diff --git a/app.log b/app.log
index cbf573f..625bded 100644
--- a/app.log
+++ b/app.log
@@ -66106,3 +66106,195 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
 2024-11-01 12:57:17,464 - logger - INFO - set joints - client_socket.py - 330
 2024-11-01 12:57:19,876 - logger - INFO - convrt to joint (-0.062080906817982826, -0.2794855809832703, 0.6114835679260266, 1.0571832726511998, -2.243355608712798, -0.13509294709677463) - client_socket.py - 322
 2024-11-01 12:57:19,878 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:02:50,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:02:50,953 - logger - INFO - None - robot.py - 52
+2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:02:51,956 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:03:18,585 - logger - INFO - None - robot.py - 52
+2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:03:19,589 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-11 11:03:21,491 - logger - INFO - not_connected - robot.py - 52
+2024-11-11 11:03:21,797 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
+2024-11-11 11:03:24,074 - logger - INFO - connected - robot.py - 52
+2024-11-11 11:03:26,439 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-11 11:03:26,440 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
+2024-11-11 11:03:26,941 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:27,801 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327
+2024-11-11 11:03:28,421 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 322
+2024-11-11 11:03:28,422 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:29,626 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327
+2024-11-11 11:03:30,208 - logger - INFO - Вычисленное положение [1279.7060012817383, -68.49903613328934, 1768.243670463562] - client_socket.py - 265
+2024-11-11 11:03:30,210 - logger - INFO - Вычисленная ориентация [32.20440604  1.77436339 34.18111527] - client_socket.py - 268
+2024-11-11 11:03:32,475 - logger - INFO - convrt to joint (-0.1094087905386062, -0.3821067320121191, 0.8152595907096211, 0.9340586920256324, -2.7982742988800515, -0.5584547949020581) - client_socket.py - 322
+2024-11-11 11:03:32,655 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:34,914 - logger - INFO - convrt to joint (-0.10681534515997954, -0.4268018804002994, 0.8924964101221626, 1.0513696998404336, -2.81365196225861, -1.0166185170943915) - client_socket.py - 322
+2024-11-11 11:03:34,915 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:37,142 - logger - INFO - convrt to joint (-0.10119464934886617, -0.5734366786087715, 1.0666427729133525, 1.0953712770850594, -2.8213059318957896, -0.96591643081755) - client_socket.py - 322
+2024-11-11 11:03:37,143 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:39,475 - logger - INFO - convrt to joint (-0.09542514861782068, -0.7032644132861458, 1.220655719241099, 1.147124540945549, -2.8252103615159236, -0.9076777226961988) - client_socket.py - 322
+2024-11-11 11:03:39,476 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:41,707 - logger - INFO - convrt to joint (-0.03321842982091733, -0.7119318858691356, 1.2399688143692305, 1.214719637562536, -2.7773640708624043, -0.8042533613466682) - client_socket.py - 322
+2024-11-11 11:03:41,708 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:44,083 - logger - INFO - convrt to joint (0.028980597011100957, -0.7308808741139503, 1.27279697877987, 1.2679755719127208, -2.72971753147307, -0.7136414540810697) - client_socket.py - 322
+2024-11-11 11:03:44,085 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:46,358 - logger - INFO - convrt to joint (0.03139866234108481, -0.6418629593352179, 1.1869260018627599, 1.292448512871511, -2.7307620128215033, -0.6868224281359855) - client_socket.py - 322
+2024-11-11 11:03:46,360 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:48,711 - logger - INFO - convrt to joint (0.03423749452817421, -0.4978093609879702, 1.0167835185012706, 1.259783952267928, -2.722441933500363, -0.7227309559714254) - client_socket.py - 322
+2024-11-11 11:03:48,712 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:50,987 - logger - INFO - convrt to joint (-0.036018074223732044, -0.4745108258112672, 0.9783861638033216, 1.2102447871348017, -2.7743430684350323, -0.8137729451783107) - client_socket.py - 322
+2024-11-11 11:03:50,988 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:53,397 - logger - INFO - convrt to joint (-0.10601019861562783, -0.47488390009103576, 0.9739788459602019, 1.163875579644493, -2.8287193468984544, -0.8987142388872151) - client_socket.py - 322
+2024-11-11 11:03:53,398 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:55,923 - logger - INFO - convrt to joint (-0.13342314757276436, -0.2949925971277215, 0.6299783511475565, 1.0546305021949665, -2.303439554752363, -0.175218332306312) - client_socket.py - 322
+2024-11-11 11:03:55,925 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:03:58,527 - logger - INFO - convrt to joint (-0.12471084630639233, -0.45296676398361474, 0.8227123748367431, 1.0807684296009945, -2.3119307869818435, -0.13121987801318782) - client_socket.py - 322
+2024-11-11 11:03:58,529 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:01,303 - logger - INFO - convrt to joint (-0.11704834719666707, -0.6269464135772959, 1.0491692142356763, 1.1224504522806544, -2.3274539723962393, -0.06522390044142433) - client_socket.py - 322
+2024-11-11 11:04:01,305 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:03,735 - logger - INFO - convrt to joint (-0.054438817414617154, -0.6392450598265159, 1.0744895529013934, 1.130983924079274, -2.282337993662363, -0.01444630298086587) - client_socket.py - 322
+2024-11-11 11:04:03,736 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:05,945 - logger - INFO - convrt to joint (0.008538147834004056, -0.6536445515530298, 1.0996000056954403, 1.1328825596208996, -2.2357165252907136, 0.030373236665844995) - client_socket.py - 322
+2024-11-11 11:04:05,947 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:08,211 - logger - INFO - convrt to joint (0.009265428168505976, -0.4873652741146077, 0.8860612412409749, 1.1026523163637032, -2.2173023136760976, -0.01950128942683633) - client_socket.py - 322
+2024-11-11 11:04:08,212 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:10,461 - logger - INFO - convrt to joint (0.00995737849793919, -0.288475300672168, 0.6276077701180526, 1.0640397055578867, -2.188353993335613, -0.08445240033996693) - client_socket.py - 322
+2024-11-11 11:04:10,462 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:13,035 - logger - INFO - convrt to joint (-0.06207192715457745, -0.2806088135835706, 0.6132936180836168, 1.0577729690653896, -2.2437542140875397, -0.13418269209644473) - client_socket.py - 322
+2024-11-11 11:04:13,037 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:04:15,451 - logger - INFO - convrt to joint (-0.13345419670024022, -0.2919081880650076, 0.6249846921182082, 1.0527632786196746, -2.3023457754012098, -0.17790879430914952) - client_socket.py - 322
+2024-11-11 11:04:15,453 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:18:37,248 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:18:37,248 - logger - INFO - None - robot.py - 52
+2024-11-11 11:18:37,248 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - None - robot.py - 52
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:21:20,049 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - None - robot.py - 52
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:21:32,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:32,811 - logger - INFO - None - robot.py - 52
+2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:22:58,808 - logger - INFO - None - robot.py - 52
+2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - None - robot.py - 52
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:17,621 - logger - INFO - None - robot.py - 52
+2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:23:26,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:26,619 - logger - INFO - None - robot.py - 52
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:23:27,640 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - None - robot.py - 52
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-11 11:24:55,300 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-11 11:24:57,322 - logger - INFO - not_connected - robot.py - 52
+2024-11-11 11:24:57,626 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
+2024-11-11 11:24:59,267 - logger - INFO - connected - robot.py - 52
+2024-11-11 11:25:00,769 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-11 11:25:00,770 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
+2024-11-11 11:25:01,271 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:02,105 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327
+2024-11-11 11:25:02,621 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 322
+2024-11-11 11:25:02,622 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:03,636 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327
+2024-11-11 11:25:04,300 - logger - INFO - Вычисленное положение [1280.0310850143433, -69.1663846373558, 1768.6139345169067] - client_socket.py - 265
+2024-11-11 11:25:04,301 - logger - INFO - Вычисленная ориентация [31.30137967  1.62132011 33.43301993] - client_socket.py - 268
+2024-11-11 11:25:06,126 - logger - INFO - convrt to joint (-0.1094087905386062, -0.3821067320121191, 0.8152595907096211, 0.9340586920256324, -2.7982742988800515, -0.5584547949020581) - client_socket.py - 322
+2024-11-11 11:25:06,127 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:08,447 - logger - INFO - convrt to joint (-0.10677898089993804, -0.4281043755214567, 0.8947096491555754, 1.0544338683697967, -2.814086615128763, -1.013398603955773) - client_socket.py - 322
+2024-11-11 11:25:08,448 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:10,469 - logger - INFO - convrt to joint (-0.10117184403674909, -0.5742634657055242, 1.0680442855334813, 1.0973205111814273, -2.8215321168171745, -0.963868103671884) - client_socket.py - 322
+2024-11-11 11:25:10,470 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:12,505 - logger - INFO - convrt to joint (-0.09540894704361569, -0.7037977436164273, 1.2215668168630283, 1.148495182876803, -2.8253278052430812, -0.9062402010486493) - client_socket.py - 322
+2024-11-11 11:25:12,506 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:14,520 - logger - INFO - convrt to joint (-0.03318662802404017, -0.7137009149485788, 1.2429721647286367, 1.2184539466541957, -2.7777186739023763, -0.8002799589202565) - client_socket.py - 322
+2024-11-11 11:25:14,521 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:16,527 - logger - INFO - convrt to joint (0.02899335849807339, -0.7321146180012585, 1.2748834705674343, 1.2701901108731053, -2.729942182572034, -0.7112447472439664) - client_socket.py - 322
+2024-11-11 11:25:16,527 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:18,528 - logger - INFO - convrt to joint (0.03140321774858756, -0.6432070948877004, 1.18917224140585, 1.2946178485518638, -2.731008373662333, -0.6844667729283571) - client_socket.py - 322
+2024-11-11 11:25:18,528 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:20,684 - logger - INFO - convrt to joint (0.034236025570744025, -0.49905196151209946, 1.0188578827076527, 1.2617424544192744, -2.7227258983182825, -0.7206021400862395) - client_socket.py - 322
+2024-11-11 11:25:20,685 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:22,842 - logger - INFO - convrt to joint (-0.03601802999339514, -0.4739020782464266, 0.9773727491327836, 1.2091547586583262, -2.7741852304335017, -0.8149344979138856) - client_socket.py - 322
+2024-11-11 11:25:22,843 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:24,999 - logger - INFO - convrt to joint (-0.10602079201692144, -0.47337896993473455, 0.9714371797962518, 1.1603817343639544, -2.828282084793471, -0.9023669197559442) - client_socket.py - 322
+2024-11-11 11:25:25,000 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:27,153 - logger - INFO - convrt to joint (-0.1334306741504675, -0.29430383930198006, 0.6288611291016133, 1.054207322495566, -2.3031953199803743, -0.17582662385988407) - client_socket.py - 322
+2024-11-11 11:25:27,154 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:29,307 - logger - INFO - convrt to joint (-0.1247122939941249, -0.45267705801394875, 0.8222391013999517, 1.0805983585018826, -2.3118336342944747, -0.1314661855272336) - client_socket.py - 322
+2024-11-11 11:25:29,308 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:31,465 - logger - INFO - convrt to joint (-0.11704265706671065, -0.628933819624908, 1.052447854279249, 1.1236528980637934, -2.3280574174093362, -0.06349998989676209) - client_socket.py - 322
+2024-11-11 11:25:31,466 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:33,630 - logger - INFO - convrt to joint (-0.05443424132999592, -0.6421461921323957, 1.0792716245037428, 1.1325507674552906, -2.2832046147972322, -0.012076010851278697) - client_socket.py - 322
+2024-11-11 11:25:33,631 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:35,794 - logger - INFO - convrt to joint (0.008540740865839737, -0.6563619278923186, 1.1040781596791551, 1.1341962254396272, -2.236524674719237, 0.03248243505491137) - client_socket.py - 322
+2024-11-11 11:25:35,795 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:37,832 - logger - INFO - convrt to joint (0.009268051009051526, -0.4890941996493256, 0.8888862565773905, 1.103449865681501, -2.217861627031553, -0.018194651155436812) - client_socket.py - 322
+2024-11-11 11:25:37,833 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:39,850 - logger - INFO - convrt to joint (0.009959166433723932, -0.28886427994192976, 0.6282326804940068, 1.0642142596396056, -2.18849132736126, -0.08416074474175211) - client_socket.py - 322
+2024-11-11 11:25:39,851 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:41,855 - logger - INFO - convrt to joint (-0.06208057303507176, -0.2795265476167713, 0.6115495905958935, 1.0572048106871026, -2.2433701529022114, -0.13505970552322757) - client_socket.py - 322
+2024-11-11 11:25:42,025 - logger - INFO - set joints - client_socket.py - 330
+2024-11-11 11:25:44,034 - logger - INFO - convrt to joint (-0.13345530809927322, -0.2915546266359023, 0.6244189174764613, 1.0525699967942828, -2.3022204887532625, -0.1781916807932946) - client_socket.py - 322
+2024-11-11 11:25:44,034 - logger - INFO - set joints - client_socket.py - 330
diff --git a/gui/command.py b/gui/command.py
index 51dc00a..1a65f99 100644
--- a/gui/command.py
+++ b/gui/command.py
@@ -1,5 +1,5 @@
-from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
-from PyQt5.QtCore import QTimer, Qt
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.QtCore import QTimer, Qt
 import time
 from logger import logger
 
diff --git a/gui/imitator.py b/gui/imitator.py
index 579a9df..ef978d7 100644
--- a/gui/imitator.py
+++ b/gui/imitator.py
@@ -1,5 +1,5 @@
-from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
-from PyQt5.QtCore import QTimer, Qt
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.QtCore import QTimer, Qt
 import time
 from logger import logger
 
diff --git a/gui/informer.py b/gui/informer.py
index 31bd509..d9e9610 100644
--- a/gui/informer.py
+++ b/gui/informer.py
@@ -1,5 +1,5 @@
-from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
-from PyQt5.QtCore import QTimer, Qt
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.QtCore import QTimer, Qt
 import time
 from logger import logger
 
@@ -38,7 +38,7 @@ class Informer(QWidget):
         # Установка цвета фона
         self.setAutoFillBackground(True)
         p = self.palette()
-        p.setColor(self.backgroundRole(), Qt.lightGray)
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
         self.setPalette(p)
 
     def updateState(self):
diff --git a/gui/init.py b/gui/init.py
index bfb755b..b6a985c 100644
--- a/gui/init.py
+++ b/gui/init.py
@@ -1,7 +1,7 @@
 import sys
-from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout
-from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QColor, QPalette
+from PyQt6.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout
+from PyQt6.QtCore import Qt
+from PyQt6.QtGui import QColor, QPalette
 from gui.robot import ChangeRobot
 from gui.status import Status
 from gui.informer import Informer
@@ -26,7 +26,7 @@ class MyPanel(QWidget):
 
     def initUI(self):
         palette = self.palette()
-        palette.setColor(QPalette.Window, self.color)
+        palette.setColor(QPalette.ColorRole.Window, self.color)
         self.setAutoFillBackground(True)
         self.setPalette(palette)
 
@@ -83,7 +83,7 @@ class MainContentComponent(QWidget):
 
     def initUI(self):
         palette = QPalette()
-        palette.setColor(QPalette.Background, QColor(240, 240, 240))
+        palette.setColor(QPalette.ColorRole.Window, QColor(240, 240, 240))
         self.setPalette(palette)
 
     def resizeEvent(self, event):
diff --git a/gui/observable.py b/gui/observable.py
index 0e634ef..1432bec 100644
--- a/gui/observable.py
+++ b/gui/observable.py
@@ -1,4 +1,4 @@
-from PyQt5.QtCore import pyqtSignal, QObject, QTimer
+from PyQt6.QtCore import pyqtSignal, QObject, QTimer
 from logger import logger
 
 class Observable(QObject):
diff --git a/gui/robot.py b/gui/robot.py
index 67b8caf..3f8e8be 100644
--- a/gui/robot.py
+++ b/gui/robot.py
@@ -1,5 +1,5 @@
 import time
-from PyQt5.QtWidgets import (
+from PyQt6.QtWidgets import (
     QWidget,
     QVBoxLayout,
     QLabel,
@@ -7,7 +7,7 @@ from PyQt5.QtWidgets import (
     QPushButton,
     QButtonGroup,
 )
-from PyQt5.QtCore import Qt, QTimer
+from PyQt6.QtCore import Qt, QTimer
 
 from logger import logger
 
@@ -83,6 +83,6 @@ class ChangeRobot(QWidget):
 
     def paintEvent(self, event):
         p = self.palette()
-        p.setColor(self.backgroundRole(), Qt.lightGray)
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
         self.setPalette(p)
         super().paintEvent(event)
diff --git a/gui/status.py b/gui/status.py
index e15d2ca..b9969fe 100644
--- a/gui/status.py
+++ b/gui/status.py
@@ -1,5 +1,5 @@
-from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QApplication
-from PyQt5.QtCore import QTimer, Qt
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QApplication
+from PyQt6.QtCore import QTimer, Qt
 
 class Status(QWidget):
     def __init__(self, status):
@@ -29,7 +29,7 @@ class Status(QWidget):
         # Установка цвета фона
         self.setAutoFillBackground(True)
         p = self.palette()
-        p.setColor(self.backgroundRole(), Qt.lightGray)
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
         self.setPalette(p)
 
     def updateStatus(self):
diff --git a/gui/visualize.py b/gui/visualize.py
index 7a650a3..3f7ad2b 100644
--- a/gui/visualize.py
+++ b/gui/visualize.py
@@ -1,8 +1,8 @@
 import time
 
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
-from PyQt5.QtGui import QImage, QPixmap
-from PyQt5.QtCore import Qt, QTimer
+from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
+from PyQt6.QtGui import QImage, QPixmap
+from PyQt6.QtCore import Qt, QTimer
 
 from logger import logger
 
@@ -35,8 +35,8 @@ class Visualize(QWidget):
 
         (rgb, width, height) = res
         
-        image = QImage(rgb, width, height, QImage.Format_RGBA8888)
-        image = image.convertToFormat(QImage.Format_RGB888)
+        image = QImage(rgb, width, height, QImage.Format.Format_RGBA8888)
+        image = image.convertToFormat(QImage.Format.Format_RGB888)
         pixmap = QPixmap.fromImage(image)
 
         self.label.setPixmap(pixmap)
@@ -45,6 +45,6 @@ class Visualize(QWidget):
 
     def paintEvent(self, event):
         p = self.palette()
-        p.setColor(self.backgroundRole(), Qt.magenta)
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.magenta)
         self.setPalette(p)
         super().paintEvent(event)
diff --git a/main.py b/main.py
index d01918c..6f245ad 100644
--- a/main.py
+++ b/main.py
@@ -3,8 +3,8 @@ import sys
 import time
 import argparse
 import threading
-from PyQt5.QtCore import QThread
-from PyQt5.QtWidgets import QApplication
+from PyQt6.QtCore import QThread
+from PyQt6.QtWidgets import QApplication
 
 from robot.client_socket import SocketRobotArm
 from gui.init import MainContentComponent
@@ -61,7 +61,7 @@ class MyApp:
 
     def startWindow(self):
         self.window.show()
-        sys.exit(self.app.exec_())
+        sys.exit(self.app.exec())
 
     def startRobot(self):
         self.robot_app = SocketRobotArm()
diff --git a/poetry.lock b/poetry.lock
index 38a78b0..82d8cd6 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -257,6 +257,70 @@ files = [
     {file = "PyQt5_sip-12.15.0.tar.gz", hash = "sha256:d23fdfcf363b5cedd9d39f8a9c5710e7d52804f5b08a58e91c638b36eafcb702"},
 ]
 
+[[package]]
+name = "pyqt6"
+version = "6.7.1"
+description = "Python bindings for the Qt cross platform application toolkit"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "PyQt6-6.7.1-1-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:7f397f4b38b23b5588eb2c0933510deb953d96b1f0323a916c4839c2a66ccccc"},
+    {file = "PyQt6-6.7.1-1-cp38-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:c2f202b7941aa74e5c7e1463a6f27d9131dbc1e6cabe85571d7364f5b3de7397"},
+    {file = "PyQt6-6.7.1-cp38-abi3-macosx_11_0_universal2.whl", hash = "sha256:f053378e3aef6248fa612c8afddda17f942fb63f9fe8a9aeb2a6b6b4cbb0eba9"},
+    {file = "PyQt6-6.7.1-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:0adb7914c732ad1dee46d9cec838a98cb2b11bc38cc3b7b36fbd8701ae64bf47"},
+    {file = "PyQt6-6.7.1-cp38-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:2d771fa0981514cb1ee937633dfa64f14caa902707d9afffab66677f3a73e3da"},
+    {file = "PyQt6-6.7.1-cp38-abi3-win_amd64.whl", hash = "sha256:fa3954698233fe286a8afc477b84d8517f0788eb46b74da69d3ccc0170d3714c"},
+    {file = "PyQt6-6.7.1.tar.gz", hash = "sha256:3672a82ccd3a62e99ab200a13903421e2928e399fda25ced98d140313ad59cb9"},
+]
+
+[package.dependencies]
+PyQt6-Qt6 = ">=6.7.0,<6.8.0"
+PyQt6-sip = ">=13.8,<14"
+
+[[package]]
+name = "pyqt6-qt6"
+version = "6.7.3"
+description = "The subset of a Qt installation needed by PyQt6."
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyQt6_Qt6-6.7.3-py3-none-macosx_10_14_x86_64.whl", hash = "sha256:f517a93b6b1a814d4aa6587adc312e812ebaf4d70415bb15cfb44268c5ad3f5f"},
+    {file = "PyQt6_Qt6-6.7.3-py3-none-macosx_11_0_arm64.whl", hash = "sha256:8551732984fb36a5f4f3db51eafc4e8e6caf18617365830285306f2db17a94c2"},
+    {file = "PyQt6_Qt6-6.7.3-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:50c7482bcdcf2bb78af257fb10ed8b582f8daf91d829782393bc50ac5a0a900c"},
+    {file = "PyQt6_Qt6-6.7.3-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:cb525fdd393332de60887953029276a44de480fce1d785251ae639580f5e7246"},
+    {file = "PyQt6_Qt6-6.7.3-py3-none-win_amd64.whl", hash = "sha256:36ea0892b8caeb983af3f285f45fb8dfbb93cfd972439f4e01b7efb2868f6230"},
+]
+
+[[package]]
+name = "pyqt6-sip"
+version = "13.8.0"
+description = "The sip module support for PyQt6"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "PyQt6_sip-13.8.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cedd554c643e54c4c2e12b5874781a87441a1b405acf3650a4a2e1df42aae231"},
+    {file = "PyQt6_sip-13.8.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f57275b5af774529f9838adcfb58869ba3ebdaf805daea113bb0697a96a3f3cb"},
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+    {file = "PyQt6_sip-13.8.0-cp310-cp310-win_amd64.whl", hash = "sha256:d8b22a6850917c68ce83fc152a8b606ecb2efaaeed35be53110468885d6cdd9d"},
+    {file = "PyQt6_sip-13.8.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:b203b6fbae4a8f2d27f35b7df46200057033d9ecd9134bcf30e3eab66d43572c"},
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+    {file = "PyQt6_sip-13.8.0-cp311-cp311-win_amd64.whl", hash = "sha256:dd168667addf01f8a4b0fa7755323e43e4cd12ca4bade558c61f713a5d48ba1a"},
+    {file = "PyQt6_sip-13.8.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:33d9b399fc9c9dc99496266842b0fb2735d924604774e97cf9b555667cc0fc59"},
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+    {file = "PyQt6_sip-13.8.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b1bf29e95f10a8a00819dac804ca7e5eba5fc1769adcd74c837c11477bf81954"},
+    {file = "PyQt6_sip-13.8.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:9ea9223c94906efd68148f12ae45b51a21d67e86704225ddc92bce9c54e4d93c"},
+    {file = "PyQt6_sip-13.8.0-cp39-cp39-win_amd64.whl", hash = "sha256:2559afa68825d08de09d71c42f3b6ad839dcc30f91e7c6d0785e07830d5541a5"},
+    {file = "PyQt6_sip-13.8.0.tar.gz", hash = "sha256:2f74cf3d6d9cab5152bd9f49d570b2dfb87553ebb5c4919abfde27f5b9fd69d4"},
+]
+
 [[package]]
 name = "tk"
 version = "0.1.0"
@@ -271,4 +335,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.12"
-content-hash = "f85dffb2208f45a3e3405ff57e5215d35ca57ed3e846c4f1580cd20bb4111491"
+content-hash = "ad97b1e4f8bf35d8b9e80e190f076abae64fa5242dcd7d7c479cbe8d96fb428a"
diff --git a/pyproject.toml b/pyproject.toml
index 4223173..6c668a8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,8 +12,8 @@ tk = "^0.1.0"
 pybullet = "^3.2.6"
 numpy = "^1.20"
 popsicle = "^0.9.6"
-pyqt5 = "^5.15.11"
 pillow = "^11.0.0"
+pyqt6 = "^6.7.1"
 
 
 [build-system]
diff --git a/run_local.py b/run_local.py
index 1d2e758..0c8839d 100644
--- a/run_local.py
+++ b/run_local.py
@@ -43,7 +43,6 @@ pybullet_command = [
     "run",
     "python",
     "utils/pybullet_server.py",
-    "--test",
 ]  # Путь к исполняемому файлу
 
 # Если включен режим тестирования, добавляем флаг --test