Georg
Update mujoco_server.py to replace jogging commands with homing commands and enhance action handling
51b2fc6 | Loaded RL policy from /Users/georgpuschel/repos/robot-ml/nova-sim/robots/g1/policy/motion.pt | |
| Starting simulation loop... | |
| * Serving Flask app 'mujoco_server' | |
| * Debug mode: off | |
| [31m[1mWARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead.[0m | |
| * Running on all addresses (0.0.0.0) | |
| * Running on http://127.0.0.1:3004 | |
| * Running on http://172.31.10.66:3004 | |
| [33mPress CTRL+C to quit[0m | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/video_feed?ts=1768995434741 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:15] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/video_feed?ts=1768995450178 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995450179 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995450179 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995450179 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/ws HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/video_feed?ts=1768995508174 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995508185 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995508185 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995508185 HTTP/1.1" 200 - | |
| WebSocket client connected | |
| [WS] Received message type: switch_robot | |
| Robot switch requested: ur5_t_push / scene: scene_t_push | |
| Switching to robot: ur5_t_push | |
| [WS] Received message type: switch_robot | |
| Robot switch requested: ur5_t_push / scene: scene_t_push | |
| Nova API credentials detected - attempting bidirectional control | |
| [Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True} | |
| [Nova] use_state_stream=True, use_ik=False, use_jogging=True | |
| [Nova] Attempting to load config from environment variables... | |
| [Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e | |
| [Nova] Creating NovaApiClient... | |
| [Nova] Client created successfully. State streaming: True, IK: False, Jogging: True | |
| [Nova] Starting state stream... | |
| [Nova] Starting state stream thread... | |
| [Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100 | |
| [Nova] State stream started successfully | |
| [Nova] WARNING: State streaming enabled - simulation is now a digital twin. | |
| [Nova] Robot state comes from Nova API, local targets/IK are ignored. | |
| [Nova] Creating NovaJogger... | |
| [Nova Jogger] Ready to connect (will connect on first jog command) | |
| [Nova] Jogger connected successfully | |
| [Nova] Jogging enabled - UI can send directional jog commands | |
| [Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True} | |
| [Nova] State stream connected successfully | |
| [Nova] use_state_stream=True, use_ik=False, use_jogging=True | |
| [Nova] Attempting to load config from environment variables... | |
| [Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e | |
| [Nova] Creating NovaApiClient... | |
| [Nova] Client created successfully. State streaming: True, IK: False, Jogging: True | |
| [Nova] Starting state stream... | |
| [Nova] Starting state stream thread... | |
| [Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100 | |
| [Nova] State stream started successfully | |
| [Nova] WARNING: State streaming enabled - simulation is now a digital twin. | |
| [Nova] Robot state comes from Nova API, local targets/IK are ignored. | |
| [Nova] Creating NovaJogger... | |
| [Nova Jogger] Ready to connect (will connect on first jog command) | |
| [Nova] Jogger connected successfully | |
| [Nova] Jogging enabled - UI can send directional jog commands | |
| Switched to ur5_t_push | |
| [Nova] State stream connected successfully | |
| [Nova] State stream update (seq=20404336, 6 joints) payload={"seq": 20404336, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:15.457548842Z"} | |
| [Nova] State stream update (seq=20405716, 6 joints) payload={"seq": 20405716, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:25.536884448Z"} | |
| WebSocket client connected | |
| [Nova] State stream update (seq=20407084, 6 joints) payload={"seq": 20407084, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:35.588231228Z"} | |
| [Nova] State stream update (seq=20408452, 6 joints) payload={"seq": 20408452, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:45.606961688Z"} | |
| [Nova] State stream update (seq=20409832, 6 joints) payload={"seq": 20409832, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:55.677707551Z"} | |
| [Nova] State stream update (seq=20411200, 6 joints) payload={"seq": 20411200, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:05.685475853Z"} | |
| [Nova] State stream update (seq=20412568, 6 joints) payload={"seq": 20412568, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:15.705913152Z"} | |
| [Nova] State stream update (seq=20413948, 6 joints) payload={"seq": 20413948, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:25.785773953Z"} | |
| WebSocket client disconnected | |
| WebSocket client connected | |
| [WS] Received message type: camera | |
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| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: action | |
| [Nova Jogger] Connecting to cartesian endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-tcp | |
| [Nova Jogger] Connected to cartesian endpoint | |
| [Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1) | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Nova] State stream update (seq=20415316, 6 joints) payload={"seq": 20415316, "joint_position": [-3.68723464012146, -1.2210352420806885, 1.4292374849319458, -1.3314365148544312, -1.679957628250122, -0.4849919080734253], "timestamp": "2026-01-21T11:38:35.851162205Z"} | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1) | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: 1) | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1) | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: -1) | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1) | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [WS] Received message type: camera | |
| [Nova] State stream update (seq=20416684, 6 joints) payload={"seq": 20416684, "joint_position": [-3.7549033164978027, -1.3193519115447998, 1.5616960525512695, -1.373165249824524, -1.7090238332748413, -0.5465713143348694], "timestamp": "2026-01-21T11:38:45.888551092Z"}127.0.0.1 - - [21/Jan/2026 12:38:49] "[33mGET /.well-known/appspecific/com.chrome.devtools.json HTTP/1.1[0m" 404 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1/ws HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:50] "[33mGET /.well-known/appspecific/com.chrome.devtools.json HTTP/1.1[0m" 404 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/video_feed?ts=1768995531118 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/env HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995531128 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995531128 HTTP/1.1" 200 - | |
| 127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995531128 HTTP/1.1" 200 - | |
| WebSocket client disconnected | |
| WebSocket client connected | |
| [WS] Received message type: camera | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1) | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vx': 0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [WS] Received message type: action | |
| [Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1) | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [Broadcast] Non-zero teleop values: {'vy': -0.05} | |
| [Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05} | |
| [Broadcast] Actual JSON teleop_action j3 = 0.0 | |
| [WS] Received message type: action | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [Nova] State stream update (seq=20418064, 6 joints) payload={"seq": 20418064, "joint_position": [-3.7563540935516357, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:38:55.967287738Z"} | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| [Nova Jogger] Receive error: sent 1000 (OK); then received 1000 (OK) | |
| [Nova Jogger] Connecting to joint endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-joint | |
| [Nova Jogger] Connected to joint endpoint | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=2.1856, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: stop_home | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=2.0384, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: stop_home | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=1.9932, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova] State stream update (seq=20419432, 6 joints) payload={"seq": 20419432, "joint_position": [-3.212111473083496, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:39:05.973094016Z"} | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=0.8212, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: stop_home | |
| [WS] Received message type: control_mode | |
| [WS] Received message type: control_mode | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=0.7257, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova] State stream update (seq=20420800, 6 joints) payload={"seq": 20420800, "joint_position": [-2.1125688552856445, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:39:16.006326479Z"} | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 6... | |
| [Nova Jogger] Joint 5 jogging at 0.15 rad/s | |
| J6: err=0.5479, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 1... | |
| [Nova Jogger] Joint 0 jogging at 0.15 rad/s | |
| J1: err=0.4753, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 1 reached target (error: 0.0002 rad) | |
| → Homing joint 6... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 5 jogging at 0.15 rad/s | |
| J6: err=0.4283, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: stop_home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ⏸ Homing stopped by user | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 6 joints | |
| → Homing joint 2... | |
| [Nova Jogger] Joint 1 jogging at -0.15 rad/s | |
| J2: err=-0.3388, dir=-, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 2 reached target (error: 0.0022 rad) | |
| → Homing joint 4... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 3 jogging at -0.15 rad/s | |
| J4: err=-0.2256, dir=-, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova] State stream update (seq=20422168, 6 joints) payload={"seq": 20422168, "joint_position": [-1.5449260473251343, -1.5976773500442505, 1.4462759494781494, -1.4450716972351074, -1.7096422910690308, -0.1647532433271408], "timestamp": "2026-01-21T11:39:26.010412039Z"} | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 4 reached target (error: 0.0039 rad) | |
| → Homing joint 6... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 5 jogging at 0.15 rad/s | |
| J6: err=0.1648, dir=+, vel=0.150 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 6 reached target (error: 0.0051 rad) | |
| → Homing joint 5... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 4 jogging at 0.14 rad/s | |
| J5: err=0.1388, dir=+, vel=0.139 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 5 reached target (error: 0.0022 rad) | |
| → Homing joint 3... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 2 jogging at 0.12 rad/s | |
| J3: err=0.1245, dir=+, vel=0.125 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 3 reached target (error: 0.0040 rad) | |
| → Homing joint 1... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 0 jogging at -0.03 rad/s | |
| J1: err=-0.0259, dir=-, vel=0.026 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 1 reached target (error: 0.0088 rad) | |
| ✓ Homing sequence complete! | |
| [WS] Received message type: home | |
| 🏠 Starting homing sequence for 5 joints | |
| → Homing joint 2... | |
| [Nova Jogger] Joint 1 jogging at 0.03 rad/s | |
| J2: err=0.0269, dir=+, vel=0.027 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 2 reached target (error: 0.0093 rad) | |
| → Homing joint 4... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 3 jogging at 0.02 rad/s | |
| J4: err=0.0247, dir=+, vel=0.025 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 4 reached target (error: 0.0089 rad) | |
| → Homing joint 5... | |
| [WS] Received message type: home | |
| [Nova Jogger] Joint 4 jogging at -0.02 rad/s | |
| J5: err=-0.0196, dir=-, vel=0.020 | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [WS] Received message type: home | |
| [Nova Jogger] Stopped (zero velocities sent) | |
| ✓ Joint 5 reached target (error: 0.0091 rad) |