
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read head: 0.0ms
165
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read wrist: 0.0ms
166
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 28.0ms
167
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
168
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
169
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.9ms
170
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05067736, dtype=float32), 'left.joint_1.pos': Array(1.2737715, dtype=float32), 'left.joint_2.pos': Array(1.0167907, dtype=float32), 'left.joint_3.pos': Array(-1.3138152, dtype=float32), 'left.joint_4.pos': Array(-5.8288106e-07, dtype=float32), 'left.joint_5.pos': Array(0.05067702, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06775182, dtype=float32), 'right.joint_1.pos': Array(0.6811187, dtype=float32), 'right.joint_2.pos': Array(0.9096385, dtype=float32), 'right.joint_3.pos': Array(-1.5719492, dtype=float32), 'right.joint_4.pos': Array(-0.69635224, dtype=float32), 'right.joint_5.pos': Array(-1.3551421, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
171
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting right arm positions: [Array(0.06775182, dtype=float32), Array(0.6811187, dtype=float32), Array(0.9096385, dtype=float32), Array(-1.5719492, dtype=float32), Array(-0.69635224, dtype=float32), Array(-1.3551421, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
172
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting left arm positions: [Array(0.05067736, dtype=float32), Array(1.2737715, dtype=float32), Array(1.0167907, dtype=float32), Array(-1.3138152, dtype=float32), Array(-5.8288106e-07, dtype=float32), Array(0.05067702, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
173
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 112.1ms
174
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 106.0ms
175
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
176
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
177
+ 2025y-06m-16d-13h-21m-50s INFO: 🖼️ Updating visualization...
178
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 20.6ms
179
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 25.8ms
180
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read state: 0.7ms
181
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read head: 0.0ms
182
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read wrist: 0.0ms
183
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 32.9ms
184
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 32.9ms
185
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
186
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
187
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05071946, dtype=float32), 'left.joint_1.pos': Array(1.2731503, dtype=float32), 'left.joint_2.pos': Array(1.0163603, dtype=float32), 'left.joint_3.pos': Array(-1.3140063, dtype=float32), 'left.joint_4.pos': Array(3.8068777e-08, dtype=float32), 'left.joint_5.pos': Array(0.05071934, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06867208, dtype=float32), 'right.joint_1.pos': Array(0.68056744, dtype=float32), 'right.joint_2.pos': Array(0.9098075, dtype=float32), 'right.joint_3.pos': Array(-1.5719436, dtype=float32), 'right.joint_4.pos': Array(-0.6963121, dtype=float32), 'right.joint_5.pos': Array(-1.3539468, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
188
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting right arm positions: [Array(0.06867208, dtype=float32), Array(0.68056744, dtype=float32), Array(0.9098075, dtype=float32), Array(-1.5719436, dtype=float32), Array(-0.6963121, dtype=float32), Array(-1.3539468, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
189
+ 2025y-06m-16d-13h-21m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3551918268203735 -1.3539468050003052
190
+ 2025y-06m-16d-13h-21m-50s DEBUG: 🦾 Setting left arm positions: [Array(0.05071946, dtype=float32), Array(1.2731503, dtype=float32), Array(1.0163603, dtype=float32), Array(-1.3140063, dtype=float32), Array(3.8068777e-08, dtype=float32), Array(0.05071934, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
191
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 120.0ms
192
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
193
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 114.9ms
194
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
195
+ 2025y-06m-16d-13h-21m-50s INFO: 🖼️ Updating visualization...
196
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 13.2ms
197
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 18.2ms
198
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read state: 0.8ms
199
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read head: 0.0ms
200
+ 2025y-06m-16d-13h-21m-50s DEBUG: None Tatbot read wrist: 0.0ms
201
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
202
+ 2025y-06m-16d-13h-21m-50s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
203
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
204
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
205
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05076001, dtype=float32), 'left.joint_1.pos': Array(1.2725286, dtype=float32), 'left.joint_2.pos': Array(1.0159299, dtype=float32), 'left.joint_3.pos': Array(-1.3141977, dtype=float32), 'left.joint_4.pos': Array(-5.741441e-08, dtype=float32), 'left.joint_5.pos': Array(0.05076011, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06897334, dtype=float32), 'right.joint_1.pos': Array(0.68047106, dtype=float32), 'right.joint_2.pos': Array(0.9098162, dtype=float32), 'right.joint_3.pos': Array(-1.5719404, dtype=float32), 'right.joint_4.pos': Array(-0.69654363, dtype=float32), 'right.joint_5.pos': Array(-1.3536466, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
206
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting right arm positions: [Array(0.06897334, dtype=float32), Array(0.68047106, dtype=float32), Array(0.9098162, dtype=float32), Array(-1.5719404, dtype=float32), Array(-0.69654363, dtype=float32), Array(-1.3536466, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
207
+ 2025y-06m-16d-13h-21m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3551918268203735 -1.3536466360092163
208
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting left arm positions: [Array(0.05076001, dtype=float32), Array(1.2725286, dtype=float32), Array(1.0159299, dtype=float32), Array(-1.3141977, dtype=float32), Array(-5.741441e-08, dtype=float32), Array(0.05076011, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
209
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 117.7ms
210
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
211
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 113.0ms
212
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
213
+ 2025y-06m-16d-13h-21m-51s INFO: 🖼️ Updating visualization...
214
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 18.4ms
215
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 20.1ms
216
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read state: 0.6ms
217
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read head: 0.0ms
218
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read wrist: 0.0ms
219
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 29.9ms
220
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
221
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
222
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.0ms
223
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05079961, dtype=float32), 'left.joint_1.pos': Array(1.271907, dtype=float32), 'left.joint_2.pos': Array(1.015499, dtype=float32), 'left.joint_3.pos': Array(-1.314388, dtype=float32), 'left.joint_4.pos': Array(-6.012024e-07, dtype=float32), 'left.joint_5.pos': Array(0.05079927, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06869753, dtype=float32), 'right.joint_1.pos': Array(0.6807986, dtype=float32), 'right.joint_2.pos': Array(0.909675, dtype=float32), 'right.joint_3.pos': Array(-1.5719398, dtype=float32), 'right.joint_4.pos': Array(-0.6970289, dtype=float32), 'right.joint_5.pos': Array(-1.3541809, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
224
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting right arm positions: [Array(0.06869753, dtype=float32), Array(0.6807986, dtype=float32), Array(0.909675, dtype=float32), Array(-1.5719398, dtype=float32), Array(-0.6970289, dtype=float32), Array(-1.3541809, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
225
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting left arm positions: [Array(0.05079961, dtype=float32), Array(1.271907, dtype=float32), Array(1.015499, dtype=float32), Array(-1.314388, dtype=float32), Array(-6.012024e-07, dtype=float32), Array(0.05079927, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
226
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 113.9ms
227
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms
228
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
229
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
230
+ 2025y-06m-16d-13h-21m-51s INFO: 🖼️ Updating visualization...
231
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 18.7ms
232
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 24.1ms
233
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read state: 1.0ms
234
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read head: 0.0ms
235
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read wrist: 0.0ms
236
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
237
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 32.9ms
238
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
239
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
240
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05084023, dtype=float32), 'left.joint_1.pos': Array(1.2712854, dtype=float32), 'left.joint_2.pos': Array(1.0150692, dtype=float32), 'left.joint_3.pos': Array(-1.3145801, dtype=float32), 'left.joint_4.pos': Array(-6.041646e-07, dtype=float32), 'left.joint_5.pos': Array(0.05083999, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06900802, dtype=float32), 'right.joint_1.pos': Array(0.68069506, dtype=float32), 'right.joint_2.pos': Array(0.90968645, dtype=float32), 'right.joint_3.pos': Array(-1.5719366, dtype=float32), 'right.joint_4.pos': Array(-0.6972561, dtype=float32), 'right.joint_5.pos': Array(-1.3538669, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
241
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting right arm positions: [Array(0.06900802, dtype=float32), Array(0.68069506, dtype=float32), Array(0.90968645, dtype=float32), Array(-1.5719366, dtype=float32), Array(-0.6972561, dtype=float32), Array(-1.3538669, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
242
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting left arm positions: [Array(0.05084023, dtype=float32), Array(1.2712854, dtype=float32), Array(1.0150692, dtype=float32), Array(-1.3145801, dtype=float32), Array(-6.041646e-07, dtype=float32), Array(0.05083999, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
243
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 113.5ms
244
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
245
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 120.1ms
246
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
247
+ 2025y-06m-16d-13h-21m-51s INFO: 🖼️ Updating visualization...
248
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 13.0ms
249
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 19.5ms
250
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read state: 0.6ms
251
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read head: 0.0ms
252
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read wrist: 0.0ms
253
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 28.8ms
254
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
255
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
256
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
257
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05088272, dtype=float32), 'left.joint_1.pos': Array(1.2706641, dtype=float32), 'left.joint_2.pos': Array(1.0146405, dtype=float32), 'left.joint_3.pos': Array(-1.3147726, dtype=float32), 'left.joint_4.pos': Array(-1.7956324e-08, dtype=float32), 'left.joint_5.pos': Array(0.0508826, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06986383, dtype=float32), 'right.joint_1.pos': Array(0.6801906, dtype=float32), 'right.joint_2.pos': Array(0.90984, dtype=float32), 'right.joint_3.pos': Array(-1.5719312, dtype=float32), 'right.joint_4.pos': Array(-0.6972423, dtype=float32), 'right.joint_5.pos': Array(-1.3527628, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
258
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting right arm positions: [Array(0.06986383, dtype=float32), Array(0.6801906, dtype=float32), Array(0.90984, dtype=float32), Array(-1.5719312, dtype=float32), Array(-0.6972423, dtype=float32), Array(-1.3527628, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
259
+ 2025y-06m-16d-13h-21m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.06885633617639542 0.06986382603645325
260
+ 2025y-06m-16d-13h-21m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.354810357093811 -1.3527628183364868
261
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting left arm positions: [Array(0.05088272, dtype=float32), Array(1.2706641, dtype=float32), Array(1.0146405, dtype=float32), Array(-1.3147726, dtype=float32), Array(-1.7956324e-08, dtype=float32), Array(0.0508826, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
262
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 122.7ms
263
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
264
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 117.7ms
265
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
266
+ 2025y-06m-16d-13h-21m-51s INFO: 🖼️ Updating visualization...
267
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 10.4ms
268
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 17.6ms
269
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read state: 0.6ms
270
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read head: 0.0ms
271
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read wrist: 0.0ms
272
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
273
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 30.9ms
274
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
275
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
276
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05092226, dtype=float32), 'left.joint_1.pos': Array(1.2700417, dtype=float32), 'left.joint_2.pos': Array(1.0142103, dtype=float32), 'left.joint_3.pos': Array(-1.3149648, dtype=float32), 'left.joint_4.pos': Array(-7.1659724e-07, dtype=float32), 'left.joint_5.pos': Array(0.0509219, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06962221, dtype=float32), 'right.joint_1.pos': Array(0.680493, dtype=float32), 'right.joint_2.pos': Array(0.90970755, dtype=float32), 'right.joint_3.pos': Array(-1.5719304, dtype=float32), 'right.joint_4.pos': Array(-0.6977124, dtype=float32), 'right.joint_5.pos': Array(-1.353248, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
277
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting right arm positions: [Array(0.06962221, dtype=float32), Array(0.680493, dtype=float32), Array(0.90970755, dtype=float32), Array(-1.5719304, dtype=float32), Array(-0.6977124, dtype=float32), Array(-1.353248, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
278
+ 2025y-06m-16d-13h-21m-51s DEBUG: 🦾 Setting left arm positions: [Array(0.05092226, dtype=float32), Array(1.2700417, dtype=float32), Array(1.0142103, dtype=float32), Array(-1.3149648, dtype=float32), Array(-7.1659724e-07, dtype=float32), Array(0.0509219, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
279
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 111.8ms
280
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
281
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 117.4ms
282
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
283
+ 2025y-06m-16d-13h-21m-51s INFO: 🖼️ Updating visualization...
284
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 16.1ms
285
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 21.3ms
286
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read state: 0.8ms
287
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read head: 0.0ms
288
+ 2025y-06m-16d-13h-21m-51s DEBUG: None Tatbot read wrist: 0.0ms
289
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(218622278376) read took: 31.9ms
290
+ 2025y-06m-16d-13h-21m-51s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
291
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
292
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 35.0ms
293
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05096307, dtype=float32), 'left.joint_1.pos': Array(1.2694199, dtype=float32), 'left.joint_2.pos': Array(1.0137818, dtype=float32), 'left.joint_3.pos': Array(-1.3151579, dtype=float32), 'left.joint_4.pos': Array(-5.562515e-07, dtype=float32), 'left.joint_5.pos': Array(0.05096292, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06992579, dtype=float32), 'right.joint_1.pos': Array(0.6803944, dtype=float32), 'right.joint_2.pos': Array(0.9097176, dtype=float32), 'right.joint_3.pos': Array(-1.5719273, dtype=float32), 'right.joint_4.pos': Array(-0.6979418, dtype=float32), 'right.joint_5.pos': Array(-1.3529433, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
294
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting right arm positions: [Array(0.06992579, dtype=float32), Array(0.6803944, dtype=float32), Array(0.9097176, dtype=float32), Array(-1.5719273, dtype=float32), Array(-0.6979418, dtype=float32), Array(-1.3529433, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
295
+ 2025y-06m-16d-13h-21m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.354047417640686 -1.3529433012008667
296
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting left arm positions: [Array(0.05096307, dtype=float32), Array(1.2694199, dtype=float32), Array(1.0137818, dtype=float32), Array(-1.3151579, dtype=float32), Array(-5.562515e-07, dtype=float32), Array(0.05096292, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
297
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 113.8ms
298
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
299
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 104.2ms
300
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
301
+ 2025y-06m-16d-13h-21m-52s INFO: 🖼️ Updating visualization...
302
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 18.9ms
303
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 24.6ms
304
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read state: 1.0ms
305
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read head: 0.0ms
306
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read wrist: 0.0ms
307
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
308
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 32.4ms
309
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
310
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
311
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05100434, dtype=float32), 'left.joint_1.pos': Array(1.2687978, dtype=float32), 'left.joint_2.pos': Array(1.0133532, dtype=float32), 'left.joint_3.pos': Array(-1.3153515, dtype=float32), 'left.joint_4.pos': Array(-6.0086586e-07, dtype=float32), 'left.joint_5.pos': Array(0.05100419, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07022766, dtype=float32), 'right.joint_1.pos': Array(0.680297, dtype=float32), 'right.joint_2.pos': Array(0.9097272, dtype=float32), 'right.joint_3.pos': Array(-1.5719242, dtype=float32), 'right.joint_4.pos': Array(-0.69817144, dtype=float32), 'right.joint_5.pos': Array(-1.352641, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
312
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting right arm positions: [Array(0.07022766, dtype=float32), Array(0.680297, dtype=float32), Array(0.9097272, dtype=float32), Array(-1.5719242, dtype=float32), Array(-0.69817144, dtype=float32), Array(-1.352641, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
313
+ 2025y-06m-16d-13h-21m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3536659479141235 -1.352640986442566
314
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting left arm positions: [Array(0.05100434, dtype=float32), Array(1.2687978, dtype=float32), Array(1.0133532, dtype=float32), Array(-1.3153515, dtype=float32), Array(-6.0086586e-07, dtype=float32), Array(0.05100419, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
315
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 121.5ms
316
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 116.3ms
317
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
318
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
319
+ 2025y-06m-16d-13h-21m-52s INFO: 🖼️ Updating visualization...
320
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 10.8ms
321
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 19.3ms
322
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read state: 0.6ms
323
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read head: 0.0ms
324
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read wrist: 0.0ms
325
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
326
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 29.9ms
327
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
328
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
329
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05104576, dtype=float32), 'left.joint_1.pos': Array(1.2681757, dtype=float32), 'left.joint_2.pos': Array(1.0129249, dtype=float32), 'left.joint_3.pos': Array(-1.3155452, dtype=float32), 'left.joint_4.pos': Array(-5.4140764e-07, dtype=float32), 'left.joint_5.pos': Array(0.05104528, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07052652, dtype=float32), 'right.joint_1.pos': Array(0.6802012, dtype=float32), 'right.joint_2.pos': Array(0.90973586, dtype=float32), 'right.joint_3.pos': Array(-1.5719211, dtype=float32), 'right.joint_4.pos': Array(-0.69840246, dtype=float32), 'right.joint_5.pos': Array(-1.3523426, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
330
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting right arm positions: [Array(0.07052652, dtype=float32), Array(0.6802012, dtype=float32), Array(0.90973586, dtype=float32), Array(-1.5719211, dtype=float32), Array(-0.69840246, dtype=float32), Array(-1.3523426, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
331
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting left arm positions: [Array(0.05104576, dtype=float32), Array(1.2681757, dtype=float32), Array(1.0129249, dtype=float32), Array(-1.3155452, dtype=float32), Array(-5.4140764e-07, dtype=float32), Array(0.05104528, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
332
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 118.8ms
333
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
334
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 114.7ms
335
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
336
+ 2025y-06m-16d-13h-21m-52s INFO: 🖼️ Updating visualization...
337
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 13.8ms
338
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 19.9ms
339
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read state: 0.9ms
340
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read head: 0.0ms
341
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read wrist: 0.0ms
342
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 32.2ms
343
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 31.4ms
344
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
345
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
346
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.051128, dtype=float32), 'left.joint_1.pos': Array(1.2669314, dtype=float32), 'left.joint_2.pos': Array(1.0120692, dtype=float32), 'left.joint_3.pos': Array(-1.3159341, dtype=float32), 'left.joint_4.pos': Array(-8.0238715e-07, dtype=float32), 'left.joint_5.pos': Array(0.05112749, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07111856, dtype=float32), 'right.joint_1.pos': Array(0.680014, dtype=float32), 'right.joint_2.pos': Array(0.90975314, dtype=float32), 'right.joint_3.pos': Array(-1.5719149, dtype=float32), 'right.joint_4.pos': Array(-0.6988661, dtype=float32), 'right.joint_5.pos': Array(-1.3517532, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
347
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting right arm positions: [Array(0.07111856, dtype=float32), Array(0.680014, dtype=float32), Array(0.90975314, dtype=float32), Array(-1.5719149, dtype=float32), Array(-0.6988661, dtype=float32), Array(-1.3517532, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
348
+ 2025y-06m-16d-13h-21m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.07000076025724411 0.07111856341362
349
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting left arm positions: [Array(0.051128, dtype=float32), Array(1.2669314, dtype=float32), Array(1.0120692, dtype=float32), Array(-1.3159341, dtype=float32), Array(-8.0238715e-07, dtype=float32), Array(0.05112749, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
350
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 116.9ms
351
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 111.9ms
352
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
353
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms
354
+ 2025y-06m-16d-13h-21m-52s INFO: 🖼️ Updating visualization...
355
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 17.3ms
356
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 20.5ms
357
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read state: 0.4ms
358
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read head: 0.0ms
359
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read wrist: 0.0ms
360
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 30.6ms
361
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
362
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
363
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
364
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05116936, dtype=float32), 'left.joint_1.pos': Array(1.2663089, dtype=float32), 'left.joint_2.pos': Array(1.0116423, dtype=float32), 'left.joint_3.pos': Array(-1.3161296, dtype=float32), 'left.joint_4.pos': Array(-6.04502e-07, dtype=float32), 'left.joint_5.pos': Array(0.05116924, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07141139, dtype=float32), 'right.joint_1.pos': Array(0.6799232, dtype=float32), 'right.joint_2.pos': Array(0.9097613, dtype=float32), 'right.joint_3.pos': Array(-1.5719118, dtype=float32), 'right.joint_4.pos': Array(-0.6990988, dtype=float32), 'right.joint_5.pos': Array(-1.351463, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
365
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting right arm positions: [Array(0.07141139, dtype=float32), Array(0.6799232, dtype=float32), Array(0.9097613, dtype=float32), Array(-1.5719118, dtype=float32), Array(-0.6990988, dtype=float32), Array(-1.351463, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
366
+ 2025y-06m-16d-13h-21m-52s DEBUG: 🦾 Setting left arm positions: [Array(0.05116936, dtype=float32), Array(1.2663089, dtype=float32), Array(1.0116423, dtype=float32), Array(-1.3161296, dtype=float32), Array(-6.04502e-07, dtype=float32), Array(0.05116924, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
367
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 112.4ms
368
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
369
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 118.3ms
370
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
371
+ 2025y-06m-16d-13h-21m-52s INFO: 🖼️ Updating visualization...
372
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 17.7ms
373
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 20.4ms
374
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read state: 0.8ms
375
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read head: 0.0ms
376
+ 2025y-06m-16d-13h-21m-52s DEBUG: None Tatbot read wrist: 0.0ms
377
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(218622278376) read took: 30.3ms
378
+ 2025y-06m-16d-13h-21m-52s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
379
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
380
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
381
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05121068, dtype=float32), 'left.joint_1.pos': Array(1.2656863, dtype=float32), 'left.joint_2.pos': Array(1.011215, dtype=float32), 'left.joint_3.pos': Array(-1.3163247, dtype=float32), 'left.joint_4.pos': Array(-6.6956363e-07, dtype=float32), 'left.joint_5.pos': Array(0.05121031, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07170147, dtype=float32), 'right.joint_1.pos': Array(0.6798334, dtype=float32), 'right.joint_2.pos': Array(0.90976834, dtype=float32), 'right.joint_3.pos': Array(-1.5719087, dtype=float32), 'right.joint_4.pos': Array(-0.6993325, dtype=float32), 'right.joint_5.pos': Array(-1.3511764, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
382
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting right arm positions: [Array(0.07170147, dtype=float32), Array(0.6798334, dtype=float32), Array(0.90976834, dtype=float32), Array(-1.5719087, dtype=float32), Array(-0.6993325, dtype=float32), Array(-1.3511764, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
383
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting left arm positions: [Array(0.05121068, dtype=float32), Array(1.2656863, dtype=float32), Array(1.011215, dtype=float32), Array(-1.3163247, dtype=float32), Array(-6.6956363e-07, dtype=float32), Array(0.05121031, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
384
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 122.4ms
385
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
386
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 117.9ms
387
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
388
+ 2025y-06m-16d-13h-21m-53s INFO: 🖼️ Updating visualization...
389
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 10.8ms
390
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 19.3ms
391
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read state: 1.0ms
392
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read head: 0.0ms
393
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read wrist: 0.0ms
394
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
395
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 29.1ms
396
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
397
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
398
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05125225, dtype=float32), 'left.joint_1.pos': Array(1.2650636, dtype=float32), 'left.joint_2.pos': Array(1.0107882, dtype=float32), 'left.joint_3.pos': Array(-1.3165206, dtype=float32), 'left.joint_4.pos': Array(-6.540131e-07, dtype=float32), 'left.joint_5.pos': Array(0.05125189, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07198996, dtype=float32), 'right.joint_1.pos': Array(0.679745, dtype=float32), 'right.joint_2.pos': Array(0.90977544, dtype=float32), 'right.joint_3.pos': Array(-1.5719057, dtype=float32), 'right.joint_4.pos': Array(-0.6995668, dtype=float32), 'right.joint_5.pos': Array(-1.3508918, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
399
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting right arm positions: [Array(0.07198996, dtype=float32), Array(0.679745, dtype=float32), Array(0.90977544, dtype=float32), Array(-1.5719057, dtype=float32), Array(-0.6995668, dtype=float32), Array(-1.3508918, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
400
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting left arm positions: [Array(0.05125225, dtype=float32), Array(1.2650636, dtype=float32), Array(1.0107882, dtype=float32), Array(-1.3165206, dtype=float32), Array(-6.540131e-07, dtype=float32), Array(0.05125189, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
401
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 118.7ms
402
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
403
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 114.3ms
404
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
405
+ 2025y-06m-16d-13h-21m-53s INFO: 🖼️ Updating visualization...
406
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 13.7ms
407
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 26.7ms
408
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read state: 0.9ms
409
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read head: 0.0ms
410
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read wrist: 0.0ms
411
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.7ms
412
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 25.1ms
413
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 32.0ms
414
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
415
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05129369, dtype=float32), 'left.joint_1.pos': Array(1.2644411, dtype=float32), 'left.joint_2.pos': Array(1.0103624, dtype=float32), 'left.joint_3.pos': Array(-1.3167171, dtype=float32), 'left.joint_4.pos': Array(-7.605231e-07, dtype=float32), 'left.joint_5.pos': Array(0.05129332, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07227578, dtype=float32), 'right.joint_1.pos': Array(0.67965865, dtype=float32), 'right.joint_2.pos': Array(0.909782, dtype=float32), 'right.joint_3.pos': Array(-1.5719026, dtype=float32), 'right.joint_4.pos': Array(-0.6998018, dtype=float32), 'right.joint_5.pos': Array(-1.3506112, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
416
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting right arm positions: [Array(0.07227578, dtype=float32), Array(0.67965865, dtype=float32), Array(0.909782, dtype=float32), Array(-1.5719026, dtype=float32), Array(-0.6998018, dtype=float32), Array(-1.3506112, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
417
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting left arm positions: [Array(0.05129369, dtype=float32), Array(1.2644411, dtype=float32), Array(1.0103624, dtype=float32), Array(-1.3167171, dtype=float32), Array(-7.605231e-07, dtype=float32), Array(0.05129332, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
418
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 129.5ms
419
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
420
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 124.6ms
421
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
422
+ 2025y-06m-16d-13h-21m-53s INFO: 🖼️ Updating visualization...
423
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 5.3ms
424
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 8.7ms
425
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 31.1ms
426
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read state: 1.3ms
427
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read head: 0.0ms
428
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read wrist: 0.0ms
429
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
430
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
431
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
432
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05133539, dtype=float32), 'left.joint_1.pos': Array(1.2638187, dtype=float32), 'left.joint_2.pos': Array(1.0099365, dtype=float32), 'left.joint_3.pos': Array(-1.3169138, dtype=float32), 'left.joint_4.pos': Array(-6.438704e-07, dtype=float32), 'left.joint_5.pos': Array(0.05133517, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07256071, dtype=float32), 'right.joint_1.pos': Array(0.67957306, dtype=float32), 'right.joint_2.pos': Array(0.9097884, dtype=float32), 'right.joint_3.pos': Array(-1.5718995, dtype=float32), 'right.joint_4.pos': Array(-0.70003736, dtype=float32), 'right.joint_5.pos': Array(-1.3503314, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
433
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting right arm positions: [Array(0.07256071, dtype=float32), Array(0.67957306, dtype=float32), Array(0.9097884, dtype=float32), Array(-1.5718995, dtype=float32), Array(-0.70003736, dtype=float32), Array(-1.3503314, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
434
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting left arm positions: [Array(0.05133539, dtype=float32), Array(1.2638187, dtype=float32), Array(1.0099365, dtype=float32), Array(-1.3169138, dtype=float32), Array(-6.438704e-07, dtype=float32), Array(0.05133517, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
435
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 118.6ms
436
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 113.3ms
437
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
438
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
439
+ 2025y-06m-16d-13h-21m-53s INFO: 🖼️ Updating visualization...
440
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 19.6ms
441
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 19.7ms
442
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 27.1ms
443
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read state: 0.2ms
444
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read head: 0.0ms
445
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read wrist: 0.0ms
446
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 32.5ms
447
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
448
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
449
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.0513771, dtype=float32), 'left.joint_1.pos': Array(1.2631954, dtype=float32), 'left.joint_2.pos': Array(1.0095109, dtype=float32), 'left.joint_3.pos': Array(-1.3171116, dtype=float32), 'left.joint_4.pos': Array(-7.344124e-07, dtype=float32), 'left.joint_5.pos': Array(0.0513769, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07284293, dtype=float32), 'right.joint_1.pos': Array(0.6794888, dtype=float32), 'right.joint_2.pos': Array(0.90979433, dtype=float32), 'right.joint_3.pos': Array(-1.5718966, dtype=float32), 'right.joint_4.pos': Array(-0.7002733, dtype=float32), 'right.joint_5.pos': Array(-1.3500555, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
450
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting right arm positions: [Array(0.07284293, dtype=float32), Array(0.6794888, dtype=float32), Array(0.90979433, dtype=float32), Array(-1.5718966, dtype=float32), Array(-0.7002733, dtype=float32), Array(-1.3500555, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
451
+ 2025y-06m-16d-13h-21m-53s DEBUG: 🦾 Setting left arm positions: [Array(0.0513771, dtype=float32), Array(1.2631954, dtype=float32), Array(1.0095109, dtype=float32), Array(-1.3171116, dtype=float32), Array(-7.344124e-07, dtype=float32), Array(0.0513769, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
452
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 114.9ms
453
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
454
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 120.9ms
455
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
456
+ 2025y-06m-16d-13h-21m-53s INFO: 🖼️ Updating visualization...
457
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 12.2ms
458
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 19.0ms
459
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
460
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read state: 1.1ms
461
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read head: 0.0ms
462
+ 2025y-06m-16d-13h-21m-53s DEBUG: None Tatbot read wrist: 0.0ms
463
+ 2025y-06m-16d-13h-21m-53s DEBUG: RealSenseCamera(230422273017) read took: 32.2ms
464
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
465
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
466
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05141911, dtype=float32), 'left.joint_1.pos': Array(1.2625728, dtype=float32), 'left.joint_2.pos': Array(1.0090854, dtype=float32), 'left.joint_3.pos': Array(-1.3173089, dtype=float32), 'left.joint_4.pos': Array(-6.2724484e-07, dtype=float32), 'left.joint_5.pos': Array(0.05141865, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07312276, dtype=float32), 'right.joint_1.pos': Array(0.6794065, dtype=float32), 'right.joint_2.pos': Array(0.9097996, dtype=float32), 'right.joint_3.pos': Array(-1.5718936, dtype=float32), 'right.joint_4.pos': Array(-0.7005104, dtype=float32), 'right.joint_5.pos': Array(-1.3497825, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
467
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting right arm positions: [Array(0.07312276, dtype=float32), Array(0.6794065, dtype=float32), Array(0.9097996, dtype=float32), Array(-1.5718936, dtype=float32), Array(-0.7005104, dtype=float32), Array(-1.3497825, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
468
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting left arm positions: [Array(0.05141911, dtype=float32), Array(1.2625728, dtype=float32), Array(1.0090854, dtype=float32), Array(-1.3173089, dtype=float32), Array(-6.2724484e-07, dtype=float32), Array(0.05141865, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
469
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 118.5ms
470
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
471
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 124.4ms
472
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
473
+ 2025y-06m-16d-13h-21m-54s INFO: 🖼️ Updating visualization...
474
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 8.5ms
475
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 14.3ms
476
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
477
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read state: 0.5ms
478
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read head: 0.0ms
479
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read wrist: 0.0ms
480
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
481
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
482
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
483
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05144126, dtype=float32), 'left.joint_1.pos': Array(1.2619445, dtype=float32), 'left.joint_2.pos': Array(1.0086524, dtype=float32), 'left.joint_3.pos': Array(-1.3175, dtype=float32), 'left.joint_4.pos': Array(-9.1496295e-06, dtype=float32), 'left.joint_5.pos': Array(0.05143711, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07278555, dtype=float32), 'right.joint_1.pos': Array(0.6797726, dtype=float32), 'right.joint_2.pos': Array(0.90964013, dtype=float32), 'right.joint_3.pos': Array(-1.5718931, dtype=float32), 'right.joint_4.pos': Array(-0.7010272, dtype=float32), 'right.joint_5.pos': Array(-1.3504066, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
484
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting right arm positions: [Array(0.07278555, dtype=float32), Array(0.6797726, dtype=float32), Array(0.90964013, dtype=float32), Array(-1.5718931, dtype=float32), Array(-0.7010272, dtype=float32), Array(-1.3504066, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
485
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting left arm positions: [Array(0.05144126, dtype=float32), Array(1.2619445, dtype=float32), Array(1.0086524, dtype=float32), Array(-1.3175, dtype=float32), Array(-9.1496295e-06, dtype=float32), Array(0.05143711, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
486
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 121.5ms
487
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 127.2ms
488
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
489
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 1.2ms
490
+ 2025y-06m-16d-13h-21m-54s INFO: 🖼️ Updating visualization...
491
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 5.5ms
492
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 10.3ms
493
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 32.7ms
494
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read state: 0.7ms
495
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read head: 0.0ms
496
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read wrist: 0.0ms
497
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
498
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
499
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
500
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05148316, dtype=float32), 'left.joint_1.pos': Array(1.2613213, dtype=float32), 'left.joint_2.pos': Array(1.0082277, dtype=float32), 'left.joint_3.pos': Array(-1.3176988, dtype=float32), 'left.joint_4.pos': Array(-9.120118e-06, dtype=float32), 'left.joint_5.pos': Array(0.05147887, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07308047, dtype=float32), 'right.joint_1.pos': Array(0.67967933, dtype=float32), 'right.joint_2.pos': Array(0.90964997, dtype=float32), 'right.joint_3.pos': Array(-1.57189, dtype=float32), 'right.joint_4.pos': Array(-0.7012571, dtype=float32), 'right.joint_5.pos': Array(-1.3501118, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
501
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting right arm positions: [Array(0.07308047, dtype=float32), Array(0.67967933, dtype=float32), Array(0.90964997, dtype=float32), Array(-1.57189, dtype=float32), Array(-0.7012571, dtype=float32), Array(-1.3501118, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
502
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7051575779914856 -0.7012571096420288
503
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting left arm positions: [Array(0.05148316, dtype=float32), Array(1.2613213, dtype=float32), Array(1.0082277, dtype=float32), Array(-1.3176988, dtype=float32), Array(-9.120118e-06, dtype=float32), Array(0.05147887, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
504
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 121.2ms
505
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 127.0ms
506
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
507
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
508
+ 2025y-06m-16d-13h-21m-54s INFO: 🖼️ Updating visualization...
509
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 5.9ms
510
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 11.3ms
511
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
512
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read state: 1.0ms
513
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read head: 0.0ms
514
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read wrist: 0.0ms
515
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 32.9ms
516
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
517
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
518
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05154457, dtype=float32), 'left.joint_1.pos': Array(1.2607036, dtype=float32), 'left.joint_2.pos': Array(1.0078115, dtype=float32), 'left.joint_3.pos': Array(-1.3179042, dtype=float32), 'left.joint_4.pos': Array(-6.315713e-07, dtype=float32), 'left.joint_5.pos': Array(0.05154426, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07395127, dtype=float32), 'right.joint_1.pos': Array(0.6791675, dtype=float32), 'right.joint_2.pos': Array(0.90981394, dtype=float32), 'right.joint_3.pos': Array(-1.5718845, dtype=float32), 'right.joint_4.pos': Array(-0.70122504, dtype=float32), 'right.joint_5.pos': Array(-1.3489791, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
519
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting right arm positions: [Array(0.07395127, dtype=float32), Array(0.6791675, dtype=float32), Array(0.90981394, dtype=float32), Array(-1.5718845, dtype=float32), Array(-0.70122504, dtype=float32), Array(-1.3489791, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
520
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.07267109304666519 0.07395126670598984
521
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7047760486602783 -0.7012250423431396
522
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.350232720375061 -1.348979115486145
523
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting left arm positions: [Array(0.05154457, dtype=float32), Array(1.2607036, dtype=float32), Array(1.0078115, dtype=float32), Array(-1.3179042, dtype=float32), Array(-6.315713e-07, dtype=float32), Array(0.05154426, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
524
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 125.3ms
525
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
526
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 130.9ms
527
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
528
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 1.8ms
529
+ 2025y-06m-16d-13h-21m-54s INFO: 🖼️ Updating visualization...
530
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 7.6ms
531
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read state: 0.4ms
532
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read head: 0.0ms
533
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read wrist: 0.0ms
534
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 66.5ms
535
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 66.5ms
536
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05158653, dtype=float32), 'left.joint_1.pos': Array(1.2600801, dtype=float32), 'left.joint_2.pos': Array(1.0073873, dtype=float32), 'left.joint_3.pos': Array(-1.3181033, dtype=float32), 'left.joint_4.pos': Array(-6.6179837e-07, dtype=float32), 'left.joint_5.pos': Array(0.0515861, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07422267, dtype=float32), 'right.joint_1.pos': Array(0.67909026, dtype=float32), 'right.joint_2.pos': Array(0.9098177, dtype=float32), 'right.joint_3.pos': Array(-1.5718815, dtype=float32), 'right.joint_4.pos': Array(-0.7014646, dtype=float32), 'right.joint_5.pos': Array(-1.3487175, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
537
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting right arm positions: [Array(0.07422267, dtype=float32), Array(0.67909026, dtype=float32), Array(0.9098177, dtype=float32), Array(-1.5718815, dtype=float32), Array(-0.7014646, dtype=float32), Array(-1.3487175, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
538
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.5707255601882935 -1.5718815326690674
539
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7043945789337158 -0.7014645934104919
540
+ 2025y-06m-16d-13h-21m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3498512506484985 -1.348717451095581
541
+ 2025y-06m-16d-13h-21m-54s DEBUG: 🦾 Setting left arm positions: [Array(0.05158653, dtype=float32), Array(1.2600801, dtype=float32), Array(1.0073873, dtype=float32), Array(-1.3181033, dtype=float32), Array(-6.6179837e-07, dtype=float32), Array(0.0515861, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
542
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 126.4ms
543
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
544
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 132.4ms
545
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
546
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
547
+ 2025y-06m-16d-13h-21m-54s INFO: 🖼️ Updating visualization...
548
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 6.1ms
549
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(218622278376) read took: 34.2ms
550
+ 2025y-06m-16d-13h-21m-54s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
551
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read state: 1.1ms
552
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read head: 0.0ms
553
+ 2025y-06m-16d-13h-21m-54s DEBUG: None Tatbot read wrist: 0.0ms
554
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 32.1ms
555
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
556
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05162862, dtype=float32), 'left.joint_1.pos': Array(1.259457, dtype=float32), 'left.joint_2.pos': Array(1.0069638, dtype=float32), 'left.joint_3.pos': Array(-1.318303, dtype=float32), 'left.joint_4.pos': Array(-6.8138706e-07, dtype=float32), 'left.joint_5.pos': Array(0.05162835, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07449244, dtype=float32), 'right.joint_1.pos': Array(0.6790148, dtype=float32), 'right.joint_2.pos': Array(0.90982103, dtype=float32), 'right.joint_3.pos': Array(-1.5718786, dtype=float32), 'right.joint_4.pos': Array(-0.7017049, dtype=float32), 'right.joint_5.pos': Array(-1.3484583, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
557
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting right arm positions: [Array(0.07449244, dtype=float32), Array(0.6790148, dtype=float32), Array(0.90982103, dtype=float32), Array(-1.5718786, dtype=float32), Array(-0.7017049, dtype=float32), Array(-1.3484583, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
558
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.8ms
559
+ 2025y-06m-16d-13h-21m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7040131092071533 -0.7017049193382263
560
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting left arm positions: [Array(0.05162862, dtype=float32), Array(1.259457, dtype=float32), Array(1.0069638, dtype=float32), Array(-1.318303, dtype=float32), Array(-6.8138706e-07, dtype=float32), Array(0.05162835, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
561
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 101.6ms
562
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
563
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 131.3ms
564
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
565
+ 2025y-06m-16d-13h-21m-55s INFO: 🖼️ Updating visualization...
566
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 5.2ms
567
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 30.6ms
568
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 31.2ms
569
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read state: 1.1ms
570
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read head: 0.0ms
571
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read wrist: 0.0ms
572
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 32.4ms
573
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 31.9ms
574
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
575
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05165075, dtype=float32), 'left.joint_1.pos': Array(1.2588282, dtype=float32), 'left.joint_2.pos': Array(1.0065327, dtype=float32), 'left.joint_3.pos': Array(-1.3184966, dtype=float32), 'left.joint_4.pos': Array(-9.2490955e-06, dtype=float32), 'left.joint_5.pos': Array(0.05164631, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07423895, dtype=float32), 'right.joint_1.pos': Array(0.67932093, dtype=float32), 'right.joint_2.pos': Array(0.909684, dtype=float32), 'right.joint_3.pos': Array(-1.5718777, dtype=float32), 'right.joint_4.pos': Array(-0.7021837, dtype=float32), 'right.joint_5.pos': Array(-1.3489612, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
576
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting right arm positions: [Array(0.07423895, dtype=float32), Array(0.67932093, dtype=float32), Array(0.909684, dtype=float32), Array(-1.5718777, dtype=float32), Array(-0.7021837, dtype=float32), Array(-1.3489612, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
577
+ 2025y-06m-16d-13h-21m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7032501697540283 -0.702183723449707
578
+ 2025y-06m-16d-13h-21m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3471808433532715 -1.3489612340927124
579
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting left arm positions: [Array(0.05165075, dtype=float32), Array(1.2588282, dtype=float32), Array(1.0065327, dtype=float32), Array(-1.3184966, dtype=float32), Array(-9.2490955e-06, dtype=float32), Array(0.05164631, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
580
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
581
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
582
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 107.0ms
583
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
584
+ 2025y-06m-16d-13h-21m-55s INFO: 🖼️ Updating visualization...
585
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 26.1ms
586
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 31.6ms
587
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read state: 0.8ms
588
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read head: 0.0ms
589
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read wrist: 0.0ms
590
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
591
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
592
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
593
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
594
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05169288, dtype=float32), 'left.joint_1.pos': Array(1.2582046, dtype=float32), 'left.joint_2.pos': Array(1.0061096, dtype=float32), 'left.joint_3.pos': Array(-1.3186971, dtype=float32), 'left.joint_4.pos': Array(-9.3983435e-06, dtype=float32), 'left.joint_5.pos': Array(0.05168839, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07452299, dtype=float32), 'right.joint_1.pos': Array(0.679235, dtype=float32), 'right.joint_2.pos': Array(0.9096917, dtype=float32), 'right.joint_3.pos': Array(-1.5718747, dtype=float32), 'right.joint_4.pos': Array(-0.70241714, dtype=float32), 'right.joint_5.pos': Array(-1.3486807, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
595
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting right arm positions: [Array(0.07452299, dtype=float32), Array(0.679235, dtype=float32), Array(0.9096917, dtype=float32), Array(-1.5718747, dtype=float32), Array(-0.70241714, dtype=float32), Array(-1.3486807, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
596
+ 2025y-06m-16d-13h-21m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3471808433532715 -1.3486807346343994
597
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting left arm positions: [Array(0.05169288, dtype=float32), Array(1.2582046, dtype=float32), Array(1.0061096, dtype=float32), Array(-1.3186971, dtype=float32), Array(-9.3983435e-06, dtype=float32), Array(0.05168839, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
598
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 111.0ms
599
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
600
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 117.3ms
601
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
602
+ 2025y-06m-16d-13h-21m-55s INFO: 🖼️ Updating visualization...
603
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 21.3ms
604
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 21.2ms
605
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 25.3ms
606
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read state: 0.6ms
607
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read head: 0.0ms
608
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read wrist: 0.0ms
609
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
610
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
611
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
612
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05173507, dtype=float32), 'left.joint_1.pos': Array(1.257581, dtype=float32), 'left.joint_2.pos': Array(1.0056868, dtype=float32), 'left.joint_3.pos': Array(-1.3188978, dtype=float32), 'left.joint_4.pos': Array(-9.479594e-06, dtype=float32), 'left.joint_5.pos': Array(0.05173057, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07480548, dtype=float32), 'right.joint_1.pos': Array(0.67915, dtype=float32), 'right.joint_2.pos': Array(0.9096987, dtype=float32), 'right.joint_3.pos': Array(-1.5718716, dtype=float32), 'right.joint_4.pos': Array(-0.7026509, dtype=float32), 'right.joint_5.pos': Array(-1.3484026, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
613
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting right arm positions: [Array(0.07480548, dtype=float32), Array(0.67915, dtype=float32), Array(0.9096987, dtype=float32), Array(-1.5718716, dtype=float32), Array(-0.7026509, dtype=float32), Array(-1.3484026, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
614
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting left arm positions: [Array(0.05173507, dtype=float32), Array(1.257581, dtype=float32), Array(1.0056868, dtype=float32), Array(-1.3188978, dtype=float32), Array(-9.479594e-06, dtype=float32), Array(0.05173057, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
615
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 120.5ms
616
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
617
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 115.7ms
618
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
619
+ 2025y-06m-16d-13h-21m-55s INFO: 🖼️ Updating visualization...
620
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 11.9ms
621
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 19.1ms
622
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
623
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read state: 0.9ms
624
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read head: 0.0ms
625
+ 2025y-06m-16d-13h-21m-55s DEBUG: None Tatbot read wrist: 0.0ms
626
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 31.0ms
627
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
628
+ 2025y-06m-16d-13h-21m-55s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
629
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.05175694, dtype=float32), 'left.joint_1.pos': Array(1.2575908, dtype=float32), 'left.joint_2.pos': Array(1.0294856, dtype=float32), 'left.joint_3.pos': Array(-1.3426911, dtype=float32), 'left.joint_4.pos': Array(2.3871047e-09, dtype=float32), 'left.joint_5.pos': Array(0.05175693, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.10874818, dtype=float32), 'right.joint_1.pos': Array(0.66836935, dtype=float32), 'right.joint_2.pos': Array(0.9362045, dtype=float32), 'right.joint_3.pos': Array(-1.5718373, dtype=float32), 'right.joint_4.pos': Array(-0.69103026, dtype=float32), 'right.joint_5.pos': Array(-1.29876, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
630
+ 2025y-06m-16d-13h-21m-55s DEBUG: 🦾 Setting right arm positions: [Array(0.10874818, dtype=float32), Array(0.66836935, dtype=float32), Array(0.9362045, dtype=float32), Array(-1.5718373, dtype=float32), Array(-0.69103026, dtype=float32), Array(-1.29876, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
631
+ 2025y-06m-16d-13h-21m-58s DEBUG: RealSenseCamera(218622278376) read took: 2830.3ms
632
+ 2025y-06m-16d-13h-21m-58s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
633
+ 2025y-06m-16d-13h-21m-58s DEBUG: RealSenseCamera(230422273017) read took: 2825.9ms
634
+ 2025y-06m-16d-13h-21m-58s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
635
+ 2025y-06m-16d-13h-21m-58s DEBUG: 🦾 Setting left arm positions: [Array(0.05175694, dtype=float32), Array(1.2575908, dtype=float32), Array(1.0294856, dtype=float32), Array(-1.3426911, dtype=float32), Array(2.3871047e-09, dtype=float32), Array(0.05175693, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
636
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(218622278376) read took: 2800.9ms
637
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
638
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(230422273017) read took: 2801.4ms
639
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
640
+ 2025y-06m-16d-13h-22m-01s INFO: 🖼️ Updating visualization...
641
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(218622278376) read took: 7.5ms
642
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(230422273017) read took: 7.5ms
643
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(218622278376) read took: 29.9ms
644
+ 2025y-06m-16d-13h-22m-01s DEBUG: RealSenseCamera(230422273017) read took: 34.5ms
645
+ 2025y-06m-16d-13h-22m-01s INFO: 🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/calibration-1750098050/logs/episode_000000.txt
logs/episode_000001.txt ADDED
@@ -0,0 +1,636 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2025y-06m-16d-13h-22m-02s INFO: calculating paths
2
+ 2025y-06m-16d-13h-22m-02s DEBUG: RealSenseCamera(218622278376) read took: 66.5ms
3
+ 2025y-06m-16d-13h-22m-02s INFO: recording path 1 of 12
4
+ 2025y-06m-16d-13h-22m-02s INFO: recording path 1
5
+ 2025y-06m-16d-13h-22m-02s DEBUG: None Tatbot read state: 0.3ms
6
+ 2025y-06m-16d-13h-22m-02s DEBUG: None Tatbot read head: 0.0ms
7
+ 2025y-06m-16d-13h-22m-02s DEBUG: None Tatbot read wrist: 0.0ms
8
+ 2025y-06m-16d-13h-22m-02s DEBUG: RealSenseCamera(230422273017) read took: 32.8ms
9
+ 2025y-06m-16d-13h-22m-02s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
10
+ 2025y-06m-16d-13h-22m-02s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
11
+ 2025y-06m-16d-13h-22m-03s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06593587, dtype=float32), 'left.joint_1.pos': Array(1.2829988, dtype=float32), 'left.joint_2.pos': Array(1.0470223, dtype=float32), 'left.joint_3.pos': Array(-1.3348198, dtype=float32), 'left.joint_4.pos': Array(5.49814e-08, dtype=float32), 'left.joint_5.pos': Array(0.06593579, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.06212354, dtype=float32), 'right.joint_1.pos': Array(0.6978466, dtype=float32), 'right.joint_2.pos': Array(0.93262416, dtype=float32), 'right.joint_3.pos': Array(-1.5720341, dtype=float32), 'right.joint_4.pos': Array(-0.69490945, dtype=float32), 'right.joint_5.pos': Array(-1.35492, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
12
+ 2025y-06m-16d-13h-22m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.06212354, dtype=float32), Array(0.6978466, dtype=float32), Array(0.93262416, dtype=float32), Array(-1.5720341, dtype=float32), Array(-0.69490945, dtype=float32), Array(-1.35492, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
13
+ 2025y-06m-16d-13h-22m-05s DEBUG: RealSenseCamera(230422273017) read took: 2817.0ms
14
+ 2025y-06m-16d-13h-22m-05s DEBUG: RealSenseCamera(218622278376) read took: 2822.5ms
15
+ 2025y-06m-16d-13h-22m-05s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
16
+ 2025y-06m-16d-13h-22m-05s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
17
+ 2025y-06m-16d-13h-22m-05s DEBUG: 🦾 Setting left arm positions: [Array(0.06593587, dtype=float32), Array(1.2829988, dtype=float32), Array(1.0470223, dtype=float32), Array(-1.3348198, dtype=float32), Array(5.49814e-08, dtype=float32), Array(0.06593579, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
18
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 2801.8ms
19
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
20
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 2801.9ms
21
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
22
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.06694895774126053 0.06593579053878784
23
+ 2025y-06m-16d-13h-22m-08s INFO: 🖼️ Updating visualization...
24
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read state: 1.1ms
25
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read head: 0.0ms
26
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read wrist: 0.0ms
27
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 8.4ms
28
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 14.8ms
29
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
30
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
31
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06578839, dtype=float32), 'left.joint_1.pos': Array(1.2831154, dtype=float32), 'left.joint_2.pos': Array(1.0232722, dtype=float32), 'left.joint_3.pos': Array(-1.3109056, dtype=float32), 'left.joint_4.pos': Array(-6.7356275e-05, dtype=float32), 'left.joint_5.pos': Array(0.06575857, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.02811136, dtype=float32), 'right.joint_1.pos': Array(0.71054864, dtype=float32), 'right.joint_2.pos': Array(0.90658283, dtype=float32), 'right.joint_3.pos': Array(-1.5720675, dtype=float32), 'right.joint_4.pos': Array(-0.7052378, dtype=float32), 'right.joint_5.pos': Array(-1.4057755, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
32
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.02811136, dtype=float32), Array(0.71054864, dtype=float32), Array(0.90658283, dtype=float32), Array(-1.5720675, dtype=float32), Array(-0.7052378, dtype=float32), Array(-1.4057755, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
33
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.06198977679014206 0.028111357241868973
34
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.697528064250946 0.7105486392974854
35
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9325169920921326 0.9065828323364258
36
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.6952391862869263 -0.7052378058433533
37
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3551918268203735 -1.405775547027588
38
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Setting left arm positions: [Array(0.06578839, dtype=float32), Array(1.2831154, dtype=float32), Array(1.0232722, dtype=float32), Array(-1.3109056, dtype=float32), Array(-6.7356275e-05, dtype=float32), Array(0.06575857, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
39
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 114.0ms
40
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
41
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
42
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
43
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 1.0267413854599 1.023272156715393
44
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.3078888654708862 -1.3109055757522583
45
+ 2025y-06m-16d-13h-22m-08s INFO: 🖼️ Updating visualization...
46
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 18.9ms
47
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 23.8ms
48
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read state: 0.8ms
49
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read head: 0.0ms
50
+ 2025y-06m-16d-13h-22m-08s DEBUG: None Tatbot read wrist: 0.0ms
51
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
52
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
53
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
54
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 37.5ms
55
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06589125, dtype=float32), 'left.joint_1.pos': Array(1.2818762, dtype=float32), 'left.joint_2.pos': Array(1.0224015, dtype=float32), 'left.joint_3.pos': Array(-1.3112742, dtype=float32), 'left.joint_4.pos': Array(-6.8032925e-05, dtype=float32), 'left.joint_5.pos': Array(0.06586086, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.02900271, dtype=float32), 'right.joint_1.pos': Array(0.71015894, dtype=float32), 'right.joint_2.pos': Array(0.90665746, dtype=float32), 'right.joint_3.pos': Array(-1.5720602, dtype=float32), 'right.joint_4.pos': Array(-0.7056062, dtype=float32), 'right.joint_5.pos': Array(-1.4047875, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
56
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.02900271, dtype=float32), Array(0.71015894, dtype=float32), Array(0.90665746, dtype=float32), Array(-1.5720602, dtype=float32), Array(-0.7056062, dtype=float32), Array(-1.4047875, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
57
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.027656977996230125 0.029002713039517403
58
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.7116426229476929 0.7101589441299438
59
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9066574573516846
60
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.568055272102356 -1.572060227394104
61
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.406691074371338 -1.404787540435791
62
+ 2025y-06m-16d-13h-22m-08s DEBUG: 🦾 Setting left arm positions: [Array(0.06589125, dtype=float32), Array(1.2818762, dtype=float32), Array(1.0224015, dtype=float32), Array(-1.3112742, dtype=float32), Array(-6.8032925e-05, dtype=float32), Array(0.06586086, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
63
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 117.0ms
64
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
65
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms
66
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
67
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.283092975616455 1.2818762063980103
68
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 1.024452567100525 1.0224014520645142
69
+ 2025y-06m-16d-13h-22m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.3139925003051758 -1.3112741708755493
70
+ 2025y-06m-16d-13h-22m-08s INFO: 🖼️ Updating visualization...
71
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(218622278376) read took: 15.9ms
72
+ 2025y-06m-16d-13h-22m-08s DEBUG: RealSenseCamera(230422273017) read took: 20.9ms
73
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read state: 1.2ms
74
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read head: 0.0ms
75
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read wrist: 0.0ms
76
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
77
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
78
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
79
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
80
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06594275, dtype=float32), 'left.joint_1.pos': Array(1.2812564, dtype=float32), 'left.joint_2.pos': Array(1.0219667, dtype=float32), 'left.joint_3.pos': Array(-1.3114591, dtype=float32), 'left.joint_4.pos': Array(-6.818348e-05, dtype=float32), 'left.joint_5.pos': Array(0.06591226, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.02944501, dtype=float32), 'right.joint_1.pos': Array(0.7099669, dtype=float32), 'right.joint_2.pos': Array(0.9066943, dtype=float32), 'right.joint_3.pos': Array(-1.5720567, dtype=float32), 'right.joint_4.pos': Array(-0.70579106, dtype=float32), 'right.joint_5.pos': Array(-1.4042984, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
81
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.02944501, dtype=float32), Array(0.7099669, dtype=float32), Array(0.9066943, dtype=float32), Array(-1.5720567, dtype=float32), Array(-0.70579106, dtype=float32), Array(-1.4042984, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
82
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.02841992862522602 0.02944500930607319
83
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9066942930221558
84
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.5707255601882935 -1.5720566511154175
85
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.4063096046447754 -1.4042984247207642
86
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting left arm positions: [Array(0.06594275, dtype=float32), Array(1.2812564, dtype=float32), Array(1.0219667, dtype=float32), Array(-1.3114591, dtype=float32), Array(-6.818348e-05, dtype=float32), Array(0.06591226, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
87
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 116.1ms
88
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
89
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 121.8ms
90
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
91
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2827115058898926 1.2812564373016357
92
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 1.0240710973739624 1.0219666957855225
93
+ 2025y-06m-16d-13h-22m-09s INFO: 🖼️ Updating visualization...
94
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 11.2ms
95
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 17.1ms
96
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read state: 0.7ms
97
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read head: 0.0ms
98
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read wrist: 0.0ms
99
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
100
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
101
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
102
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
103
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06604593, dtype=float32), 'left.joint_1.pos': Array(1.2800167, dtype=float32), 'left.joint_2.pos': Array(1.0210984, dtype=float32), 'left.joint_3.pos': Array(-1.3118304, dtype=float32), 'left.joint_4.pos': Array(-6.889962e-05, dtype=float32), 'left.joint_5.pos': Array(0.06601518, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03032161, dtype=float32), 'right.joint_1.pos': Array(0.7095872, dtype=float32), 'right.joint_2.pos': Array(0.9067661, dtype=float32), 'right.joint_3.pos': Array(-1.5720494, dtype=float32), 'right.joint_4.pos': Array(-0.70616317, dtype=float32), 'right.joint_5.pos': Array(-1.4033303, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
104
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.03032161, dtype=float32), Array(0.7095872, dtype=float32), Array(0.9067661, dtype=float32), Array(-1.5720494, dtype=float32), Array(-0.70616317, dtype=float32), Array(-1.4033303, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
105
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.02880140393972397 0.03032161109149456
106
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.9067661166191101
107
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.405928134918213 -1.4033303260803223
108
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting left arm positions: [Array(0.06604593, dtype=float32), Array(1.2800167, dtype=float32), Array(1.0210984, dtype=float32), Array(-1.3118304, dtype=float32), Array(-6.889962e-05, dtype=float32), Array(0.06601518, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
109
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 112.0ms
110
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
111
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 117.8ms
112
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
113
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.281567096710205 1.2800166606903076
114
+ 2025y-06m-16d-13h-22m-09s INFO: 🖼️ Updating visualization...
115
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 14.3ms
116
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 20.2ms
117
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read state: 0.7ms
118
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read head: 0.0ms
119
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read wrist: 0.0ms
120
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
121
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
122
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
123
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.0ms
124
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06609763, dtype=float32), 'left.joint_1.pos': Array(1.2793969, dtype=float32), 'left.joint_2.pos': Array(1.0206643, dtype=float32), 'left.joint_3.pos': Array(-1.3120164, dtype=float32), 'left.joint_4.pos': Array(-6.923184e-05, dtype=float32), 'left.joint_5.pos': Array(0.06606661, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.0307567, dtype=float32), 'right.joint_1.pos': Array(0.70939994, dtype=float32), 'right.joint_2.pos': Array(0.9068014, dtype=float32), 'right.joint_3.pos': Array(-1.5720458, dtype=float32), 'right.joint_4.pos': Array(-0.70634997, dtype=float32), 'right.joint_5.pos': Array(-1.4028507, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
125
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.0307567, dtype=float32), Array(0.70939994, dtype=float32), Array(0.9068014, dtype=float32), Array(-1.5720458, dtype=float32), Array(-0.70634997, dtype=float32), Array(-1.4028507, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
126
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.9068014025688171
127
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.404402256011963 -1.4028507471084595
128
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting left arm positions: [Array(0.06609763, dtype=float32), Array(1.2793969, dtype=float32), Array(1.0206643, dtype=float32), Array(-1.3120164, dtype=float32), Array(-6.923184e-05, dtype=float32), Array(0.06606661, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
129
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 112.7ms
130
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
131
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2804226875305176 1.279396891593933
132
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 119.3ms
133
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
134
+ 2025y-06m-16d-13h-22m-09s INFO: 🖼️ Updating visualization...
135
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 13.7ms
136
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 20.1ms
137
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read state: 0.3ms
138
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read head: 0.0ms
139
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read wrist: 0.0ms
140
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
141
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
142
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
143
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
144
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06620149, dtype=float32), 'left.joint_1.pos': Array(1.278157, dtype=float32), 'left.joint_2.pos': Array(1.0197983, dtype=float32), 'left.joint_3.pos': Array(-1.3123902, dtype=float32), 'left.joint_4.pos': Array(-6.988659e-05, dtype=float32), 'left.joint_5.pos': Array(0.06617025, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03161902, dtype=float32), 'right.joint_1.pos': Array(0.70903087, dtype=float32), 'right.joint_2.pos': Array(0.9068708, dtype=float32), 'right.joint_3.pos': Array(-1.5720387, dtype=float32), 'right.joint_4.pos': Array(-0.70672613, dtype=float32), 'right.joint_5.pos': Array(-1.401902, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
145
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.03161902, dtype=float32), Array(0.70903087, dtype=float32), Array(0.9068708, dtype=float32), Array(-1.5720387, dtype=float32), Array(-0.70672613, dtype=float32), Array(-1.401902, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
146
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9058136940002441 0.9068707823753357
147
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.4032578468322754 -1.4019019603729248
148
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting left arm positions: [Array(0.06620149, dtype=float32), Array(1.278157, dtype=float32), Array(1.0197983, dtype=float32), Array(-1.3123902, dtype=float32), Array(-6.988659e-05, dtype=float32), Array(0.06617025, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
149
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 114.1ms
150
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 119.6ms
151
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
152
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
153
+ 2025y-06m-16d-13h-22m-09s INFO: 🖼️ Updating visualization...
154
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 12.4ms
155
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 18.0ms
156
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read state: 0.9ms
157
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read head: 0.0ms
158
+ 2025y-06m-16d-13h-22m-09s DEBUG: None Tatbot read wrist: 0.0ms
159
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
160
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
161
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
162
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
163
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06625345, dtype=float32), 'left.joint_1.pos': Array(1.2775369, dtype=float32), 'left.joint_2.pos': Array(1.0193655, dtype=float32), 'left.joint_3.pos': Array(-1.3125777, dtype=float32), 'left.joint_4.pos': Array(-7.03352e-05, dtype=float32), 'left.joint_5.pos': Array(0.06622203, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03204679, dtype=float32), 'right.joint_1.pos': Array(0.7088487, dtype=float32), 'right.joint_2.pos': Array(0.906905, dtype=float32), 'right.joint_3.pos': Array(-1.5720351, dtype=float32), 'right.joint_4.pos': Array(-0.7069146, dtype=float32), 'right.joint_5.pos': Array(-1.401432, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
164
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.03204679, dtype=float32), Array(0.7088487, dtype=float32), Array(0.906905, dtype=float32), Array(-1.5720351, dtype=float32), Array(-0.7069146, dtype=float32), Array(-1.401432, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
165
+ 2025y-06m-16d-13h-22m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.4024949073791504 -1.4014320373535156
166
+ 2025y-06m-16d-13h-22m-09s DEBUG: 🦾 Setting left arm positions: [Array(0.06625345, dtype=float32), Array(1.2775369, dtype=float32), Array(1.0193655, dtype=float32), Array(-1.3125777, dtype=float32), Array(-7.03352e-05, dtype=float32), Array(0.06622203, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
167
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 118.3ms
168
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 113.0ms
169
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
170
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
171
+ 2025y-06m-16d-13h-22m-09s INFO: 🖼️ Updating visualization...
172
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(218622278376) read took: 13.8ms
173
+ 2025y-06m-16d-13h-22m-09s DEBUG: RealSenseCamera(230422273017) read took: 19.1ms
174
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read state: 0.6ms
175
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read head: 0.0ms
176
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read wrist: 0.0ms
177
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
178
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
179
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
180
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 40.2ms
181
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06635749, dtype=float32), 'left.joint_1.pos': Array(1.2762958, dtype=float32), 'left.joint_2.pos': Array(1.0185008, dtype=float32), 'left.joint_3.pos': Array(-1.312954, dtype=float32), 'left.joint_4.pos': Array(-7.100323e-05, dtype=float32), 'left.joint_5.pos': Array(0.06632572, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03289565, dtype=float32), 'right.joint_1.pos': Array(0.7084894, dtype=float32), 'right.joint_2.pos': Array(0.9069722, dtype=float32), 'right.joint_3.pos': Array(-1.5720279, dtype=float32), 'right.joint_4.pos': Array(-0.7072942, dtype=float32), 'right.joint_5.pos': Array(-1.4005015, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
182
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.03289565, dtype=float32), Array(0.7084894, dtype=float32), Array(0.9069722, dtype=float32), Array(-1.5720279, dtype=float32), Array(-0.7072942, dtype=float32), Array(-1.4005015, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
183
+ 2025y-06m-16d-13h-22m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.03185320645570755 0.03289565071463585
184
+ 2025y-06m-16d-13h-22m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.4021133184432983 -1.4005014896392822
185
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting left arm positions: [Array(0.06635749, dtype=float32), Array(1.2762958, dtype=float32), Array(1.0185008, dtype=float32), Array(-1.312954, dtype=float32), Array(-7.100323e-05, dtype=float32), Array(0.06632572, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
186
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 103.2ms
187
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 115.9ms
188
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
189
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
190
+ 2025y-06m-16d-13h-22m-10s INFO: 🖼️ Updating visualization...
191
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 16.9ms
192
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 22.4ms
193
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read state: 0.8ms
194
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read head: 0.0ms
195
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read wrist: 0.0ms
196
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
197
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
198
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
199
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.8ms
200
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06641, dtype=float32), 'left.joint_1.pos': Array(1.2756758, dtype=float32), 'left.joint_2.pos': Array(1.0180691, dtype=float32), 'left.joint_3.pos': Array(-1.3131423, dtype=float32), 'left.joint_4.pos': Array(-7.110041e-05, dtype=float32), 'left.joint_5.pos': Array(0.06637792, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03331585, dtype=float32), 'right.joint_1.pos': Array(0.7083125, dtype=float32), 'right.joint_2.pos': Array(0.90700483, dtype=float32), 'right.joint_3.pos': Array(-1.5720243, dtype=float32), 'right.joint_4.pos': Array(-0.70748514, dtype=float32), 'right.joint_5.pos': Array(-1.4000419, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
201
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.03331585, dtype=float32), Array(0.7083125, dtype=float32), Array(0.90700483, dtype=float32), Array(-1.5720243, dtype=float32), Array(-0.70748514, dtype=float32), Array(-1.4000419, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
202
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting left arm positions: [Array(0.06641, dtype=float32), Array(1.2756758, dtype=float32), Array(1.0180691, dtype=float32), Array(-1.3131423, dtype=float32), Array(-7.110041e-05, dtype=float32), Array(0.06637792, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
203
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 103.4ms
204
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
205
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 113.0ms
206
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
207
+ 2025y-06m-16d-13h-22m-10s INFO: 🖼️ Updating visualization...
208
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 20.0ms
209
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 25.8ms
210
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read state: 0.6ms
211
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read head: 0.0ms
212
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read wrist: 0.0ms
213
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
214
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
215
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
216
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 35.1ms
217
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06651454, dtype=float32), 'left.joint_1.pos': Array(1.2744349, dtype=float32), 'left.joint_2.pos': Array(1.0172065, dtype=float32), 'left.joint_3.pos': Array(-1.3135208, dtype=float32), 'left.joint_4.pos': Array(-7.186839e-05, dtype=float32), 'left.joint_5.pos': Array(0.06648199, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03415013, dtype=float32), 'right.joint_1.pos': Array(0.70796317, dtype=float32), 'right.joint_2.pos': Array(0.9070692, dtype=float32), 'right.joint_3.pos': Array(-1.5720173, dtype=float32), 'right.joint_4.pos': Array(-0.70786846, dtype=float32), 'right.joint_5.pos': Array(-1.399131, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
218
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.03415013, dtype=float32), Array(0.70796317, dtype=float32), Array(0.9070692, dtype=float32), Array(-1.5720173, dtype=float32), Array(-0.70786846, dtype=float32), Array(-1.399131, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
219
+ 2025y-06m-16d-13h-22m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.03299763426184654 0.0341501347720623
220
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting left arm positions: [Array(0.06651454, dtype=float32), Array(1.2744349, dtype=float32), Array(1.0172065, dtype=float32), Array(-1.3135208, dtype=float32), Array(-7.186839e-05, dtype=float32), Array(0.06648199, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
221
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms
222
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 103.7ms
223
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
224
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
225
+ 2025y-06m-16d-13h-22m-10s INFO: 🖼️ Updating visualization...
226
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 21.2ms
227
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 26.5ms
228
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read state: 0.5ms
229
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read head: 0.0ms
230
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read wrist: 0.0ms
231
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
232
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
233
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
234
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 36.1ms
235
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06656714, dtype=float32), 'left.joint_1.pos': Array(1.273814, dtype=float32), 'left.joint_2.pos': Array(1.0167755, dtype=float32), 'left.joint_3.pos': Array(-1.3137105, dtype=float32), 'left.joint_4.pos': Array(-7.2416835e-05, dtype=float32), 'left.joint_5.pos': Array(0.06653447, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03456415, dtype=float32), 'right.joint_1.pos': Array(0.707791, dtype=float32), 'right.joint_2.pos': Array(0.90710133, dtype=float32), 'right.joint_3.pos': Array(-1.5720139, dtype=float32), 'right.joint_4.pos': Array(-0.7080609, dtype=float32), 'right.joint_5.pos': Array(-1.3986795, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
236
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.03456415, dtype=float32), Array(0.707791, dtype=float32), Array(0.90710133, dtype=float32), Array(-1.5720139, dtype=float32), Array(-0.7080609, dtype=float32), Array(-1.3986795, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
237
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting left arm positions: [Array(0.06656714, dtype=float32), Array(1.273814, dtype=float32), Array(1.0167755, dtype=float32), Array(-1.3137105, dtype=float32), Array(-7.2416835e-05, dtype=float32), Array(0.06653447, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
238
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 103.7ms
239
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 112.5ms
240
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
241
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
242
+ 2025y-06m-16d-13h-22m-10s INFO: 🖼️ Updating visualization...
243
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 20.8ms
244
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 25.5ms
245
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read state: 0.9ms
246
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read head: 0.0ms
247
+ 2025y-06m-16d-13h-22m-10s DEBUG: None Tatbot read wrist: 0.0ms
248
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
249
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
250
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
251
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 34.9ms
252
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06667206, dtype=float32), 'left.joint_1.pos': Array(1.2725724, dtype=float32), 'left.joint_2.pos': Array(1.0159153, dtype=float32), 'left.joint_3.pos': Array(-1.3140918, dtype=float32), 'left.joint_4.pos': Array(-7.303042e-05, dtype=float32), 'left.joint_5.pos': Array(0.06663901, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03538456, dtype=float32), 'right.joint_1.pos': Array(0.70745176, dtype=float32), 'right.joint_2.pos': Array(0.907163, dtype=float32), 'right.joint_3.pos': Array(-1.5720068, dtype=float32), 'right.joint_4.pos': Array(-0.7084481, dtype=float32), 'right.joint_5.pos': Array(-1.3977873, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
253
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.03538456, dtype=float32), Array(0.70745176, dtype=float32), Array(0.907163, dtype=float32), Array(-1.5720068, dtype=float32), Array(-0.7084481, dtype=float32), Array(-1.3977873, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
254
+ 2025y-06m-16d-13h-22m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7074463963508606 -0.7084481120109558
255
+ 2025y-06m-16d-13h-22m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3990615606307983 -1.39778733253479
256
+ 2025y-06m-16d-13h-22m-10s DEBUG: 🦾 Setting left arm positions: [Array(0.06667206, dtype=float32), Array(1.2725724, dtype=float32), Array(1.0159153, dtype=float32), Array(-1.3140918, dtype=float32), Array(-7.303042e-05, dtype=float32), Array(0.06663901, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
257
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 113.5ms
258
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
259
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 104.4ms
260
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
261
+ 2025y-06m-16d-13h-22m-10s INFO: 🖼️ Updating visualization...
262
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(218622278376) read took: 19.5ms
263
+ 2025y-06m-16d-13h-22m-10s DEBUG: RealSenseCamera(230422273017) read took: 24.0ms
264
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read state: 1.2ms
265
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read head: 0.0ms
266
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read wrist: 0.0ms
267
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
268
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
269
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
270
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 34.1ms
271
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.0667778, dtype=float32), 'left.joint_1.pos': Array(1.2713305, dtype=float32), 'left.joint_2.pos': Array(1.0150557, dtype=float32), 'left.joint_3.pos': Array(-1.314474, dtype=float32), 'left.joint_4.pos': Array(-7.382399e-05, dtype=float32), 'left.joint_5.pos': Array(0.06674422, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03619585, dtype=float32), 'right.joint_1.pos': Array(0.7071188, dtype=float32), 'right.joint_2.pos': Array(0.9072237, dtype=float32), 'right.joint_3.pos': Array(-1.5719998, dtype=float32), 'right.joint_4.pos': Array(-0.70883775, dtype=float32), 'right.joint_5.pos': Array(-1.3969072, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
272
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.03619585, dtype=float32), Array(0.7071188, dtype=float32), Array(0.9072237, dtype=float32), Array(-1.5719998, dtype=float32), Array(-0.70883775, dtype=float32), Array(-1.3969072, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
273
+ 2025y-06m-16d-13h-22m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3986800909042358 -1.3969072103500366
274
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting left arm positions: [Array(0.0667778, dtype=float32), Array(1.2713305, dtype=float32), Array(1.0150557, dtype=float32), Array(-1.314474, dtype=float32), Array(-7.382399e-05, dtype=float32), Array(0.06674422, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
275
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 113.3ms
276
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
277
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 104.6ms
278
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
279
+ 2025y-06m-16d-13h-22m-11s INFO: 🖼️ Updating visualization...
280
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 19.7ms
281
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 24.8ms
282
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read state: 0.7ms
283
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read head: 0.0ms
284
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read wrist: 0.0ms
285
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
286
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
287
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
288
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.9ms
289
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06683041, dtype=float32), 'left.joint_1.pos': Array(1.2707093, dtype=float32), 'left.joint_2.pos': Array(1.0146263, dtype=float32), 'left.joint_3.pos': Array(-1.3146659, dtype=float32), 'left.joint_4.pos': Array(-7.4077354e-05, dtype=float32), 'left.joint_5.pos': Array(0.06679681, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03659816, dtype=float32), 'right.joint_1.pos': Array(0.70695484, dtype=float32), 'right.joint_2.pos': Array(0.9072535, dtype=float32), 'right.joint_3.pos': Array(-1.5719963, dtype=float32), 'right.joint_4.pos': Array(-0.7090333, dtype=float32), 'right.joint_5.pos': Array(-1.3964717, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
290
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.03659816, dtype=float32), Array(0.70695484, dtype=float32), Array(0.9072535, dtype=float32), Array(-1.5719963, dtype=float32), Array(-0.7090333, dtype=float32), Array(-1.3964717, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
291
+ 2025y-06m-16d-13h-22m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7108796834945679 -0.7090333104133606
292
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting left arm positions: [Array(0.06683041, dtype=float32), Array(1.2707093, dtype=float32), Array(1.0146263, dtype=float32), Array(-1.3146659, dtype=float32), Array(-7.4077354e-05, dtype=float32), Array(0.06679681, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
293
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 112.3ms
294
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 103.4ms
295
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
296
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
297
+ 2025y-06m-16d-13h-22m-11s INFO: 🖼️ Updating visualization...
298
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 19.9ms
299
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 25.3ms
300
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read state: 1.1ms
301
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read head: 0.0ms
302
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read wrist: 0.0ms
303
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
304
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
305
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
306
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
307
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06693624, dtype=float32), 'left.joint_1.pos': Array(1.2694669, dtype=float32), 'left.joint_2.pos': Array(1.013769, dtype=float32), 'left.joint_3.pos': Array(-1.3150512, dtype=float32), 'left.joint_4.pos': Array(-7.463673e-05, dtype=float32), 'left.joint_5.pos': Array(0.0669023, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03739591, dtype=float32), 'right.joint_1.pos': Array(0.7066317, dtype=float32), 'right.joint_2.pos': Array(0.90731174, dtype=float32), 'right.joint_3.pos': Array(-1.5719894, dtype=float32), 'right.joint_4.pos': Array(-0.70942676, dtype=float32), 'right.joint_5.pos': Array(-1.39561, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
308
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.03739591, dtype=float32), Array(0.7066317, dtype=float32), Array(0.90731174, dtype=float32), Array(-1.5719894, dtype=float32), Array(-0.70942676, dtype=float32), Array(-1.39561, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
309
+ 2025y-06m-16d-13h-22m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.7104982137680054 -0.709426760673523
310
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting left arm positions: [Array(0.06693624, dtype=float32), Array(1.2694669, dtype=float32), Array(1.013769, dtype=float32), Array(-1.3150512, dtype=float32), Array(-7.463673e-05, dtype=float32), Array(0.0669023, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
311
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 119.2ms
312
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 114.1ms
313
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
314
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
315
+ 2025y-06m-16d-13h-22m-11s INFO: 🖼️ Updating visualization...
316
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 13.2ms
317
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 18.6ms
318
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read state: 0.4ms
319
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read head: 0.0ms
320
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read wrist: 0.0ms
321
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
322
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
323
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
324
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
325
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06698939, dtype=float32), 'left.joint_1.pos': Array(1.2688453, dtype=float32), 'left.joint_2.pos': Array(1.0133406, dtype=float32), 'left.joint_3.pos': Array(-1.3152442, dtype=float32), 'left.joint_4.pos': Array(-7.512979e-05, dtype=float32), 'left.joint_5.pos': Array(0.06695538, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03779181, dtype=float32), 'right.joint_1.pos': Array(0.70647216, dtype=float32), 'right.joint_2.pos': Array(0.9073398, dtype=float32), 'right.joint_3.pos': Array(-1.571986, dtype=float32), 'right.joint_4.pos': Array(-0.70962435, dtype=float32), 'right.joint_5.pos': Array(-1.3951832, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
326
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.03779181, dtype=float32), Array(0.70647216, dtype=float32), Array(0.9073398, dtype=float32), Array(-1.571986, dtype=float32), Array(-0.70962435, dtype=float32), Array(-1.3951832, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
327
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting left arm positions: [Array(0.06698939, dtype=float32), Array(1.2688453, dtype=float32), Array(1.0133406, dtype=float32), Array(-1.3152442, dtype=float32), Array(-7.512979e-05, dtype=float32), Array(0.06695538, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
328
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 112.1ms
329
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
330
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 117.7ms
331
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
332
+ 2025y-06m-16d-13h-22m-11s INFO: 🖼️ Updating visualization...
333
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 15.0ms
334
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 20.9ms
335
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read state: 0.9ms
336
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read head: 0.0ms
337
+ 2025y-06m-16d-13h-22m-11s DEBUG: None Tatbot read wrist: 0.0ms
338
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
339
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
340
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
341
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
342
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.0670957, dtype=float32), 'left.joint_1.pos': Array(1.2676024, dtype=float32), 'left.joint_2.pos': Array(1.0124856, dtype=float32), 'left.joint_3.pos': Array(-1.3156322, dtype=float32), 'left.joint_4.pos': Array(-7.577802e-05, dtype=float32), 'left.joint_5.pos': Array(0.06706119, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03857629, dtype=float32), 'right.joint_1.pos': Array(0.70615846, dtype=float32), 'right.joint_2.pos': Array(0.9073958, dtype=float32), 'right.joint_3.pos': Array(-1.5719792, dtype=float32), 'right.joint_4.pos': Array(-0.7100215, dtype=float32), 'right.joint_5.pos': Array(-1.3943393, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
343
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.03857629, dtype=float32), Array(0.70615846, dtype=float32), Array(0.9073958, dtype=float32), Array(-1.5719792, dtype=float32), Array(-0.7100215, dtype=float32), Array(-1.3943393, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
344
+ 2025y-06m-16d-13h-22m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3956283330917358 -1.3943393230438232
345
+ 2025y-06m-16d-13h-22m-11s DEBUG: 🦾 Setting left arm positions: [Array(0.0670957, dtype=float32), Array(1.2676024, dtype=float32), Array(1.0124856, dtype=float32), Array(-1.3156322, dtype=float32), Array(-7.577802e-05, dtype=float32), Array(0.06706119, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
346
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 113.9ms
347
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
348
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 120.2ms
349
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
350
+ 2025y-06m-16d-13h-22m-11s INFO: 🖼️ Updating visualization...
351
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(218622278376) read took: 12.8ms
352
+ 2025y-06m-16d-13h-22m-11s DEBUG: RealSenseCamera(230422273017) read took: 19.1ms
353
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read state: 1.2ms
354
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read head: 0.0ms
355
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read wrist: 0.0ms
356
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
357
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
358
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
359
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
360
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06714907, dtype=float32), 'left.joint_1.pos': Array(1.2669806, dtype=float32), 'left.joint_2.pos': Array(1.0120581, dtype=float32), 'left.joint_3.pos': Array(-1.3158264, dtype=float32), 'left.joint_4.pos': Array(-7.626413e-05, dtype=float32), 'left.joint_5.pos': Array(0.06711426, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03896503, dtype=float32), 'right.joint_1.pos': Array(0.70600384, dtype=float32), 'right.joint_2.pos': Array(0.9074232, dtype=float32), 'right.joint_3.pos': Array(-1.5719757, dtype=float32), 'right.joint_4.pos': Array(-0.7102207, dtype=float32), 'right.joint_5.pos': Array(-1.3939221, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
361
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.03896503, dtype=float32), Array(0.70600384, dtype=float32), Array(0.9074232, dtype=float32), Array(-1.5719757, dtype=float32), Array(-0.7102207, dtype=float32), Array(-1.3939221, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
362
+ 2025y-06m-16d-13h-22m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3952468633651733 -1.3939220905303955
363
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting left arm positions: [Array(0.06714907, dtype=float32), Array(1.2669806, dtype=float32), Array(1.0120581, dtype=float32), Array(-1.3158264, dtype=float32), Array(-7.626413e-05, dtype=float32), Array(0.06711426, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
364
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 117.8ms
365
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 112.4ms
366
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
367
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
368
+ 2025y-06m-16d-13h-22m-12s INFO: 🖼️ Updating visualization...
369
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 15.1ms
370
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 20.4ms
371
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read state: 0.6ms
372
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read head: 0.0ms
373
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read wrist: 0.0ms
374
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
375
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
376
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
377
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
378
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06725612, dtype=float32), 'left.joint_1.pos': Array(1.265737, dtype=float32), 'left.joint_2.pos': Array(1.0112045, dtype=float32), 'left.joint_3.pos': Array(-1.3162163, dtype=float32), 'left.joint_4.pos': Array(-7.6951226e-05, dtype=float32), 'left.joint_5.pos': Array(0.06722096, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.03973711, dtype=float32), 'right.joint_1.pos': Array(0.70569915, dtype=float32), 'right.joint_2.pos': Array(0.90747684, dtype=float32), 'right.joint_3.pos': Array(-1.5719689, dtype=float32), 'right.joint_4.pos': Array(-0.7106211, dtype=float32), 'right.joint_5.pos': Array(-1.3930951, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
379
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.03973711, dtype=float32), Array(0.70569915, dtype=float32), Array(0.90747684, dtype=float32), Array(-1.5719689, dtype=float32), Array(-0.7106211, dtype=float32), Array(-1.3930951, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
380
+ 2025y-06m-16d-13h-22m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3948653936386108 -1.3930951356887817
381
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting left arm positions: [Array(0.06725612, dtype=float32), Array(1.265737, dtype=float32), Array(1.0112045, dtype=float32), Array(-1.3162163, dtype=float32), Array(-7.6951226e-05, dtype=float32), Array(0.06722096, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
382
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 118.5ms
383
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
384
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 113.7ms
385
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
386
+ 2025y-06m-16d-13h-22m-12s INFO: 🖼️ Updating visualization...
387
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 14.5ms
388
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 19.3ms
389
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read state: 0.8ms
390
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read head: 0.0ms
391
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read wrist: 0.0ms
392
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
393
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
394
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
395
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
396
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06730959, dtype=float32), 'left.joint_1.pos': Array(1.2651153, dtype=float32), 'left.joint_2.pos': Array(1.0107782, dtype=float32), 'left.joint_3.pos': Array(-1.316412, dtype=float32), 'left.joint_4.pos': Array(-7.740778e-05, dtype=float32), 'left.joint_5.pos': Array(0.06727417, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04011886, dtype=float32), 'right.joint_1.pos': Array(0.7055495, dtype=float32), 'right.joint_2.pos': Array(0.90750283, dtype=float32), 'right.joint_3.pos': Array(-1.5719655, dtype=float32), 'right.joint_4.pos': Array(-0.7108225, dtype=float32), 'right.joint_5.pos': Array(-1.3926872, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
397
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.04011886, dtype=float32), Array(0.7055495, dtype=float32), Array(0.90750283, dtype=float32), Array(-1.5719655, dtype=float32), Array(-0.7108225, dtype=float32), Array(-1.3926872, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
398
+ 2025y-06m-16d-13h-22m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3937208652496338 -1.392687201499939
399
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting left arm positions: [Array(0.06730959, dtype=float32), Array(1.2651153, dtype=float32), Array(1.0107782, dtype=float32), Array(-1.316412, dtype=float32), Array(-7.740778e-05, dtype=float32), Array(0.06727417, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
400
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 115.7ms
401
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
402
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
403
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
404
+ 2025y-06m-16d-13h-22m-12s INFO: 🖼️ Updating visualization...
405
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 17.1ms
406
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 22.2ms
407
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read state: 0.8ms
408
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read head: 0.0ms
409
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read wrist: 0.0ms
410
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
411
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
412
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
413
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
414
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06741706, dtype=float32), 'left.joint_1.pos': Array(1.2638714, dtype=float32), 'left.joint_2.pos': Array(1.0099267, dtype=float32), 'left.joint_3.pos': Array(-1.3168043, dtype=float32), 'left.joint_4.pos': Array(-7.8092475e-05, dtype=float32), 'left.joint_5.pos': Array(0.06738121, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04087772, dtype=float32), 'right.joint_1.pos': Array(0.70525396, dtype=float32), 'right.joint_2.pos': Array(0.90755403, dtype=float32), 'right.joint_3.pos': Array(-1.5719588, dtype=float32), 'right.joint_4.pos': Array(-0.7112266, dtype=float32), 'right.joint_5.pos': Array(-1.3918782, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
415
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.04087772, dtype=float32), Array(0.70525396, dtype=float32), Array(0.90755403, dtype=float32), Array(-1.5719588, dtype=float32), Array(-0.7112266, dtype=float32), Array(-1.3918782, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
416
+ 2025y-06m-16d-13h-22m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.0398641936480999 0.04087771847844124
417
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting left arm positions: [Array(0.06741706, dtype=float32), Array(1.2638714, dtype=float32), Array(1.0099267, dtype=float32), Array(-1.3168043, dtype=float32), Array(-7.8092475e-05, dtype=float32), Array(0.06738121, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
418
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 112.1ms
419
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
420
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 118.1ms
421
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
422
+ 2025y-06m-16d-13h-22m-12s INFO: 🖼️ Updating visualization...
423
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 15.0ms
424
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 20.4ms
425
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read state: 0.8ms
426
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read head: 0.0ms
427
+ 2025y-06m-16d-13h-22m-12s DEBUG: None Tatbot read wrist: 0.0ms
428
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
429
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
430
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
431
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
432
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06752473, dtype=float32), 'left.joint_1.pos': Array(1.2626268, dtype=float32), 'left.joint_2.pos': Array(1.0090764, dtype=float32), 'left.joint_3.pos': Array(-1.3171985, dtype=float32), 'left.joint_4.pos': Array(-7.891157e-05, dtype=float32), 'left.joint_5.pos': Array(0.06748855, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04162802, dtype=float32), 'right.joint_1.pos': Array(0.70496464, dtype=float32), 'right.joint_2.pos': Array(0.9076038, dtype=float32), 'right.joint_3.pos': Array(-1.571952, dtype=float32), 'right.joint_4.pos': Array(-0.71163297, dtype=float32), 'right.joint_5.pos': Array(-1.3910805, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
433
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.04162802, dtype=float32), Array(0.70496464, dtype=float32), Array(0.9076038, dtype=float32), Array(-1.571952, dtype=float32), Array(-0.71163297, dtype=float32), Array(-1.3910805, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
434
+ 2025y-06m-16d-13h-22m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.040627144277095795 0.041628021746873856
435
+ 2025y-06m-16d-13h-22m-12s DEBUG: 🦾 Setting left arm positions: [Array(0.06752473, dtype=float32), Array(1.2626268, dtype=float32), Array(1.0090764, dtype=float32), Array(-1.3171985, dtype=float32), Array(-7.891157e-05, dtype=float32), Array(0.06748855, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
436
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 112.5ms
437
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 117.9ms
438
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
439
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
440
+ 2025y-06m-16d-13h-22m-12s INFO: 🖼️ Updating visualization...
441
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(218622278376) read took: 14.8ms
442
+ 2025y-06m-16d-13h-22m-12s DEBUG: RealSenseCamera(230422273017) read took: 20.3ms
443
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read state: 1.2ms
444
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read head: 0.0ms
445
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read wrist: 0.0ms
446
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
447
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
448
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.5ms
449
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
450
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06757885, dtype=float32), 'left.joint_1.pos': Array(1.2620046, dtype=float32), 'left.joint_2.pos': Array(1.0086516, dtype=float32), 'left.joint_3.pos': Array(-1.3173962, dtype=float32), 'left.joint_4.pos': Array(-7.9343736e-05, dtype=float32), 'left.joint_5.pos': Array(0.06754237, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04199938, dtype=float32), 'right.joint_1.pos': Array(0.70482236, dtype=float32), 'right.joint_2.pos': Array(0.9076277, dtype=float32), 'right.joint_3.pos': Array(-1.5719486, dtype=float32), 'right.joint_4.pos': Array(-0.7118374, dtype=float32), 'right.joint_5.pos': Array(-1.3906868, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
451
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.04199938, dtype=float32), Array(0.70482236, dtype=float32), Array(0.9076277, dtype=float32), Array(-1.5719486, dtype=float32), Array(-0.7118374, dtype=float32), Array(-1.3906868, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
452
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting left arm positions: [Array(0.06757885, dtype=float32), Array(1.2620046, dtype=float32), Array(1.0086516, dtype=float32), Array(-1.3173962, dtype=float32), Array(-7.9343736e-05, dtype=float32), Array(0.06754237, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
453
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 114.8ms
454
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 120.1ms
455
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
456
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
457
+ 2025y-06m-16d-13h-22m-13s INFO: 🖼️ Updating visualization...
458
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 12.2ms
459
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 17.5ms
460
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read state: 1.1ms
461
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read head: 0.0ms
462
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read wrist: 0.0ms
463
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
464
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
465
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
466
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
467
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06768712, dtype=float32), 'left.joint_1.pos': Array(1.2607597, dtype=float32), 'left.joint_2.pos': Array(1.0078033, dtype=float32), 'left.joint_3.pos': Array(-1.3177928, dtype=float32), 'left.joint_4.pos': Array(-7.99298e-05, dtype=float32), 'left.joint_5.pos': Array(0.06765023, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04273678, dtype=float32), 'right.joint_1.pos': Array(0.70454234, dtype=float32), 'right.joint_2.pos': Array(0.9076753, dtype=float32), 'right.joint_3.pos': Array(-1.571942, dtype=float32), 'right.joint_4.pos': Array(-0.7122475, dtype=float32), 'right.joint_5.pos': Array(-1.3899066, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
468
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.04273678, dtype=float32), Array(0.70454234, dtype=float32), Array(0.9076753, dtype=float32), Array(-1.571942, dtype=float32), Array(-0.7122475, dtype=float32), Array(-1.3899066, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
469
+ 2025y-06m-16d-13h-22m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3910505771636963 -1.389906644821167
470
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting left arm positions: [Array(0.06768712, dtype=float32), Array(1.2607597, dtype=float32), Array(1.0078033, dtype=float32), Array(-1.3177928, dtype=float32), Array(-7.99298e-05, dtype=float32), Array(0.06765023, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
471
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 113.7ms
472
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
473
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 119.1ms
474
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
475
+ 2025y-06m-16d-13h-22m-13s INFO: 🖼️ Updating visualization...
476
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 13.9ms
477
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 19.4ms
478
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read state: 0.8ms
479
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read head: 0.0ms
480
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read wrist: 0.0ms
481
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
482
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
483
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
484
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
485
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06774125, dtype=float32), 'left.joint_1.pos': Array(1.2601368, dtype=float32), 'left.joint_2.pos': Array(1.0073797, dtype=float32), 'left.joint_3.pos': Array(-1.3179919, dtype=float32), 'left.joint_4.pos': Array(-8.0436264e-05, dtype=float32), 'left.joint_5.pos': Array(0.06770407, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04310272, dtype=float32), 'right.joint_1.pos': Array(0.704404, dtype=float32), 'right.joint_2.pos': Array(0.9076985, dtype=float32), 'right.joint_3.pos': Array(-1.5719386, dtype=float32), 'right.joint_4.pos': Array(-0.7124532, dtype=float32), 'right.joint_5.pos': Array(-1.3895203, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
486
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.04310272, dtype=float32), Array(0.704404, dtype=float32), Array(0.9076985, dtype=float32), Array(-1.5719386, dtype=float32), Array(-0.7124532, dtype=float32), Array(-1.3895203, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
487
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting left arm positions: [Array(0.06774125, dtype=float32), Array(1.2601368, dtype=float32), Array(1.0073797, dtype=float32), Array(-1.3179919, dtype=float32), Array(-8.0436264e-05, dtype=float32), Array(0.06770407, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
488
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms
489
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 115.5ms
490
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
491
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
492
+ 2025y-06m-16d-13h-22m-13s INFO: 🖼️ Updating visualization...
493
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 17.4ms
494
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 22.8ms
495
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read state: 0.6ms
496
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read head: 0.0ms
497
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read wrist: 0.0ms
498
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
499
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
500
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
501
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
502
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06784978, dtype=float32), 'left.joint_1.pos': Array(1.2588913, dtype=float32), 'left.joint_2.pos': Array(1.0065333, dtype=float32), 'left.joint_3.pos': Array(-1.3183912, dtype=float32), 'left.joint_4.pos': Array(-8.118164e-05, dtype=float32), 'left.joint_5.pos': Array(0.06781233, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04382748, dtype=float32), 'right.joint_1.pos': Array(0.7041326, dtype=float32), 'right.joint_2.pos': Array(0.9077436, dtype=float32), 'right.joint_3.pos': Array(-1.571932, dtype=float32), 'right.joint_4.pos': Array(-0.7128668, dtype=float32), 'right.joint_5.pos': Array(-1.3887575, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
503
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.04382748, dtype=float32), Array(0.7041326, dtype=float32), Array(0.9077436, dtype=float32), Array(-1.571932, dtype=float32), Array(-0.7128668, dtype=float32), Array(-1.3887575, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
504
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting left arm positions: [Array(0.06784978, dtype=float32), Array(1.2588913, dtype=float32), Array(1.0065333, dtype=float32), Array(-1.3183912, dtype=float32), Array(-8.118164e-05, dtype=float32), Array(0.06781233, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
505
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 118.5ms
506
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
507
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 113.2ms
508
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
509
+ 2025y-06m-16d-13h-22m-13s INFO: 🖼️ Updating visualization...
510
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 14.7ms
511
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 19.6ms
512
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read state: 1.2ms
513
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read head: 0.0ms
514
+ 2025y-06m-16d-13h-22m-13s DEBUG: None Tatbot read wrist: 0.0ms
515
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
516
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
517
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
518
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
519
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06790432, dtype=float32), 'left.joint_1.pos': Array(1.2582686, dtype=float32), 'left.joint_2.pos': Array(1.0061105, dtype=float32), 'left.joint_3.pos': Array(-1.318591, dtype=float32), 'left.joint_4.pos': Array(-8.155347e-05, dtype=float32), 'left.joint_5.pos': Array(0.06786682, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04418693, dtype=float32), 'right.joint_1.pos': Array(0.70399934, dtype=float32), 'right.joint_2.pos': Array(0.9077658, dtype=float32), 'right.joint_3.pos': Array(-1.5719287, dtype=float32), 'right.joint_4.pos': Array(-0.71307445, dtype=float32), 'right.joint_5.pos': Array(-1.3883799, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
520
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.04418693, dtype=float32), Array(0.70399934, dtype=float32), Array(0.9077658, dtype=float32), Array(-1.5719287, dtype=float32), Array(-0.71307445, dtype=float32), Array(-1.3883799, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
521
+ 2025y-06m-16d-13h-22m-13s DEBUG: 🦾 Setting left arm positions: [Array(0.06790432, dtype=float32), Array(1.2582686, dtype=float32), Array(1.0061105, dtype=float32), Array(-1.318591, dtype=float32), Array(-8.155347e-05, dtype=float32), Array(0.06786682, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
522
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 111.6ms
523
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 117.9ms
524
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
525
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
526
+ 2025y-06m-16d-13h-22m-13s INFO: 🖼️ Updating visualization...
527
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(218622278376) read took: 15.0ms
528
+ 2025y-06m-16d-13h-22m-13s DEBUG: RealSenseCamera(230422273017) read took: 20.4ms
529
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read state: 0.8ms
530
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read head: 0.0ms
531
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read wrist: 0.0ms
532
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
533
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
534
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
535
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
536
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06801352, dtype=float32), 'left.joint_1.pos': Array(1.2570225, dtype=float32), 'left.joint_2.pos': Array(1.0052662, dtype=float32), 'left.joint_3.pos': Array(-1.3189926, dtype=float32), 'left.joint_4.pos': Array(-8.233881e-05, dtype=float32), 'left.joint_5.pos': Array(0.06797549, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04489971, dtype=float32), 'right.joint_1.pos': Array(0.7037363, dtype=float32), 'right.joint_2.pos': Array(0.90780854, dtype=float32), 'right.joint_3.pos': Array(-1.5719221, dtype=float32), 'right.joint_4.pos': Array(-0.7134913, dtype=float32), 'right.joint_5.pos': Array(-1.3876331, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
537
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.04489971, dtype=float32), Array(0.7037363, dtype=float32), Array(0.90780854, dtype=float32), Array(-1.5719221, dtype=float32), Array(-0.7134913, dtype=float32), Array(-1.3876331, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
538
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting left arm positions: [Array(0.06801352, dtype=float32), Array(1.2570225, dtype=float32), Array(1.0052662, dtype=float32), Array(-1.3189926, dtype=float32), Array(-8.233881e-05, dtype=float32), Array(0.06797549, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
539
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 118.0ms
540
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 112.7ms
541
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
542
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
543
+ 2025y-06m-16d-13h-22m-14s INFO: 🖼️ Updating visualization...
544
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 14.4ms
545
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 19.9ms
546
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read state: 1.0ms
547
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read head: 0.0ms
548
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read wrist: 0.0ms
549
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
550
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
551
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
552
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
553
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06806836, dtype=float32), 'left.joint_1.pos': Array(1.2563996, dtype=float32), 'left.joint_2.pos': Array(1.0048447, dtype=float32), 'left.joint_3.pos': Array(-1.3191943, dtype=float32), 'left.joint_4.pos': Array(-8.286271e-05, dtype=float32), 'left.joint_5.pos': Array(0.06803001, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04525264, dtype=float32), 'right.joint_1.pos': Array(0.70360756, dtype=float32), 'right.joint_2.pos': Array(0.9078295, dtype=float32), 'right.joint_3.pos': Array(-1.5719188, dtype=float32), 'right.joint_4.pos': Array(-0.71370095, dtype=float32), 'right.joint_5.pos': Array(-1.3872644, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
554
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.04525264, dtype=float32), Array(0.70360756, dtype=float32), Array(0.9078295, dtype=float32), Array(-1.5719188, dtype=float32), Array(-0.71370095, dtype=float32), Array(-1.3872644, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
555
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting left arm positions: [Array(0.06806836, dtype=float32), Array(1.2563996, dtype=float32), Array(1.0048447, dtype=float32), Array(-1.3191943, dtype=float32), Array(-8.286271e-05, dtype=float32), Array(0.06803001, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
556
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 119.5ms
557
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 113.9ms
558
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
559
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
560
+ 2025y-06m-16d-13h-22m-14s INFO: 🖼️ Updating visualization...
561
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 12.8ms
562
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 18.1ms
563
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read state: 0.6ms
564
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read head: 0.0ms
565
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read wrist: 0.0ms
566
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
567
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
568
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
569
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.0ms
570
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06817795, dtype=float32), 'left.joint_1.pos': Array(1.2551531, dtype=float32), 'left.joint_2.pos': Array(1.004002, dtype=float32), 'left.joint_3.pos': Array(-1.3195982, dtype=float32), 'left.joint_4.pos': Array(-8.366979e-05, dtype=float32), 'left.joint_5.pos': Array(0.06813922, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04595342, dtype=float32), 'right.joint_1.pos': Array(0.7033532, dtype=float32), 'right.joint_2.pos': Array(0.9078703, dtype=float32), 'right.joint_3.pos': Array(-1.5719123, dtype=float32), 'right.joint_4.pos': Array(-0.7141214, dtype=float32), 'right.joint_5.pos': Array(-1.3865339, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
571
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.04595342, dtype=float32), Array(0.7033532, dtype=float32), Array(0.9078703, dtype=float32), Array(-1.5719123, dtype=float32), Array(-0.7141214, dtype=float32), Array(-1.3865339, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
572
+ 2025y-06m-16d-13h-22m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.04482337832450867 0.0459534227848053
573
+ 2025y-06m-16d-13h-22m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3879988193511963 -1.3865338563919067
574
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting left arm positions: [Array(0.06817795, dtype=float32), Array(1.2551531, dtype=float32), Array(1.004002, dtype=float32), Array(-1.3195982, dtype=float32), Array(-8.366979e-05, dtype=float32), Array(0.06813922, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
575
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 116.7ms
576
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
577
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 122.2ms
578
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
579
+ 2025y-06m-16d-13h-22m-14s INFO: 🖼️ Updating visualization...
580
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 10.9ms
581
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 16.3ms
582
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read state: 0.5ms
583
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read head: 0.0ms
584
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read wrist: 0.0ms
585
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
586
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
587
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
588
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
589
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06839955, dtype=float32), 'left.joint_1.pos': Array(1.2545897, dtype=float32), 'left.joint_2.pos': Array(1.003664, dtype=float32), 'left.joint_3.pos': Array(-1.3198662, dtype=float32), 'left.joint_4.pos': Array(-1.166929e-05, dtype=float32), 'left.joint_5.pos': Array(0.06839353, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04580613, dtype=float32), 'right.joint_1.pos': Array(0.70359665, dtype=float32), 'right.joint_2.pos': Array(0.907755, dtype=float32), 'right.joint_3.pos': Array(-1.5719115, dtype=float32), 'right.joint_4.pos': Array(-0.714548, dtype=float32), 'right.joint_5.pos': Array(-1.3869171, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
590
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.04580613, dtype=float32), Array(0.70359665, dtype=float32), Array(0.907755, dtype=float32), Array(-1.5719115, dtype=float32), Array(-0.714548, dtype=float32), Array(-1.3869171, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
591
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting left arm positions: [Array(0.06839955, dtype=float32), Array(1.2545897, dtype=float32), Array(1.003664, dtype=float32), Array(-1.3198662, dtype=float32), Array(-1.166929e-05, dtype=float32), Array(0.06839353, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
592
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 118.9ms
593
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
594
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 113.9ms
595
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
596
+ 2025y-06m-16d-13h-22m-14s INFO: 🖼️ Updating visualization...
597
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 14.0ms
598
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 19.1ms
599
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read state: 0.5ms
600
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read head: 0.0ms
601
+ 2025y-06m-16d-13h-22m-14s DEBUG: None Tatbot read wrist: 0.0ms
602
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
603
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
604
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
605
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
606
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06851176, dtype=float32), 'left.joint_1.pos': Array(1.2533424, dtype=float32), 'left.joint_2.pos': Array(1.0028235, dtype=float32), 'left.joint_3.pos': Array(-1.3202728, dtype=float32), 'left.joint_4.pos': Array(-1.1744116e-05, dtype=float32), 'left.joint_5.pos': Array(0.0685059, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.04646344, dtype=float32), 'right.joint_1.pos': Array(0.70337415, dtype=float32), 'right.joint_2.pos': Array(0.90778416, dtype=float32), 'right.joint_3.pos': Array(-1.571905, dtype=float32), 'right.joint_4.pos': Array(-0.7149865, dtype=float32), 'right.joint_5.pos': Array(-1.3862505, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
607
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.04646344, dtype=float32), Array(0.70337415, dtype=float32), Array(0.90778416, dtype=float32), Array(-1.571905, dtype=float32), Array(-0.7149865, dtype=float32), Array(-1.3862505, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
608
+ 2025y-06m-16d-13h-22m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -1.3876173496246338 -1.3862504959106445
609
+ 2025y-06m-16d-13h-22m-14s DEBUG: 🦾 Setting left arm positions: [Array(0.06851176, dtype=float32), Array(1.2533424, dtype=float32), Array(1.0028235, dtype=float32), Array(-1.3202728, dtype=float32), Array(-1.1744116e-05, dtype=float32), Array(0.0685059, dtype=float32), Array(0.022, dtype=float32)], goal_time: 0.1
610
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 118.8ms
611
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
612
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 113.7ms
613
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
614
+ 2025y-06m-16d-13h-22m-14s INFO: 🖼️ Updating visualization...
615
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(218622278376) read took: 14.2ms
616
+ 2025y-06m-16d-13h-22m-14s DEBUG: RealSenseCamera(230422273017) read took: 19.4ms
617
+ 2025y-06m-16d-13h-22m-15s DEBUG: None Tatbot read state: 0.3ms
618
+ 2025y-06m-16d-13h-22m-15s DEBUG: None Tatbot read head: 0.0ms
619
+ 2025y-06m-16d-13h-22m-15s DEBUG: None Tatbot read wrist: 0.0ms
620
+ 2025y-06m-16d-13h-22m-15s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
621
+ 2025y-06m-16d-13h-22m-15s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
622
+ 2025y-06m-16d-13h-22m-15s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
623
+ 2025y-06m-16d-13h-22m-15s DEBUG: RealSenseCamera(230422273017) read took: 33.0ms
624
+ 2025y-06m-16d-13h-22m-15s DEBUG: 🦾 Action: {'left.joint_0.pos': Array(0.06851146, dtype=float32), 'left.joint_1.pos': Array(1.2533789, dtype=float32), 'left.joint_2.pos': Array(1.0266352, dtype=float32), 'left.joint_3.pos': Array(-1.3440479, dtype=float32), 'left.joint_4.pos': Array(-1.1862445e-05, dtype=float32), 'left.joint_5.pos': Array(0.06850553, dtype=float32), 'left.gripper.pos': Array(0.022, dtype=float32), 'right.joint_0.pos': Array(0.07543167, dtype=float32), 'right.joint_1.pos': Array(0.69483423, dtype=float32), 'right.joint_2.pos': Array(0.9329605, dtype=float32), 'right.joint_3.pos': Array(-1.5718905, dtype=float32), 'right.joint_4.pos': Array(-0.7063085, dtype=float32), 'right.joint_5.pos': Array(-1.3425579, dtype=float32), 'right.gripper.pos': Array(0.022, dtype=float32)}
625
+ 2025y-06m-16d-13h-22m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.07543167, dtype=float32), Array(0.69483423, dtype=float32), Array(0.9329605, dtype=float32), Array(-1.5718905, dtype=float32), Array(-0.7063085, dtype=float32), Array(-1.3425579, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
626
+ 2025y-06m-16d-13h-22m-17s DEBUG: RealSenseCamera(230422273017) read took: 2810.6ms
627
+ 2025y-06m-16d-13h-22m-17s DEBUG: RealSenseCamera(218622278376) read took: 2816.4ms
628
+ 2025y-06m-16d-13h-22m-17s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
629
+ 2025y-06m-16d-13h-22m-17s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
630
+ 2025y-06m-16d-13h-22m-17s DEBUG: 🦾 Setting left arm positions: [Array(0.06851146, dtype=float32), Array(1.2533789, dtype=float32), Array(1.0266352, dtype=float32), Array(-1.3440479, dtype=float32), Array(-1.1862445e-05, dtype=float32), Array(0.06850553, dtype=float32), Array(0.022, dtype=float32)], goal_time: 2.8
631
+ 2025y-06m-16d-13h-22m-20s DEBUG: RealSenseCamera(230422273017) read took: 2801.1ms
632
+ 2025y-06m-16d-13h-22m-20s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
633
+ 2025y-06m-16d-13h-22m-20s DEBUG: RealSenseCamera(218622278376) read took: 2801.9ms
634
+ 2025y-06m-16d-13h-22m-20s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
635
+ 2025y-06m-16d-13h-22m-20s INFO: 🖼️ Updating visualization...
636
+ 2025y-06m-16d-13h-22m-20s INFO: 🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/calibration-1750098050/logs/episode_000001.txt
logs/episode_000002.txt ADDED
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meta/episodes.jsonl ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <44.00, 72.00> px, pose 24 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 48.00> px, pose 1 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 54.00> px, pose 7 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 48.00> px, pose 0 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 63.00> px, pose 16 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 59.00> px, pose 12 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 79.00> px, pose 31 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 69.00> px, pose 21 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 73.00> px, pose 25 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 77.00> px, pose 29 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 71.00> px, pose 23 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 52.00> px, pose 5 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 53.00> px, pose 6 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 78.00> px, pose 30 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 65.00> px, pose 17 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 61.00> px, pose 14 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 57.00> px, pose 10 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 50.00> px, pose 3 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 56.00> px, pose 9 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 60.00> px, pose 13 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 62.00> px, pose 15 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 67.00> px, pose 19 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 66.00> px, pose 18 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 51.00> px, pose 4 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 70.00> px, pose 22 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 76.00> px, pose 28 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 49.00> px, pose 2 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 58.00> px, pose 11 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 80.00> px, pose 32 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 55.00> px, pose 8 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 75.00> px, pose 27 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 80.00> px, pose 33 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 68.00> px, pose 20 of 32, path 0 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 74.00> px, pose 26 of 32, path 0 of 12"], "length": 34}
2
+ {"episode_index": 1, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <64.00, 69.00> px, pose 20 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 51.00> px, pose 8 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 48.00> px, pose 6 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 49.00> px, pose 7 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 83.00> px, pose 29 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 85.00> px, pose 30 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 43.00> px, pose 3 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 60.00> px, pose 14 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 62.00> px, pose 15 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 88.00> px, pose 32 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 40.00> px, pose 1 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 40.00> px, pose 0 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 79.00> px, pose 26 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 80.00> px, pose 27 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 86.00> px, pose 31 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 45.00> px, pose 4 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 57.00> px, pose 12 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 65.00> px, pose 17 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 59.00> px, pose 13 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 71.00> px, pose 21 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 73.00> px, pose 22 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 68.00> px, pose 19 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 52.00> px, pose 9 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 42.00> px, pose 2 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 55.00> px, pose 11 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 77.00> px, pose 25 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 82.00> px, pose 28 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 46.00> px, pose 5 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 54.00> px, pose 10 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 66.00> px, pose 18 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 76.00> px, pose 24 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 88.00> px, pose 33 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 63.00> px, pose 16 of 32, path 1 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 74.00> px, pose 23 of 32, path 1 of 12"], "length": 34}
3
+ {"episode_index": 2, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <84.00, 95.00> px, pose 63 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 81.00> px, pose 49 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 83.00> px, pose 51 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 41.00> px, pose 10 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 73.00> px, pose 41 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 52.00> px, pose 21 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 91.00> px, pose 59 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 76.00> px, pose 44 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 65.00> px, pose 33 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 34.00> px, pose 3 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 63.00> px, pose 32 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 43.00> px, pose 12 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 32.00> px, pose 0 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 70.00> px, pose 38 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 35.00> px, pose 4 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 67.00> px, pose 35 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 72.00> px, pose 40 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 75.00> px, pose 43 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 85.00> px, pose 53 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 86.00> px, pose 54 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 59.00> px, pose 28 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 77.00> px, pose 45 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 47.00> px, pose 16 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 53.00> px, pose 22 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 36.00> px, pose 5 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 42.00> px, pose 11 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 87.00> px, pose 55 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 89.00> px, pose 57 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 92.00> px, pose 60 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 78.00> px, pose 46 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 93.00> px, pose 61 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 55.00> px, pose 24 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 49.00> px, pose 18 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 60.00> px, pose 29 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 80.00> px, pose 48 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 44.00> px, pose 13 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 82.00> px, pose 50 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 84.00> px, pose 52 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 96.00> px, pose 64 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 45.00> px, pose 14 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 71.00> px, pose 39 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 48.00> px, pose 17 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 38.00> px, pose 7 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 96.00> px, pose 65 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 90.00> px, pose 58 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 94.00> px, pose 62 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 68.00> px, pose 36 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 88.00> px, pose 56 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 37.00> px, pose 6 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 40.00> px, pose 9 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 32.00> px, pose 1 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 39.00> px, pose 8 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 46.00> px, pose 15 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 51.00> px, pose 20 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 54.00> px, pose 23 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 57.00> px, pose 26 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 79.00> px, pose 47 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 33.00> px, pose 2 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 58.00> px, pose 27 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 66.00> px, pose 34 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 50.00> px, pose 19 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 56.00> px, pose 25 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 74.00> px, pose 42 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 69.00> px, pose 37 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 62.00> px, pose 31 of 64, path 2 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 61.00> px, pose 30 of 64, path 2 of 12"], "length": 66}
4
+ {"episode_index": 3, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <185.00, 44.00> px, pose 10 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <186.00, 44.00> px, pose 11 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <194.00, 44.00> px, pose 18 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <180.00, 44.00> px, pose 5 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <193.00, 44.00> px, pose 17 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <191.00, 44.00> px, pose 16 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <202.00, 44.00> px, pose 26 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <197.00, 44.00> px, pose 21 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <184.00, 44.00> px, pose 9 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <187.00, 44.00> px, pose 12 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <207.00, 44.00> px, pose 31 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <208.00, 44.00> px, pose 32 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <190.00, 44.00> px, pose 15 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <176.00, 44.00> px, pose 0 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <201.00, 44.00> px, pose 25 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <179.00, 44.00> px, pose 4 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <203.00, 44.00> px, pose 27 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <208.00, 44.00> px, pose 33 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <176.00, 44.00> px, pose 1 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <196.00, 44.00> px, pose 20 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <200.00, 44.00> px, pose 24 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <182.00, 44.00> px, pose 7 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <198.00, 44.00> px, pose 22 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <178.00, 44.00> px, pose 3 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <189.00, 44.00> px, pose 14 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <195.00, 44.00> px, pose 19 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <199.00, 44.00> px, pose 23 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <183.00, 44.00> px, pose 8 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <206.00, 44.00> px, pose 30 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <204.00, 44.00> px, pose 28 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <188.00, 44.00> px, pose 13 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <181.00, 44.00> px, pose 6 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <205.00, 44.00> px, pose 29 of 32, path 3 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <177.00, 44.00> px, pose 2 of 32, path 3 of 12"], "length": 34}
5
+ {"episode_index": 4, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <202.00, 64.00> px, pose 23 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <205.00, 64.00> px, pose 25 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <216.00, 64.00> px, pose 32 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <168.00, 64.00> px, pose 1 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <176.00, 64.00> px, pose 6 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <171.00, 64.00> px, pose 3 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <216.00, 64.00> px, pose 33 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <208.00, 64.00> px, pose 27 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <204.00, 64.00> px, pose 24 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <182.00, 64.00> px, pose 10 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <187.00, 64.00> px, pose 13 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <210.00, 64.00> px, pose 28 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <168.00, 64.00> px, pose 0 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <191.00, 64.00> px, pose 16 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <201.00, 64.00> px, pose 22 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <199.00, 64.00> px, pose 21 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <211.00, 64.00> px, pose 29 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <213.00, 64.00> px, pose 30 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <207.00, 64.00> px, pose 26 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <196.00, 64.00> px, pose 19 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <170.00, 64.00> px, pose 2 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <188.00, 64.00> px, pose 14 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <185.00, 64.00> px, pose 12 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <197.00, 64.00> px, pose 20 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <177.00, 64.00> px, pose 7 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <194.00, 64.00> px, pose 18 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <174.00, 64.00> px, pose 5 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <214.00, 64.00> px, pose 31 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <173.00, 64.00> px, pose 4 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <179.00, 64.00> px, pose 8 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <193.00, 64.00> px, pose 17 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <190.00, 64.00> px, pose 15 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <180.00, 64.00> px, pose 9 of 32, path 4 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <183.00, 64.00> px, pose 11 of 32, path 4 of 12"], "length": 34}
6
+ {"episode_index": 5, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <184.00, 84.00> px, pose 25 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <164.00, 84.00> px, pose 5 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <190.00, 84.00> px, pose 31 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <219.00, 84.00> px, pose 59 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <222.00, 84.00> px, pose 62 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <202.00, 84.00> px, pose 42 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <224.00, 84.00> px, pose 64 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <217.00, 84.00> px, pose 57 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <185.00, 84.00> px, pose 26 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <170.00, 84.00> px, pose 11 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <213.00, 84.00> px, pose 53 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <220.00, 84.00> px, pose 60 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <210.00, 84.00> px, pose 50 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <196.00, 84.00> px, pose 36 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <166.00, 84.00> px, pose 7 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <162.00, 84.00> px, pose 3 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <215.00, 84.00> px, pose 55 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <209.00, 84.00> px, pose 49 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <160.00, 84.00> px, pose 0 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <178.00, 84.00> px, pose 19 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <181.00, 84.00> px, pose 22 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <193.00, 84.00> px, pose 33 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <206.00, 84.00> px, pose 46 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <169.00, 84.00> px, pose 10 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <216.00, 84.00> px, pose 56 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <194.00, 84.00> px, pose 34 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <221.00, 84.00> px, pose 61 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <171.00, 84.00> px, pose 12 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <173.00, 84.00> px, pose 14 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <212.00, 84.00> px, pose 52 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <189.00, 84.00> px, pose 30 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <223.00, 84.00> px, pose 63 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <195.00, 84.00> px, pose 35 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <177.00, 84.00> px, pose 18 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <218.00, 84.00> px, pose 58 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <208.00, 84.00> px, pose 48 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <198.00, 84.00> px, pose 38 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <187.00, 84.00> px, pose 28 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <188.00, 84.00> px, pose 29 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <165.00, 84.00> px, pose 6 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <168.00, 84.00> px, pose 9 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <201.00, 84.00> px, pose 41 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <161.00, 84.00> px, pose 2 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <186.00, 84.00> px, pose 27 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <199.00, 84.00> px, pose 39 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <197.00, 84.00> px, pose 37 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <214.00, 84.00> px, pose 54 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <182.00, 84.00> px, pose 23 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <163.00, 84.00> px, pose 4 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <176.00, 84.00> px, pose 17 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <180.00, 84.00> px, pose 21 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <183.00, 84.00> px, pose 24 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <191.00, 84.00> px, pose 32 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <200.00, 84.00> px, pose 40 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <203.00, 84.00> px, pose 43 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <207.00, 84.00> px, pose 47 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <224.00, 84.00> px, pose 65 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <179.00, 84.00> px, pose 20 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <205.00, 84.00> px, pose 45 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <175.00, 84.00> px, pose 16 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <211.00, 84.00> px, pose 51 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <172.00, 84.00> px, pose 13 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <204.00, 84.00> px, pose 44 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <160.00, 84.00> px, pose 1 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <167.00, 84.00> px, pose 8 of 64, path 5 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <174.00, 84.00> px, pose 15 of 64, path 5 of 12"], "length": 66}
7
+ {"episode_index": 6, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <70.00, 177.00> px, pose 27 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 205.00> px, pose 6 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 208.00> px, pose 9 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <53.00, 203.00> px, pose 13 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <55.00, 205.00> px, pose 12 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 207.00> px, pose 11 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <49.00, 186.00> px, pose 19 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <80.00, 189.00> px, pose 33 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <61.00, 208.00> px, pose 10 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <51.00, 183.00> px, pose 20 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <80.00, 192.00> px, pose 1 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <77.00, 201.00> px, pose 4 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <55.00, 179.00> px, pose 22 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 176.00> px, pose 25 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <80.00, 195.00> px, pose 2 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <77.00, 183.00> px, pose 30 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <48.00, 192.00> px, pose 17 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <75.00, 181.00> px, pose 29 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <53.00, 181.00> px, pose 21 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <79.00, 186.00> px, pose 31 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <79.00, 198.00> px, pose 3 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <48.00, 195.00> px, pose 16 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <61.00, 176.00> px, pose 24 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <51.00, 201.00> px, pose 14 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 179.00> px, pose 28 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <80.00, 189.00> px, pose 32 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <70.00, 207.00> px, pose 7 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <67.00, 208.00> px, pose 8 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <67.00, 176.00> px, pose 26 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <49.00, 198.00> px, pose 15 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <48.00, 189.00> px, pose 18 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <75.00, 203.00> px, pose 5 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <80.00, 192.00> px, pose 0 of 32, path 6 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 177.00> px, pose 23 of 32, path 6 of 12"], "length": 34}
8
+ {"episode_index": 7, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <39.00, 212.00> px, pose 26 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 223.00> px, pose 14 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 224.00> px, pose 17 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <82.00, 219.00> px, pose 11 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <70.00, 161.00> px, pose 51 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <91.00, 210.00> px, pose 7 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <49.00, 220.00> px, pose 22 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 217.00> px, pose 24 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <34.00, 180.00> px, pose 37 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <95.00, 198.00> px, pose 3 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <92.00, 207.00> px, pose 6 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <37.00, 210.00> px, pose 27 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <95.00, 183.00> px, pose 62 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <67.00, 224.00> px, pose 16 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <44.00, 167.00> px, pose 42 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <36.00, 207.00> px, pose 28 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <32.00, 192.00> px, pose 33 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 192.00> px, pose 0 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <46.00, 219.00> px, pose 23 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <79.00, 164.00> px, pose 54 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <33.00, 186.00> px, pose 35 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <89.00, 212.00> px, pose 8 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 192.00> px, pose 1 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 189.00> px, pose 64 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <46.00, 165.00> px, pose 43 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 195.00> px, pose 2 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <61.00, 160.00> px, pose 48 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 161.00> px, pose 52 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 189.00> px, pose 65 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <82.00, 165.00> px, pose 55 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <95.00, 186.00> px, pose 63 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <94.00, 204.00> px, pose 5 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <76.00, 162.00> px, pose 53 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <92.00, 177.00> px, pose 60 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <76.00, 222.00> px, pose 13 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <41.00, 169.00> px, pose 41 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 161.00> px, pose 47 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <67.00, 160.00> px, pose 50 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <91.00, 174.00> px, pose 59 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <55.00, 223.00> px, pose 20 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <41.00, 215.00> px, pose 25 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <32.00, 189.00> px, pose 34 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <52.00, 222.00> px, pose 21 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <87.00, 215.00> px, pose 9 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <61.00, 224.00> px, pose 18 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <79.00, 220.00> px, pose 12 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <33.00, 201.00> px, pose 30 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 160.00> px, pose 49 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <89.00, 172.00> px, pose 58 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <70.00, 223.00> px, pose 15 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <37.00, 174.00> px, pose 39 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <34.00, 204.00> px, pose 29 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <39.00, 172.00> px, pose 40 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <94.00, 180.00> px, pose 61 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <55.00, 161.00> px, pose 46 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <52.00, 162.00> px, pose 45 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <36.00, 177.00> px, pose 38 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <49.00, 164.00> px, pose 44 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <87.00, 169.00> px, pose 57 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 167.00> px, pose 56 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <33.00, 183.00> px, pose 36 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 223.00> px, pose 19 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <84.00, 217.00> px, pose 10 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <95.00, 201.00> px, pose 4 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <32.00, 195.00> px, pose 32 of 64, path 7 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <33.00, 198.00> px, pose 31 of 64, path 7 of 12"], "length": 66}
9
+ {"episode_index": 8, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <104.00, 165.00> px, pose 88 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <32.00, 156.00> px, pose 62 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <26.00, 163.00> px, pose 59 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <91.00, 152.00> px, pose 82 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <20.00, 210.00> px, pose 43 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <110.00, 180.00> px, pose 93 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <102.00, 221.00> px, pose 11 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <85.00, 235.00> px, pose 18 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <108.00, 174.00> px, pose 91 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <21.00, 213.00> px, pose 42 of 96, path 8 of 12", "calibration 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tattoo pattern, <0.00, 0.00> m, <93.00, 230.00> px, pose 15 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <16.00, 186.00> px, pose 51 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 189.00> px, pose 97 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 240.00> px, pose 27 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <43.00, 235.00> px, pose 32 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <82.00, 236.00> px, pose 19 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 145.00> px, pose 76 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 192.00> px, pose 0 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <35.00, 154.00> px, pose 63 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <37.00, 152.00> px, pose 64 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 198.00> px, pose 3 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <17.00, 183.00> px, pose 52 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <67.00, 144.00> px, pose 74 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <49.00, 237.00> px, pose 30 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <32.00, 228.00> px, pose 36 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <93.00, 154.00> px, pose 83 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <109.00, 177.00> px, pose 92 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <61.00, 240.00> px, pose 26 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <35.00, 230.00> px, pose 35 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <28.00, 160.00> px, pose 60 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <24.00, 219.00> px, pose 40 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <58.00, 144.00> px, pose 71 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <88.00, 150.00> px, pose 81 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <64.00, 240.00> px, pose 25 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <37.00, 232.00> px, pose 34 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <24.00, 165.00> px, pose 58 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 156.00> px, pose 84 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 186.00> px, pose 95 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <91.00, 232.00> px, pose 16 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <76.00, 238.00> px, pose 21 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <73.00, 239.00> px, pose 22 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <46.00, 148.00> px, pose 67 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <18.00, 204.00> px, pose 45 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <22.00, 168.00> px, pose 57 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <17.00, 201.00> px, pose 46 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <111.00, 183.00> px, pose 94 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 189.00> px, pose 96 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <106.00, 216.00> px, pose 9 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <108.00, 210.00> px, pose 7 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <22.00, 216.00> px, pose 41 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <88.00, 234.00> px, pose 17 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <20.00, 174.00> px, pose 55 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <112.00, 192.00> px, pose 1 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <52.00, 238.00> px, pose 29 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <96.00, 228.00> px, pose 14 of 96, path 8 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <43.00, 149.00> px, pose 66 of 96, path 8 of 12"], "length": 98}
10
+ {"episode_index": 9, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <140.00, 181.00> px, pose 2 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <145.00, 177.00> px, pose 4 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <232.00, 167.00> px, pose 42 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <221.00, 180.00> px, pose 37 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <138.00, 183.00> px, pose 1 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <172.00, 152.00> px, pose 16 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <246.00, 153.00> px, pose 48 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <202.00, 180.00> px, pose 29 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <212.00, 184.00> px, pose 33 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <175.00, 152.00> px, pose 17 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <186.00, 161.00> px, pose 22 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <225.00, 175.00> px, pose 39 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <205.00, 182.00> px, pose 30 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <218.00, 182.00> px, pose 36 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <230.00, 170.00> px, pose 41 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <228.00, 173.00> px, pose 40 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <223.00, 178.00> px, pose 38 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <154.00, 166.00> px, pose 8 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <195.00, 172.00> px, pose 26 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <143.00, 180.00> px, pose 3 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <193.00, 169.00> px, pose 25 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <161.00, 158.00> px, pose 11 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <166.00, 154.00> px, pose 13 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <152.00, 169.00> px, pose 7 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <241.00, 156.00> px, pose 46 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <214.00, 184.00> px, pose 34 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <191.00, 167.00> px, pose 24 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <216.00, 183.00> px, pose 35 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <246.00, 153.00> px, pose 49 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <147.00, 175.00> px, pose 5 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <235.00, 164.00> px, pose 43 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <156.00, 163.00> px, pose 9 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <237.00, 161.00> px, pose 44 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <138.00, 183.00> px, pose 0 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <239.00, 159.00> px, pose 45 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <182.00, 156.00> px, pose 20 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <170.00, 152.00> px, pose 15 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <163.00, 156.00> px, pose 12 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <198.00, 175.00> px, pose 27 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <200.00, 178.00> px, pose 28 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <184.00, 158.00> px, pose 21 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <209.00, 184.00> px, pose 32 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <159.00, 161.00> px, pose 10 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <244.00, 155.00> px, pose 47 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <207.00, 183.00> px, pose 31 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <177.00, 153.00> px, pose 18 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <189.00, 164.00> px, pose 23 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <168.00, 153.00> px, pose 14 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <179.00, 154.00> px, pose 19 of 48, path 9 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <149.00, 172.00> px, pose 6 of 48, path 9 of 12"], "length": 50}
11
+ {"episode_index": 10, "tasks": ["calibration tattoo pattern, <0.00, 0.00> m, <227.00, 197.00> px, pose 53 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <140.00, 206.00> px, pose 2 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <244.00, 178.00> px, pose 63 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <219.00, 206.00> px, pose 48 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <232.00, 191.00> px, pose 56 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <220.00, 204.00> px, pose 49 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <171.00, 176.00> px, pose 20 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <189.00, 189.00> px, pose 31 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <159.00, 185.00> px, pose 13 of 64, path 10 of 12", "calibration tattoo pattern, <0.00, 0.00> m, <237.00, 184.00> px, pose 59 of 64, path 10 of 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12
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meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
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5
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6
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7
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8
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9
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10
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