From 3022f1b6b7653de3a907c4cd9543ead7dee79b75 Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Fri, 15 Nov 2024 15:59:41 +0300 Subject: [PATCH] model test --- app.log | 4162 +++++++++++++++++++++++++++++++++++ delta.json | 290 +++ robot/client_socket.py | 207 +- robots.json | 6 +- urdf/sample.urdf | 3 +- urdf_support/sample/777.stl | Bin 0 -> 382034 bytes utils/test_socket_server.py | 49 +- 7 files changed, 4605 insertions(+), 112 deletions(-) create mode 100644 delta.json create mode 100644 urdf_support/sample/777.stl diff --git a/app.log b/app.log index 540df03..0d4f4d4 100644 --- a/app.log +++ b/app.log @@ -72610,3 +72610,4165 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 - 2024-11-13 16:51:27,077 - logger - INFO - Координаты осей [-0.296589, 10.587889, 4.750278, 180.000931, 14.657325, -180.137924] - client_socket.py - 359 2024-11-13 16:51:28,351 - logger - INFO - Мировые координаты [1550.247314, 2.954115, 1639.591553, 21.440111, 0.246196, -91.913345] - client_socket.py - 359 2024-11-13 16:51:29,597 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 359 +2024-11-14 08:34:34,914 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:34:34,915 - logger - INFO - None - robot.py - 52 +2024-11-14 08:34:34,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:34:34,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:34:34,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:34:34,916 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-14 08:34:34,916 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-14 08:34:34,916 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-14 08:34:35,973 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-14 08:34:37,897 - logger - INFO - not_connected - robot.py - 52 +2024-11-14 08:34:38,198 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-14 08:47:04,608 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:47:04,608 - logger - INFO - None - robot.py - 52 +2024-11-14 08:47:04,608 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:47:04,608 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:47:04,609 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-14 08:47:04,609 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-14 08:47:04,609 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-14 08:47:04,609 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-14 08:47:05,649 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-14 08:47:07,872 - logger - INFO - not_connected - robot.py - 52 +2024-11-14 08:47:08,173 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-14 08:47:10,532 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:33:33,198 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:33:33,199 - logger - INFO - None - robot.py - 52 +2024-11-15 08:33:33,199 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:33:33,199 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:33:33,199 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:33:33,200 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:33:33,200 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:33:33,200 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:33:34,237 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:33:36,775 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:33:37,076 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:33:39,484 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:33:41,026 - logger - INFO - Координаты осей [22.493, -30.696, 35.997, -77.419, -23.007, 76.362] - client_socket.py - 359 +2024-11-15 08:33:42,116 - logger - INFO - Мировые координаты [1630.006, 628.326, 1322.554, 0.0, 90.0, 0.0] - client_socket.py - 359 +2024-11-15 08:33:43,234 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 359 +2024-11-15 08:34:38,040 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:34:38,040 - logger - INFO - None - robot.py - 52 +2024-11-15 08:34:38,040 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:34:38,040 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:34:38,040 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:34:38,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:34:38,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:34:38,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:34:39,085 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:34:40,918 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:34:41,219 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:34:43,564 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:34:44,565 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 359 +2024-11-15 08:34:45,578 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 359 +2024-11-15 08:34:46,780 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 359 +2024-11-15 08:38:45,977 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 359 +2024-11-15 08:38:47,160 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 359 +2024-11-15 08:38:48,361 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 359 +2024-11-15 08:39:37,774 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:39:37,774 - logger - INFO - None - robot.py - 52 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:39:37,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:39:38,814 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:39:40,661 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:39:40,962 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:39:43,108 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:39:44,308 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:39:45,320 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:39:46,504 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - None - robot.py - 52 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:43:09,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:43:10,484 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:43:11,085 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:43:11,386 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:43:13,595 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:43:14,569 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:43:15,738 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:43:16,921 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:43:53,040 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:53,041 - logger - INFO - None - robot.py - 52 +2024-11-15 08:43:53,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:53,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:53,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:43:53,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:43:53,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:43:53,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:43:54,091 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:43:54,617 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:43:54,918 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:43:57,205 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:43:59,142 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:44:00,290 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:44:01,444 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:45:01,245 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:01,246 - logger - INFO - None - robot.py - 52 +2024-11-15 08:45:01,246 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:01,246 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:01,246 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:01,247 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:45:01,247 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:45:01,247 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:45:02,319 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:45:03,310 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:45:03,611 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:45:05,775 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:45:07,778 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:45:08,821 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:45:09,890 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:45:24,858 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:24,858 - logger - INFO - None - robot.py - 52 +2024-11-15 08:45:24,858 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:24,858 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:24,858 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:45:24,859 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:45:24,859 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:45:24,859 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:45:25,922 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:45:26,669 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:45:26,970 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:45:29,121 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:45:31,796 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:45:32,934 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:45:34,014 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:46:04,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:04,478 - logger - INFO - None - robot.py - 52 +2024-11-15 08:46:04,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:04,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:04,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:04,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:46:04,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:46:04,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:46:05,527 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:46:08,555 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:46:08,856 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - None - robot.py - 52 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:46:16,640 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:46:17,692 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:47:57,988 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:47:57,988 - logger - INFO - None - robot.py - 52 +2024-11-15 08:47:57,988 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:47:57,988 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:47:57,988 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:47:57,988 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:47:57,989 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:47:57,989 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:47:59,029 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:47:59,859 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:48:00,160 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:48:01,767 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:48:03,678 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 350 +2024-11-15 08:48:04,793 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 350 +2024-11-15 08:48:04,794 - logger - INFO - [1396.525, -88.313, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 256 +2024-11-15 08:48:05,909 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 350 +2024-11-15 08:49:10,557 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:49:10,557 - logger - INFO - None - robot.py - 52 +2024-11-15 08:49:10,557 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:49:10,557 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:49:10,558 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:49:10,558 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:49:10,558 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:49:10,558 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:49:11,587 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:49:12,066 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:49:12,367 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:49:13,987 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:49:15,033 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 08:49:16,094 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 08:49:17,145 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 08:49:19,899 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 08:49:20,952 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 08:49:21,966 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - None - robot.py - 52 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 08:50:32,467 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 08:50:33,520 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 08:50:44,337 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 08:50:44,637 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 08:50:47,116 - logger - INFO - connected - robot.py - 52 +2024-11-15 08:50:48,159 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 08:50:49,238 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 08:50:50,290 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 09:41:48,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:41:48,599 - logger - INFO - None - robot.py - 52 +2024-11-15 09:41:48,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:41:48,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:41:48,600 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:41:48,600 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:41:48,600 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:41:48,600 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:41:49,633 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:41:50,341 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:41:50,642 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 09:41:52,938 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:41:54,482 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 325 +2024-11-15 09:41:55,545 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:41:56,598 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325 +2024-11-15 09:42:03,164 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:42:03,164 - logger - INFO - None - robot.py - 52 +2024-11-15 09:42:03,164 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:42:03,164 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:42:03,165 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:42:03,165 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:42:03,165 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:42:03,165 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:42:04,210 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:42:04,808 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:42:05,109 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:42:07,415 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:42:09,293 - logger - INFO - Координаты осей [44.999882, -0.004576, -0.002859, -0.001404, -0.001799, -3.6e-05] - client_socket.py - 325 +2024-11-15 09:42:10,751 - logger - INFO - Мировые координаты [986.321838, 988.712036, 1322.635254, -44.999882, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:42:12,116 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:42:35,951 - logger - INFO - Координаты осей [44.999882, -0.004576, -0.002859, -0.001404, -0.001799, -3.6e-05] - client_socket.py - 325 +2024-11-15 09:42:37,209 - logger - INFO - Мировые координаты [986.321838, 988.712036, 1322.635254, -44.999882, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:42:38,465 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:11,418 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:12,847 - logger - INFO - Мировые координаты [1396.488892, 1.693, 1322.798096, 0.0, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:14,218 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:26,046 - logger - INFO - Координаты осей [22.008234, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:27,355 - logger - INFO - Мировые координаты [1269.072754, 582.784729, 1322.798096, -24.596113, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:28,681 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:31,477 - logger - INFO - Координаты осей [32.806961, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:32,691 - logger - INFO - Мировые координаты [1139.438599, 807.380737, 1322.798096, -35.251076, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:34,025 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:36,585 - logger - INFO - Координаты осей [41.97702, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:37,789 - logger - INFO - Мировые координаты [996.888306, 977.955933, 1322.798096, -44.381275, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:38,986 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:46,226 - logger - INFO - Координаты осей [61.234528, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:47,548 - logger - INFO - Мировые координаты [656.809509, 1232.390137, 1322.798096, -61.874897, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:48,889 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:52,425 - logger - INFO - Координаты осей [61.874897, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:53,770 - logger - INFO - Мировые координаты [656.809509, 1232.390137, 1322.798096, -61.874897, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:55,052 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:44:58,089 - logger - INFO - Координаты осей [61.874897, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 325 +2024-11-15 09:44:59,336 - logger - INFO - Мировые координаты [656.809509, 1232.390137, 1322.798096, -61.874897, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:00,554 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:25,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:45:25,478 - logger - INFO - None - robot.py - 52 +2024-11-15 09:45:25,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:45:25,478 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:45:25,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:45:25,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:45:25,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:45:25,479 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:45:26,533 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:45:29,307 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:45:29,607 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:45:32,198 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:45:33,021 - logger - INFO - Координаты осей [7.770733, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:34,317 - logger - INFO - Мировые координаты [1342.693848, 383.94342, 1322.756226, -15.888425, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:35,912 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:36,951 - logger - INFO - Координаты осей [32.001553, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:38,270 - logger - INFO - Мировые координаты [1068.363037, 899.355286, 1322.756226, -40.021439, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:39,642 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:40,619 - logger - INFO - Координаты осей [54.447456, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:41,923 - logger - INFO - Мировые координаты [657.465637, 1232.062744, 1322.756226, -61.844822, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:43,224 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:43,578 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:44,859 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:46,181 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:54,900 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:55,833 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:56,186 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:57,339 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:57,689 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:45:57,692 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:58,562 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:45:58,944 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:45:59,136 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:46:00,224 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:46:00,407 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:46:01,671 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:46:03,837 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:46:05,145 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:46:06,432 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:46:22,882 - logger - INFO - Координаты осей [61.87392, -0.001307, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:46:24,193 - logger - INFO - Мировые координаты [656.839844, 1232.396484, 1322.756226, -61.87392, 90.0, 0.0] - client_socket.py - 325 +2024-11-15 09:46:25,451 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:46:42,526 - logger - INFO - None - robot.py - 52 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:46:42,526 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:46:42,527 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:46:43,565 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:46:45,467 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:46:45,768 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:46:48,067 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:46:50,367 - logger - INFO - Координаты осей [61.87392, -19.315151, -0.000572, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:46:51,580 - logger - INFO - Мировые координаты [747.710632, 1402.396118, 914.134521, 179.999374, 72.432404, -118.126732] - client_socket.py - 325 +2024-11-15 09:46:52,805 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:47:05,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:05,751 - logger - INFO - None - robot.py - 52 +2024-11-15 09:47:05,752 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:05,752 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:05,753 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:05,753 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:47:05,753 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:47:05,753 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:47:06,811 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:47:09,113 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:47:09,413 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:47:11,788 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:47:12,186 - logger - INFO - Координаты осей [61.87392, -8.162832, -22.220278, 0.000936, -0.00072, -0.000736] - client_socket.py - 325 +2024-11-15 09:47:13,533 - logger - INFO - Мировые координаты [637.445923, 1196.114746, 630.897766, 179.999695, 56.951588, -118.126442] - client_socket.py - 325 +2024-11-15 09:47:14,913 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:47:34,623 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:34,623 - logger - INFO - None - robot.py - 52 +2024-11-15 09:47:34,623 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:34,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:34,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:47:34,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:47:34,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:47:34,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:47:35,654 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:47:38,326 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:47:38,626 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:47:40,881 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:47:42,752 - logger - INFO - Координаты осей [61.87392, -2.539446, -36.443954, 0.000936, 21.693115, -9.9e-05] - client_socket.py - 325 +2024-11-15 09:47:43,969 - logger - INFO - Мировые координаты [580.473511, 1089.530273, 611.520447, 179.997452, 75.062866, -118.129082] - client_socket.py - 325 +2024-11-15 09:47:45,270 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:47:49,975 - logger - INFO - Координаты осей [61.87392, 0.784712, -36.443954, 0.000936, 21.693115, -9.9e-05] - client_socket.py - 325 +2024-11-15 09:47:51,304 - logger - INFO - Мировые координаты [579.467468, 1087.648071, 629.535645, 179.997238, 76.033867, -118.129272] - client_socket.py - 325 +2024-11-15 09:47:52,638 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:47:54,194 - logger - INFO - Координаты осей [61.87392, 0.784712, -36.443954, 0.000936, 21.693115, -9.9e-05] - client_socket.py - 325 +2024-11-15 09:47:55,712 - logger - INFO - Мировые координаты [579.467468, 1087.648071, 629.535645, 179.997238, 76.033867, -118.129272] - client_socket.py - 325 +2024-11-15 09:47:57,000 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:47:57,942 - logger - INFO - Координаты осей [61.87392, 0.784712, -36.443954, 0.000936, 21.693115, -9.9e-05] - client_socket.py - 325 +2024-11-15 09:47:59,276 - logger - INFO - Мировые координаты [579.467468, 1087.648071, 629.535645, 179.997238, 76.033867, -118.129272] - client_socket.py - 325 +2024-11-15 09:48:00,557 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 325 +2024-11-15 09:48:49,195 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:48:49,195 - logger - INFO - None - robot.py - 52 +2024-11-15 09:48:49,195 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:48:49,196 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:48:49,196 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:48:49,196 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:48:49,196 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:48:49,196 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:48:50,227 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:48:50,854 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:48:51,154 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:48:53,367 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:48:54,282 - logger - INFO - Координаты осей [61.87392, 0.384349, -53.644665, 0.000936, 34.078335, -6.3e-05] - client_socket.py - 326 +2024-11-15 09:48:55,572 - logger - INFO - Мировые координаты [485.763367, 912.347168, 371.489075, 179.998352, 71.842278, -118.128365] - client_socket.py - 326 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - None - robot.py - 52 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:49:17,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:49:18,795 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:49:18,942 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:49:19,243 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:49:21,476 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:49:22,025 - logger - INFO - Координаты осей [61.87392, -3.511757, -48.330368, 0.000936, 34.078335, -6.3e-05] - client_socket.py - 327 +2024-11-15 09:49:23,342 - logger - INFO - Мировые координаты [501.972412, 942.670776, 354.91568, 179.998474, 70.828865, -118.128242] - client_socket.py - 327 +2024-11-15 09:49:39,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:39,041 - logger - INFO - None - robot.py - 52 +2024-11-15 09:49:39,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:39,041 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:39,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:49:39,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:49:39,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:49:39,042 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:49:40,083 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:49:40,356 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:49:40,657 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:49:43,020 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:49:43,256 - logger - INFO - Координаты осей [61.87392, -8.469723, -48.819202, 0.000936, 34.078335, -6.3e-05] - client_socket.py - 327 +2024-11-15 09:49:44,494 - logger - INFO - Мировые координаты [502.078033, 942.868408, 291.009064, 179.998856, 66.833138, -118.127892] - client_socket.py - 327 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - None - robot.py - 52 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:50:15,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:50:17,002 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:50:17,306 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:50:17,606 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:50:19,865 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:50:20,868 - logger - INFO - Координаты осей [59.020992, -14.689569, -41.239971, -4.840556, 32.830208, 2.947717] - client_socket.py - 328 +2024-11-15 09:50:22,362 - logger - INFO - Мировые координаты [604.16571, 1003.032227, 291.022644, 179.998276, 66.833664, -118.12867] - client_socket.py - 328 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - None - robot.py - 52 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:51:54,686 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:51:55,729 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:51:56,571 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:51:56,872 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:51:59,243 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:52:00,566 - logger - INFO - Координаты осей [58.54958, -19.135723, -39.967285, -5.206499, 37.877411, 2.90497] - client_socket.py - 318 +2024-11-15 09:52:01,915 - logger - INFO - Мировые координаты [604.680603, 1004.40686, 240.485687, 179.902359, 68.694389, -118.126755] - client_socket.py - 318 +2024-11-15 09:52:01,917 - logger - INFO - Вычисленное положение [1256.1380206822937, 547.3231113472364, 727.7232099978597] - client_socket.py - 266 +2024-11-15 09:52:01,917 - logger - INFO - ['1256.1380206822937 -- 604.680603 -- -651.4574176822937', '547.3231113472364 -- 1004.40686 -- 457.0837486527637', '727.7232099978597 -- 240.485687 -- -487.23752299785974'] - client_socket.py - 269 +2024-11-15 09:52:01,918 - logger - INFO - Вычисленная ориентация [ 0.98751008 3.62307353 25.37862597] - client_socket.py - 273 +2024-11-15 09:52:02,101 - logger - INFO - ['0.9875100841666309 -- 179.902359 -- 178.91484891583335', '3.62307353026446 -- 68.694389 -- 65.07131546973554', '25.37862596764446 -- -118.126755 -- -143.50538096764447'] - client_socket.py - 274 +2024-11-15 09:52:03,379 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 318 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - None - robot.py - 52 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:52:35,942 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:52:36,974 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:52:37,206 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:52:37,507 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 09:52:39,730 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:52:40,714 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 318 +2024-11-15 09:52:41,845 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 318 +2024-11-15 09:52:41,845 - logger - INFO - Вычисленное положение [1396.5109825401694, 1.6934188610627787, 1322.732603434401] - client_socket.py - 266 +2024-11-15 09:52:41,846 - logger - INFO - ['1396.5109825401694 -- 1396.525 -- 0.014017459830711232', '1.6934188610627787 -- 1.687 -- -0.006418861062778669', '1322.732603434401 -- 1322.697 -- -0.03560343440108227'] - client_socket.py - 269 +2024-11-15 09:52:41,846 - logger - INFO - Вычисленная ориентация [ 4.79783012e-03 3.72631426e-03 -8.60295698e-08] - client_socket.py - 273 +2024-11-15 09:52:41,847 - logger - INFO - ['0.004797830115610381 -- 0.0 -- -0.004797830115610381', '0.003726314259560638 -- 90.0 -- 89.99627368574043', '-8.602956978888911e-08 -- 0.0 -- 8.602956978888911e-08'] - client_socket.py - 274 +2024-11-15 09:52:42,949 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 318 +2024-11-15 09:54:50,378 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:54:50,378 - logger - INFO - None - robot.py - 52 +2024-11-15 09:54:50,378 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:54:50,378 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:54:50,378 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:54:50,379 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:54:50,379 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:54:50,379 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:54:51,431 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:54:51,976 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:54:52,276 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 09:54:55,870 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:55:14,543 - logger - INFO - Координаты осей [58.5508, -19.110231, -36.360767, 0.000936, 0.0, -0.00361] - client_socket.py - 318 +2024-11-15 09:55:15,858 - logger - INFO - Мировые координаты [616.99176, 1012.090576, 229.942047, -179.997833, 34.528999, -121.445381] - client_socket.py - 318 +2024-11-15 09:55:15,860 - logger - INFO - Вычисленное положение [1299.39096663801, 473.87924269545704, 778.0654149324617] - client_socket.py - 266 +2024-11-15 09:55:15,861 - logger - INFO - ['1299.39096663801 -- 616.99176 -- delta -682.39920663801', '473.87924269545704 -- 1012.090576 -- delta 538.211333304543', '778.0654149324617 -- 229.942047 -- delta -548.1233679324617'] - client_socket.py - 269 +2024-11-15 09:55:15,863 - logger - INFO - Вычисленная ориентация [17.80496586 29.95013394 20.17603202] - client_socket.py - 273 +2024-11-15 09:55:16,070 - logger - INFO - ['17.804965856571712 -- -179.997833 -- delta -197.8027988565717', '29.950133935674742 -- 34.528999 -- delta 4.578865064325257', '20.176032016441184 -- -121.445381 -- delta -141.62141301644118'] - client_socket.py - 274 +2024-11-15 09:55:17,392 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 318 +2024-11-15 09:58:05,233 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:05,234 - logger - INFO - None - robot.py - 52 +2024-11-15 09:58:05,234 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:05,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:05,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:05,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:58:05,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:58:05,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:58:06,313 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:58:09,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - None - robot.py - 52 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:58:09,317 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:58:10,357 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:58:11,275 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:58:11,576 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 09:58:13,748 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:59:10,391 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:10,391 - logger - INFO - None - robot.py - 52 +2024-11-15 09:59:10,391 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:10,391 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:10,391 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:10,392 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:59:10,392 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:59:10,392 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:59:11,438 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:59:11,823 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:59:12,123 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 09:59:13,605 - logger - INFO - connected - robot.py - 52 +2024-11-15 09:59:50,534 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:50,535 - logger - INFO - None - robot.py - 52 +2024-11-15 09:59:50,535 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:50,535 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:50,535 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 09:59:50,535 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 09:59:50,535 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 09:59:50,536 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 09:59:51,619 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 09:59:52,486 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 09:59:52,787 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 09:59:55,079 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:00:06,199 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 318 +2024-11-15 10:00:07,414 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 318 +2024-11-15 10:00:07,415 - logger - INFO - Вычисленное положение [1085.4752544323808, -337.6586277488475, 1282.5277276099498] - client_socket.py - 266 +2024-11-15 10:00:07,416 - logger - INFO - ['1085.4752544323808 -- 1131.959351 -- delta 46.48409656761919', '-337.6586277488475 -- -588.689941 -- delta -251.03131325115248', '1282.5277276099498 -- 1277.805054 -- delta -4.722673609949879'] - client_socket.py - 269 +2024-11-15 10:00:07,417 - logger - INFO - Вычисленная ориентация [43.05386563 17.76669927 5.85926778] - client_socket.py - 273 +2024-11-15 10:00:07,633 - logger - INFO - ['43.0538656264376 -- 6.181231 -- delta -36.8726346264376', '17.766699268111065 -- 54.227802 -- delta 36.46110273188893', '5.859267775057393 -- -100.604988 -- delta -106.4642557750574'] - client_socket.py - 274 +2024-11-15 10:00:08,676 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 318 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - None - robot.py - 52 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:02:45,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:02:46,623 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:02:47,140 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:02:47,441 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:02:49,751 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:02:50,779 - logger - INFO - Координаты осей [7.276825, -5.631884, -0.892196, 0.000936, -0.001439, -0.001473] - client_socket.py - 321 +2024-11-15 10:02:52,105 - logger - INFO - Мировые координаты [1459.282349, 188.045227, 1179.331787, -179.9953, 83.47448, -172.718445] - client_socket.py - 321 +2024-11-15 10:02:52,108 - logger - INFO - Вычисленное положение [1446.1114772106266, 132.89257737442597, 1219.1664410235383] - client_socket.py - 266 +2024-11-15 10:02:52,108 - logger - INFO - ['1446.1114772106266 -- 1459.282349 -- delta 13.17087178937345', '132.89257737442597 -- 188.045227 -- delta 55.15264962557404', '1219.1664410235383 -- 1179.331787 -- delta -39.83465402353818'] - client_socket.py - 269 +2024-11-15 10:02:52,109 - logger - INFO - Вычисленная ориентация [-0.36212603 4.83626876 5.2357064 ] - client_socket.py - 273 +2024-11-15 10:02:52,110 - logger - INFO - ['-0.362126031953956 -- -179.9953 -- delta -179.63317396804604', '4.836268755746926 -- 83.47448 -- delta 78.63821124425307', '5.235706404562399 -- -172.718445 -- delta -177.9541514045624'] - client_socket.py - 274 +2024-11-15 10:02:53,465 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 321 +2024-11-15 10:05:30,471 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:30,472 - logger - INFO - None - robot.py - 52 +2024-11-15 10:05:30,472 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:30,472 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:30,472 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:30,473 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:05:30,473 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:05:30,473 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:05:31,540 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:05:39,205 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:05:39,505 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:05:41,738 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:05:42,876 - logger - INFO - Координаты осей [7.276336, -5.631884, -0.891338, 0.001872, -0.002159, -0.001487] - client_socket.py - 344 +2024-11-15 10:05:44,243 - logger - INFO - Мировые координаты [1459.280518, 188.032349, 1179.356079, 179.996643, 83.47493, -172.727036] - client_socket.py - 344 +2024-11-15 10:05:44,245 - logger - INFO - Вычисленное положение [1446.1125460940655, 132.88421570661984, 1219.178951929863] - client_socket.py - 268 +2024-11-15 10:05:44,246 - logger - INFO - ['1446.1125460940655 -- 1459.280518 -- delta 13.167971905934564', '132.88421570661984 -- 188.032349 -- delta 55.14813329338017', '1219.178951929863 -- 1179.356079 -- delta -39.822872929863024'] - client_socket.py - 271 +2024-11-15 10:05:44,247 - logger - INFO - Вычисленная ориентация [-0.36074636 4.83623096 5.23537104] - client_socket.py - 275 +2024-11-15 10:05:44,247 - logger - INFO - ['-0.36074636044636904 -- 179.996643 -- delta 180.35738936044638', '4.836230959099614 -- 83.47493 -- delta 78.63869904090039', '5.235371038040077 -- -172.727036 -- delta -177.96240703804008'] - client_socket.py - 276 +2024-11-15 10:05:56,980 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - None - robot.py - 52 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:05:56,981 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:05:58,060 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:05:59,339 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:05:59,640 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:06:01,909 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:06:02,839 - logger - INFO - Координаты осей [7.276336, -5.631557, -0.891338, 0.001872, -0.002159, -0.001487] - client_socket.py - 344 +2024-11-15 10:06:04,175 - logger - INFO - Мировые координаты [1459.280518, 188.032349, 1179.356079, 179.996643, 83.47493, -172.727036] - client_socket.py - 344 +2024-11-15 10:06:04,178 - logger - INFO - Вычисленное положение [1447.547754515385, 138.1663035126552, 1214.1457278667676] - client_socket.py - 268 +2024-11-15 10:06:04,179 - logger - INFO - ['1447.547754515385 -- 1459.280518 -- delta 11.732763484615134', '138.1663035126552 -- 188.032349 -- delta 49.86604548734482', '1214.1457278667676 -- 1179.356079 -- delta -34.78964886676772'] - client_socket.py - 271 +2024-11-15 10:06:04,180 - logger - INFO - Вычисленная ориентация [-2.06411431 4.83490613 5.43949273] - client_socket.py - 275 +2024-11-15 10:06:04,364 - logger - INFO - ['-2.06411430936557 -- 179.996643 -- delta 182.06075730936558', '4.834906127517421 -- 83.47493 -- delta 78.64002387248257', '5.439492732796547 -- -172.727036 -- delta -178.16652873279654'] - client_socket.py - 276 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - None - robot.py - 52 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:06:58,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:06:59,326 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:07:21,665 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:07:21,966 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:07:52,859 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - None - robot.py - 52 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:07:52,860 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:07:53,898 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:07:54,262 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:07:54,562 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:07:56,769 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:07:58,025 - logger - INFO - Координаты осей [7.276336, -5.631557, -0.891052, 0.001872, -0.002159, -0.001487] - client_socket.py - 340 +2024-11-15 10:07:59,235 - logger - INFO - Мировые координаты [1459.28064, 188.032364, 1179.362305, 179.996643, 83.475235, -172.727036] - client_socket.py - 340 +2024-11-15 10:07:59,238 - logger - INFO - Вычисленное положение [1444.4661911887977, 127.0352686097338, 1224.8360009410335] - client_socket.py - 268 +2024-11-15 10:07:59,238 - logger - INFO - ['1444.4661911887977 -- 1459.28064 -- delta 14.814448811202283', '127.0352686097338 -- 188.032364 -- delta 60.997095390266196', '1224.8360009410335 -- 1179.362305 -- delta -45.473695941033384'] - client_socket.py - 271 +2024-11-15 10:07:59,239 - logger - INFO - Вычисленная ориентация [1.59150649 4.84144054 5.00890847] - client_socket.py - 275 +2024-11-15 10:07:59,443 - logger - INFO - ['1.5915064885838 -- 179.996643 -- delta 178.4051365114162', '4.841440542862522 -- 83.475235 -- delta 78.63379445713747', '5.008908465818562 -- -172.727036 -- delta -177.73594446581856'] - client_socket.py - 276 +2024-11-15 10:08:08,074 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - None - robot.py - 52 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:08:08,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:08:09,116 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:08:09,959 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:08:10,259 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:08:12,419 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:08:14,015 - logger - INFO - Координаты осей [7.58295, -5.631557, -0.891052, 0.001872, -0.002159, -0.001487] - client_socket.py - 340 +2024-11-15 10:08:15,337 - logger - INFO - Мировые координаты [1447.704834, 262.692688, 1179.362305, 179.996643, 83.475235, -169.784622] - client_socket.py - 340 +2024-11-15 10:08:15,339 - logger - INFO - Вычисленное положение [1447.013200038, 143.66855055077795, 1214.146328931903] - client_socket.py - 268 +2024-11-15 10:08:15,340 - logger - INFO - ['1447.013200038 -- 1447.704834 -- delta 0.691633961999969', '143.66855055077795 -- 262.692688 -- delta 119.02413744922202', '1214.146328931903 -- 1179.362305 -- delta -34.78402393190299'] - client_socket.py - 271 +2024-11-15 10:08:15,340 - logger - INFO - Вычисленная ориентация [-2.06942422 4.83405543 5.65950178] - client_socket.py - 275 +2024-11-15 10:08:15,341 - logger - INFO - ['-2.0694242189576446 -- 179.996643 -- delta 182.06606721895764', '4.834055425175501 -- 83.475235 -- delta 78.64117957482449', '5.659501775905463 -- -169.784622 -- delta -175.44412377590547'] - client_socket.py - 276 +2024-11-15 10:08:16,654 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:08:25,235 - logger - INFO - Координаты осей [16.571337, -5.632537, -0.890766, 0.002808, -0.002878, -0.001502] - client_socket.py - 340 +2024-11-15 10:08:26,561 - logger - INFO - Мировые координаты [1409.760864, 421.26651, 1179.344727, 179.988586, 83.473816, -163.440155] - client_socket.py - 340 +2024-11-15 10:08:26,564 - logger - INFO - Вычисленное положение [1428.5579640938615, 352.142546609087, 1181.014344299843] - client_socket.py - 268 +2024-11-15 10:08:26,565 - logger - INFO - ['1428.5579640938615 -- 1409.760864 -- delta -18.797100093861445', '352.142546609087 -- 421.26651 -- delta 69.12396339091299', '1181.014344299843 -- 1179.344727 -- delta -1.6696172998431393'] - client_socket.py - 271 +2024-11-15 10:08:26,566 - logger - INFO - Вычисленная ориентация [ 0.19451805 6.54512159 13.91799635] - client_socket.py - 275 +2024-11-15 10:08:26,566 - logger - INFO - ['0.19451805095293317 -- 179.988586 -- delta 179.79406794904708', '6.545121594001236 -- 83.473816 -- delta 76.92869440599877', '13.9179963500935 -- -163.440155 -- delta -177.3581513500935'] - client_socket.py - 276 +2024-11-15 10:08:27,804 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:08:28,332 - logger - INFO - Координаты осей [16.571337, -5.632537, -0.890766, 0.002808, -0.002878, -0.001502] - client_socket.py - 340 +2024-11-15 10:08:29,592 - logger - INFO - Мировые координаты [1409.760986, 421.266571, 1179.35083, 179.988586, 83.474091, -163.440155] - client_socket.py - 340 +2024-11-15 10:08:29,595 - logger - INFO - Вычисленное положение [1411.2949790610837, 415.61362966285554, 1180.8753376262355] - client_socket.py - 268 +2024-11-15 10:08:29,595 - logger - INFO - ['1411.2949790610837 -- 1409.760986 -- delta -1.53399306108372', '415.61362966285554 -- 421.266571 -- delta 5.652941337144455', '1180.8753376262355 -- 1179.35083 -- delta -1.5245076262353905'] - client_socket.py - 271 +2024-11-15 10:08:29,596 - logger - INFO - Вычисленная ориентация [2.40112985e-03 6.52626828e+00 1.65049200e+01] - client_socket.py - 275 +2024-11-15 10:08:29,596 - logger - INFO - ['0.002401129851235782 -- 179.988586 -- delta 179.98618487014878', '6.526268284399061 -- 83.474091 -- delta 76.94782271560094', '16.50492003496873 -- -163.440155 -- delta -179.94507503496874'] - client_socket.py - 276 +2024-11-15 10:08:30,934 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:08:31,728 - logger - INFO - Координаты осей [16.571337, -5.632537, -0.890766, 0.002808, -0.002878, -0.001502] - client_socket.py - 340 +2024-11-15 10:08:33,032 - logger - INFO - Мировые координаты [1409.762695, 421.260529, 1179.344727, 179.988586, 83.473816, -163.440399] - client_socket.py - 340 +2024-11-15 10:08:33,035 - logger - INFO - Вычисленное положение [1410.8250828975226, 417.19619929702327, 1180.8736657887225] - client_socket.py - 268 +2024-11-15 10:08:33,035 - logger - INFO - ['1410.8250828975226 -- 1409.762695 -- delta -1.0623878975227399', '417.19619929702327 -- 421.260529 -- delta 4.06432970297675', '1180.8736657887225 -- 1179.344727 -- delta -1.5289387887225985'] - client_socket.py - 271 +2024-11-15 10:08:33,036 - logger - INFO - Вычисленная ориентация [9.82797184e-05 6.52603051e+00 1.65698409e+01] - client_socket.py - 275 +2024-11-15 10:08:33,038 - logger - INFO - ['9.827971837244566e-05 -- 179.988586 -- delta 179.98848772028163', '6.526030514442946 -- 83.473816 -- delta 76.94778548555705', '16.56984090936855 -- -163.440399 -- delta -180.01023990936858'] - client_socket.py - 276 +2024-11-15 10:08:33,827 - logger - INFO - Координаты осей [16.571337, -5.632537, -0.890766, 0.002808, -0.002878, -0.001502] - client_socket.py - 340 +2024-11-15 10:08:34,608 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:08:35,207 - logger - INFO - Мировые координаты [1409.760864, 421.26651, 1179.344727, 179.988586, 83.473816, -163.440155] - client_socket.py - 340 +2024-11-15 10:08:35,210 - logger - INFO - Вычисленное положение [1410.8150329939913, 417.23005308052325, 1180.8737917238125] - client_socket.py - 268 +2024-11-15 10:08:35,210 - logger - INFO - ['1410.8150329939913 -- 1409.760864 -- delta -1.0541689939911976', '417.23005308052325 -- 421.26651 -- delta 4.036456919476734', '1180.8737917238125 -- 1179.344727 -- delta -1.529064723812553'] - client_socket.py - 271 +2024-11-15 10:08:35,211 - logger - INFO - Вычисленная ориентация [1.35082883e-03 6.52640964e+00 1.65712297e+01] - client_socket.py - 275 +2024-11-15 10:08:35,211 - logger - INFO - ['0.0013508288250815607 -- 179.988586 -- delta 179.98723517117492', '6.5264096412736405 -- 83.473816 -- delta 76.94740635872635', '16.57122970818598 -- -163.440155 -- delta -180.01138470818597'] - client_socket.py - 276 +2024-11-15 10:08:36,558 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:10:10,417 - logger - INFO - Координаты осей [16.570602, -5.632537, -0.890766, 0.002808, -0.002878, -0.001502] - client_socket.py - 340 +2024-11-15 10:10:11,708 - logger - INFO - Мировые координаты [1409.766357, 421.248474, 1179.344727, 179.988586, 83.473816, -163.440887] - client_socket.py - 340 +2024-11-15 10:10:11,710 - logger - INFO - Вычисленное положение [1410.8183909228085, 417.2188646357797, 1180.8744020754043] - client_socket.py - 268 +2024-11-15 10:10:11,711 - logger - INFO - ['1410.8183909228085 -- 1409.766357 -- delta -1.052033922808505', '417.2188646357797 -- 421.248474 -- delta 4.029609364220278', '1180.8744020754043 -- 1179.344727 -- delta -1.5296750754043842'] - client_socket.py - 271 +2024-11-15 10:10:11,712 - logger - INFO - Вычисленная ориентация [1.30292035e-03 6.52618333e+00 1.65707703e+01] - client_socket.py - 275 +2024-11-15 10:10:11,898 - logger - INFO - ['0.0013029203531218629 -- 179.988586 -- delta 179.9872830796469', '6.526183332107941 -- 83.473816 -- delta 76.94763266789207', '16.570770283373925 -- -163.440887 -- delta -180.01165728337392'] - client_socket.py - 276 +2024-11-15 10:10:13,189 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 340 +2024-11-15 10:11:44,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:11:44,624 - logger - INFO - None - robot.py - 52 +2024-11-15 10:11:44,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:11:44,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:11:44,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:11:44,625 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:11:44,625 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:11:44,625 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:11:45,669 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:11:46,121 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:11:46,421 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:11:48,668 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:11:49,771 - logger - INFO - Координаты осей [16.548109, -5.633518, -0.890481, 0.003744, -0.003598, -0.001516] - client_socket.py - 344 +2024-11-15 10:11:51,036 - logger - INFO - Мировые координаты [1409.942749, 420.698242, 1179.33252, 179.980591, 83.472313, -163.47142] - client_socket.py - 344 +2024-11-15 10:11:51,038 - logger - INFO - Вычисленное положение [1425.417430581542, 277.36124855264103, 1218.3370424944305] - client_socket.py - 268 +2024-11-15 10:11:51,038 - logger - INFO - ['1425.417430581542 -- 1409.942749 -- delta -15.474681581541972', '277.36124855264103 -- 420.698242 -- delta 143.33699344735896', '1218.3370424944305 -- 1179.33252 -- delta -39.0045224944306'] - client_socket.py - 271 +2024-11-15 10:11:51,038 - logger - INFO - Вычисленная ориентация [-1.41799121 4.72495035 11.05423707] - client_socket.py - 275 +2024-11-15 10:11:51,039 - logger - INFO - ['-1.4179912053454933 -- 179.980591 -- delta 181.3985822053455', '4.724950348730641 -- 83.472313 -- delta 78.74736265126936', '11.054237071117907 -- -163.47142 -- delta -174.5256570711179'] - client_socket.py - 276 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - None - robot.py - 52 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:13:10,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:13:12,045 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:13:16,123 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:13:16,423 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:13:18,645 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:13:19,390 - logger - INFO - Координаты осей [16.548353, -5.633518, -0.890195, 0.003744, -0.003958, -0.001523] - client_socket.py - 345 +2024-11-15 10:13:20,688 - logger - INFO - Мировые координаты [1409.940918, 420.704285, 1179.333252, 179.98053, 83.472679, -163.471237] - client_socket.py - 345 +2024-11-15 10:13:20,691 - logger - INFO - Вычисленное положение [1425.4168533090237, 277.36465077484013, 1218.341084476202] - client_socket.py - 268 +2024-11-15 10:13:20,692 - logger - INFO - ['1425.4168533090237 -- 1409.940918 -- delta -15.475935309023725', '277.36465077484013 -- 420.704285 -- delta 143.3396342251599', '1218.341084476202 -- 1179.333252 -- delta -39.00783247620211'] - client_socket.py - 271 +2024-11-15 10:13:20,692 - logger - INFO - Вычисленная ориентация [-1.41771086 4.72503529 11.05437456] - client_socket.py - 275 +2024-11-15 10:13:20,692 - logger - INFO - ['-1.4177108587409715 -- 179.98053 -- delta 181.39824085874096', '4.725035293038813 -- 83.472679 -- delta 78.74764370696118', '11.054374564318225 -- -163.471237 -- delta -174.52561156431824'] - client_socket.py - 276 +2024-11-15 10:13:30,004 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:30,004 - logger - INFO - None - robot.py - 52 +2024-11-15 10:13:30,004 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:30,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:30,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:13:30,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:13:30,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:13:30,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:13:31,054 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:13:31,626 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:13:31,926 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:13:34,106 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:13:36,027 - logger - INFO - Координаты осей [16.548353, -5.634825, -0.889623, 0.006083, -0.005757, -0.001559] - client_socket.py - 345 +2024-11-15 10:13:37,300 - logger - INFO - Мировые координаты [1409.956055, 420.70874, 1179.311523, 179.960464, 83.469795, -163.491425] - client_socket.py - 345 +2024-11-15 10:13:37,302 - logger - INFO - Вычисленное положение [1425.4278348922296, 277.36662403409605, 1218.3278229045766] - client_socket.py - 268 +2024-11-15 10:13:37,302 - logger - INFO - ['1425.4278348922296 -- 1409.956055 -- delta -15.471779892229506', '277.36662403409605 -- 420.70874 -- delta 143.34211596590393', '1218.3278229045766 -- 1179.311523 -- delta -39.0162999045765'] - client_socket.py - 271 +2024-11-15 10:13:37,303 - logger - INFO - Вычисленная ориентация [-1.41587827 4.72692761 11.05436412] - client_socket.py - 275 +2024-11-15 10:13:37,303 - logger - INFO - ['-1.4158782733851385 -- 179.960464 -- delta 181.37634227338515', '4.726927612307259 -- 83.469795 -- delta 78.74286738769274', '11.054364119536784 -- -163.491425 -- delta -174.54578911953678'] - client_socket.py - 276 +2024-11-15 10:13:38,719 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 345 +2024-11-15 10:13:47,351 - logger - INFO - Координаты осей [16.548353, -5.634825, -0.889623, 0.006083, -0.005757, -0.001559] - client_socket.py - 345 +2024-11-15 10:13:48,635 - logger - INFO - Мировые координаты [1409.955933, 420.708679, 1179.305298, 179.960464, 83.469498, -163.491425] - client_socket.py - 345 +2024-11-15 10:13:48,637 - logger - INFO - Вычисленное положение [1411.0073158308294, 416.6800368373653, 1180.8420427006947] - client_socket.py - 268 +2024-11-15 10:13:48,637 - logger - INFO - ['1411.0073158308294 -- 1409.955933 -- delta -1.051382830829425', '416.6800368373653 -- 420.708679 -- delta 4.028642162634696', '1180.8420427006947 -- 1179.305298 -- delta -1.536744700694726'] - client_socket.py - 271 +2024-11-15 10:13:48,638 - logger - INFO - Вычисленная ориентация [4.53220712e-03 6.53023566e+00 1.65483420e+01] - client_socket.py - 275 +2024-11-15 10:13:48,638 - logger - INFO - ['0.0045322071152206255 -- 179.960464 -- delta 179.95593179288477', '6.530235662956424 -- 83.469498 -- delta 76.93926233704357', '16.54834203365107 -- -163.491425 -- delta -180.03976703365106'] - client_socket.py - 276 +2024-11-15 10:13:50,122 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 345 +2024-11-15 10:14:11,471 - logger - INFO - Координаты осей [16.548353, -5.634825, -0.889623, 0.006083, -0.005757, -0.001559] - client_socket.py - 345 +2024-11-15 10:14:12,710 - logger - INFO - Мировые координаты [1409.956055, 420.70874, 1179.311523, 179.960464, 83.469795, -163.491425] - client_socket.py - 345 +2024-11-15 10:14:12,712 - logger - INFO - Вычисленное положение [1411.0072688630999, 416.6803301973613, 1180.8420877739918] - client_socket.py - 268 +2024-11-15 10:14:12,713 - logger - INFO - ['1411.0072688630999 -- 1409.956055 -- delta -1.051213863099747', '416.6803301973613 -- 420.70874 -- delta 4.028409802638691', '1180.8420877739918 -- 1179.311523 -- delta -1.5305647739917276'] - client_socket.py - 271 +2024-11-15 10:14:12,714 - logger - INFO - Вычисленная ориентация [4.53707498e-03 6.53021175e+00 1.65483536e+01] - client_socket.py - 275 +2024-11-15 10:14:12,714 - logger - INFO - ['0.00453707497721074 -- 179.960464 -- delta 179.9559269250228', '6.530211751551838 -- 83.469795 -- delta 76.93958324844817', '16.548353615071346 -- -163.491425 -- delta -180.03977861507133'] - client_socket.py - 276 +2024-11-15 10:14:14,209 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 345 +2024-11-15 10:16:09,084 - logger - ERROR - Error sending data: [Errno 104] Connection reset by peer - client_socket.py - 112 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - None - robot.py - 52 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:16:22,397 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:16:23,431 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:16:24,362 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:16:24,663 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:16:26,815 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:16:28,297 - logger - INFO - Координаты осей [59.800732, -18.01536, -33.787949, 0.006083, 17.99946, -0.001043] - client_socket.py - 347 +2024-11-15 10:16:29,521 - logger - INFO - Мировые координаты [637.616272, 1098.924805, 326.869812, 179.994537, 57.123795, -120.207993] - client_socket.py - 347 +2024-11-15 10:16:29,523 - logger - INFO - Вычисленное положение [1286.3019978314076, 546.46314599772, 756.8634613259013] - client_socket.py - 270 +2024-11-15 10:16:29,524 - logger - INFO - ['1286.3019978314076 -- 637.616272 -- delta -648.6857258314076', '546.46314599772 -- 1098.924805 -- delta 552.4616590022802', '756.8634613259013 -- 326.869812 -- delta -429.9936493259013'] - client_socket.py - 273 +2024-11-15 10:16:29,525 - logger - INFO - Вычисленная ориентация [33.83254549 21.61188729 23.18496362] - client_socket.py - 277 +2024-11-15 10:16:29,525 - logger - INFO - ['33.83254548791335 -- 179.994537 -- delta 146.16199151208667', '21.611887289061706 -- 57.123795 -- delta 35.511907710938296', '23.184963624277497 -- -120.207993 -- delta -143.3929566242775'] - client_socket.py - 278 +2024-11-15 10:16:30,974 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:16:47,855 - logger - INFO - Координаты осей [59.800732, -23.095888, -28.262396, 0.006083, 23.411135, -0.000398] - client_socket.py - 347 +2024-11-15 10:16:49,197 - logger - INFO - Мировые координаты [667.256531, 1149.851074, 306.321045, 179.992645, 62.052856, -120.210335] - client_socket.py - 347 +2024-11-15 10:16:49,199 - logger - INFO - Вычисленное положение [667.5329251881506, 1123.9614909917473, 315.9582948961369] - client_socket.py - 270 +2024-11-15 10:16:49,199 - logger - INFO - ['667.5329251881506 -- 667.256531 -- delta -0.2763941881505616', '1123.9614909917473 -- 1149.851074 -- delta 25.889583008252657', '315.9582948961369 -- 306.321045 -- delta -9.637249896136893'] - client_socket.py - 273 +2024-11-15 10:16:49,199 - logger - INFO - Вычисленная ориентация [-1.77982055e-02 2.94332031e+01 5.97983098e+01] - client_socket.py - 277 +2024-11-15 10:16:49,200 - logger - INFO - ['-0.017798205543545102 -- 179.992645 -- delta 180.01044320554357', '29.433203145828415 -- 62.052856 -- delta 32.619652854171584', '59.79830983550784 -- -120.210335 -- delta -180.00864483550782'] - client_socket.py - 278 +2024-11-15 10:16:50,431 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:17:05,963 - logger - INFO - Координаты осей [59.800732, -20.217848, -29.683163, 0.006083, 23.411135, -0.000398] - client_socket.py - 347 +2024-11-15 10:17:07,177 - logger - INFO - Мировые координаты [663.609863, 1143.585327, 389.050415, 179.99086, 65.839752, -120.211929] - client_socket.py - 347 +2024-11-15 10:17:07,179 - logger - INFO - Вычисленное положение [671.9282160961869, 1131.5023846785286, 340.1732571646566] - client_socket.py - 270 +2024-11-15 10:17:07,179 - logger - INFO - ['671.9282160961869 -- 663.609863 -- delta -8.318353096186911', '1131.5023846785286 -- 1143.585327 -- delta 12.082942321471364', '340.1732571646566 -- 389.050415 -- delta 48.87715783534338'] - client_socket.py - 273 +2024-11-15 10:17:07,180 - logger - INFO - Вычисленная ориентация [6.63103784e-03 2.68606680e+01 5.97979836e+01] - client_socket.py - 277 +2024-11-15 10:17:07,180 - logger - INFO - ['0.006631037844525167 -- 179.99086 -- delta 179.98422896215547', '26.860667989137625 -- 65.839752 -- delta 38.97908401086238', '59.7979835540634 -- -120.211929 -- delta -180.0099125540634'] - client_socket.py - 278 +2024-11-15 10:17:08,475 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:17:13,195 - logger - INFO - Координаты осей [59.806599, -17.162016, -36.710098, 0.006083, 23.411135, -0.000398] - client_socket.py - 347 +2024-11-15 10:17:14,460 - logger - INFO - Мировые координаты [593.470825, 1065.85437, 294.876404, 179.993591, 59.539032, -119.1987] - client_socket.py - 347 +2024-11-15 10:17:14,462 - logger - INFO - Вычисленное положение [634.526674880235, 1067.4488009238723, 315.17439850351957] - client_socket.py - 270 +2024-11-15 10:17:14,462 - logger - INFO - ['634.526674880235 -- 593.470825 -- delta -41.05584988023497', '1067.4488009238723 -- 1065.85437 -- delta -1.5944309238723235', '315.17439850351957 -- 294.876404 -- delta -20.29799450351959'] - client_socket.py - 273 +2024-11-15 10:17:14,462 - logger - INFO - Вычисленная ориентация [-2.99427311e-02 2.94147584e+01 5.98027469e+01] - client_socket.py - 277 +2024-11-15 10:17:14,463 - logger - INFO - ['-0.029942731143930448 -- 179.993591 -- delta 180.02353373114394', '29.414758423013836 -- 59.539032 -- delta 30.124273576986162', '59.80274685708876 -- -119.1987 -- delta -179.00144685708875'] - client_socket.py - 278 +2024-11-15 10:17:15,706 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:17:50,719 - logger - INFO - Координаты осей [62.319416, -18.636332, -38.215481, 0.006083, 29.84067, 0.001832] - client_socket.py - 347 +2024-11-15 10:17:52,049 - logger - INFO - Мировые координаты [554.402344, 1060.481812, 258.296631, 179.989075, 62.98885, -117.696236] - client_socket.py - 347 +2024-11-15 10:17:52,052 - logger - INFO - Вычисленное положение [577.5105949093439, 1049.4808126741846, 274.042781840766] - client_socket.py - 270 +2024-11-15 10:17:52,052 - logger - INFO - ['577.5105949093439 -- 554.402344 -- delta -23.10825090934395', '1049.4808126741846 -- 1060.481812 -- delta 11.000999325815428', '274.042781840766 -- 258.296631 -- delta -15.746150840766006'] - client_socket.py - 273 +2024-11-15 10:17:52,053 - logger - INFO - Вычисленная ориентация [1.35476610e-02 2.78014800e+01 6.17411906e+01] - client_socket.py - 277 +2024-11-15 10:17:52,054 - logger - INFO - ['0.013547661019056058 -- 179.989075 -- delta 179.97552733898095', '27.801480024025004 -- 62.98885 -- delta 35.187369975974995', '61.74119062266743 -- -117.696236 -- delta -179.43742662266743'] - client_socket.py - 278 +2024-11-15 10:17:53,435 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:17:54,213 - logger - INFO - Координаты осей [62.319416, -18.636332, -38.215481, 0.006083, 29.84067, 0.001832] - client_socket.py - 347 +2024-11-15 10:17:55,547 - logger - INFO - Мировые координаты [554.402344, 1060.481812, 258.296631, 179.989075, 62.98885, -117.696236] - client_socket.py - 347 +2024-11-15 10:17:55,549 - logger - INFO - Вычисленное положение [564.6342428470134, 1050.053923160493, 265.7904635706328] - client_socket.py - 270 +2024-11-15 10:17:55,549 - logger - INFO - ['564.6342428470134 -- 554.402344 -- delta -10.23189884701344', '1050.053923160493 -- 1060.481812 -- delta 10.427888839506977', '265.7904635706328 -- 258.296631 -- delta -7.493832570632833'] - client_socket.py - 273 +2024-11-15 10:17:55,551 - logger - INFO - Вычисленная ориентация [4.87782078e-03 2.70288182e+01 6.23030865e+01] - client_socket.py - 277 +2024-11-15 10:17:55,551 - logger - INFO - ['0.004877820784267434 -- 179.989075 -- delta 179.98419717921576', '27.028818154319353 -- 62.98885 -- delta 35.960031845680646', '62.30308648340502 -- -117.696236 -- delta -179.99932248340502'] - client_socket.py - 278 +2024-11-15 10:17:56,972 - logger - INFO - Координаты осей [62.319416, -18.636332, -38.215481, 0.006083, 29.84067, 0.001832] - client_socket.py - 347 +2024-11-15 10:17:57,200 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:17:58,179 - logger - INFO - Мировые координаты [554.402344, 1060.481812, 258.296631, 179.989075, 62.98885, -117.696236] - client_socket.py - 347 +2024-11-15 10:17:58,182 - logger - INFO - Вычисленное положение [564.3502903128098, 1050.0639213028783, 265.6095573072849] - client_socket.py - 270 +2024-11-15 10:17:58,183 - logger - INFO - ['564.3502903128098 -- 554.402344 -- delta -9.94794631280979', '1050.0639213028783 -- 1060.481812 -- delta 10.41789069712172', '265.6095573072849 -- 258.296631 -- delta -7.312926307284897'] - client_socket.py - 273 +2024-11-15 10:17:58,184 - logger - INFO - Вычисленная ориентация [5.29307788e-03 2.70125673e+01 6.23162670e+01] - client_socket.py - 277 +2024-11-15 10:17:58,184 - logger - INFO - ['0.005293077883161144 -- 179.989075 -- delta 179.98378192211686', '27.012567331943636 -- 62.98885 -- delta 35.97628266805636', '62.31626702632242 -- -117.696236 -- delta -180.0125030263224'] - client_socket.py - 278 +2024-11-15 10:17:59,742 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:18:24,432 - logger - INFO - Координаты осей [61.011536, -15.977921, -41.719372, -2.276147, 30.70022, 1.370729] - client_socket.py - 347 +2024-11-15 10:18:25,702 - logger - INFO - Мировые координаты [560.172302, 1009.044739, 258.308594, 179.989792, 62.989235, -117.696045] - client_socket.py - 347 +2024-11-15 10:18:25,704 - logger - INFO - Вычисленное положение [564.6774790925288, 1011.7543054484139, 265.9864044280932] - client_socket.py - 270 +2024-11-15 10:18:25,704 - logger - INFO - ['564.6774790925288 -- 560.172302 -- delta -4.505177092528811', '1011.7543054484139 -- 1009.044739 -- delta -2.7095664484138524', '265.9864044280932 -- 258.308594 -- delta -7.677810428093153'] - client_socket.py - 273 +2024-11-15 10:18:25,705 - logger - INFO - Вычисленная ориентация [-6.26084410e-04 2.70083036e+01 6.23095408e+01] - client_socket.py - 277 +2024-11-15 10:18:25,706 - logger - INFO - ['-0.0006260844103392485 -- 179.989792 -- delta 179.99041808441032', '27.00830357761767 -- 62.989235 -- delta 35.980931422382326', '62.3095408418224 -- -117.696045 -- delta -180.00558584182238'] - client_socket.py - 278 +2024-11-15 10:18:27,041 - logger - INFO - Координаты осей [60.736465, -16.143621, -41.503826, -2.759547, 30.657045, 1.662302] - client_socket.py - 347 +2024-11-15 10:18:27,238 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:18:28,335 - logger - INFO - Мировые координаты [560.172302, 1009.044739, 258.308594, 179.989792, 62.989235, -117.696045] - client_socket.py - 347 +2024-11-15 10:18:28,337 - logger - INFO - Вычисленное положение [568.9453014969063, 999.2402306379786, 265.9420387116575] - client_socket.py - 270 +2024-11-15 10:18:28,337 - logger - INFO - ['568.9453014969063 -- 560.172302 -- delta -8.772999496906323', '999.2402306379786 -- 1009.044739 -- delta 9.804508362021465', '265.9420387116575 -- 258.308594 -- delta -7.633444711657489'] - client_socket.py - 273 +2024-11-15 10:18:28,338 - logger - INFO - Вычисленная ориентация [5.29696273e-03 2.70105293e+01 6.23151436e+01] - client_socket.py - 277 +2024-11-15 10:18:28,338 - logger - INFO - ['0.005296962727880691 -- 179.989792 -- delta 179.98449503727213', '27.010529266162155 -- 62.989235 -- delta 35.97870573383784', '62.31514357989838 -- -117.696045 -- delta -180.01118857989837'] - client_socket.py - 278 +2024-11-15 10:18:29,890 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:18:30,070 - logger - INFO - Координаты осей [60.736465, -16.143621, -41.503826, -2.759547, 30.657045, 1.662302] - client_socket.py - 347 +2024-11-15 10:18:31,482 - logger - INFO - Мировые координаты [560.172302, 1009.044739, 258.308594, 179.989792, 62.989235, -117.696045] - client_socket.py - 347 +2024-11-15 10:18:31,485 - logger - INFO - Вычисленное положение [570.2193102606508, 998.6953470917016, 265.9367392834174] - client_socket.py - 270 +2024-11-15 10:18:31,485 - logger - INFO - ['570.2193102606508 -- 560.172302 -- delta -10.047008260650841', '998.6953470917016 -- 1009.044739 -- delta 10.349391908298458', '265.9367392834174 -- 258.308594 -- delta -7.628145283417382'] - client_socket.py - 273 +2024-11-15 10:18:31,486 - logger - INFO - Вычисленная ориентация [5.50294164e-03 2.70106630e+01 6.23146777e+01] - client_socket.py - 277 +2024-11-15 10:18:31,486 - logger - INFO - ['0.005502941640112537 -- 179.989792 -- delta 179.98428905835988', '27.010663013664477 -- 62.989235 -- delta 35.978571986335524', '62.31467774563024 -- -117.696045 -- delta -180.01072274563023'] - client_socket.py - 278 +2024-11-15 10:18:32,948 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:21:01,970 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:21:01,970 - logger - INFO - None - robot.py - 52 +2024-11-15 10:21:01,970 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:21:01,970 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:21:01,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:21:01,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:21:01,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:21:01,971 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:21:03,011 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:21:03,436 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:21:03,736 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:21:05,851 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:21:07,542 - logger - INFO - Координаты осей [59.862835, -16.682886, -40.798874, -4.301937, 30.520683, 2.597537] - client_socket.py - 347 +2024-11-15 10:21:08,821 - logger - INFO - Мировые координаты [578.684875, 1009.042358, 258.327728, 179.993378, 62.989468, -117.693924] - client_socket.py - 347 +2024-11-15 10:21:08,823 - logger - INFO - Вычисленное положение [0.0, 0.0, 0.0] - client_socket.py - 270 +2024-11-15 10:21:08,823 - logger - INFO - ['0.0 -- 578.684875 -- delta 578.684875', '0.0 -- 1009.042358 -- delta 1009.042358', '0.0 -- 258.327728 -- delta 258.327728'] - client_socket.py - 273 +2024-11-15 10:21:08,824 - logger - INFO - Вычисленная ориентация [ 0. -0. 0.] - client_socket.py - 277 +2024-11-15 10:21:08,824 - logger - INFO - ['0.0 -- 179.993378 -- delta 179.993378', '-0.0 -- 62.989468 -- delta 62.989468', '0.0 -- -117.693924 -- delta -117.693924'] - client_socket.py - 278 +2024-11-15 10:21:10,087 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:21:15,949 - logger - INFO - Координаты осей [59.862835, -16.682886, -40.798874, -4.301937, 30.520683, 2.597537] - client_socket.py - 347 +2024-11-15 10:21:17,245 - logger - INFO - Мировые координаты [578.684875, 1009.042358, 258.327728, 179.993378, 62.989468, -117.693924] - client_socket.py - 347 +2024-11-15 10:21:17,247 - logger - INFO - Вычисленное положение [0.0, 0.0, 0.0] - client_socket.py - 270 +2024-11-15 10:21:17,247 - logger - INFO - ['0.0 -- 578.684875 -- delta 578.684875', '0.0 -- 1009.042358 -- delta 1009.042358', '0.0 -- 258.327728 -- delta 258.327728'] - client_socket.py - 273 +2024-11-15 10:21:17,248 - logger - INFO - Вычисленная ориентация [ 0. -0. 0.] - client_socket.py - 277 +2024-11-15 10:21:17,248 - logger - INFO - ['0.0 -- 179.993378 -- delta 179.993378', '-0.0 -- 62.989468 -- delta 62.989468', '0.0 -- -117.693924 -- delta -117.693924'] - client_socket.py - 278 +2024-11-15 10:21:18,478 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 347 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - None - robot.py - 52 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:22:23,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:22:25,002 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:22:25,795 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:22:26,096 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:22:28,317 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:22:29,461 - logger - INFO - Координаты осей [59.863567, -16.68354, -40.798019, -4.296789, 30.519962, 2.599689] - client_socket.py - 344 +2024-11-15 10:22:30,765 - logger - INFO - Мировые координаты [578.682068, 1009.056519, 258.327087, 179.983139, 62.989056, -117.70768] - client_socket.py - 344 +2024-11-15 10:22:30,767 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)) - client_socket.py - 266 +2024-11-15 10:22:30,767 - logger - INFO - ['0.0 -- 578.682068 -- delta 578.682068', '0.0 -- 1009.056519 -- delta 1009.056519', '0.0 -- 258.327087 -- delta 258.327087'] - client_socket.py - 271 +2024-11-15 10:22:30,768 - logger - INFO - ['0.0 -- 179.983139 -- delta 179.983139', '-0.0 -- 62.989056 -- delta 62.989056', '0.0 -- -117.70768 -- delta -117.70768'] - client_socket.py - 275 +2024-11-15 10:22:32,283 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 344 +2024-11-15 10:22:35,844 - logger - INFO - Координаты осей [59.863567, -16.68354, -40.798019, -4.296789, 30.519962, 2.599689] - client_socket.py - 344 +2024-11-15 10:22:37,137 - logger - INFO - Мировые координаты [578.682068, 1009.056519, 258.327087, 179.983139, 62.989056, -117.70768] - client_socket.py - 344 +2024-11-15 10:22:37,139 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)) - client_socket.py - 266 +2024-11-15 10:22:37,139 - logger - INFO - ['0.0 -- 578.682068 -- delta 578.682068', '0.0 -- 1009.056519 -- delta 1009.056519', '0.0 -- 258.327087 -- delta 258.327087'] - client_socket.py - 271 +2024-11-15 10:22:37,139 - logger - INFO - ['0.0 -- 179.983139 -- delta 179.983139', '-0.0 -- 62.989056 -- delta 62.989056', '0.0 -- -117.70768 -- delta -117.70768'] - client_socket.py - 275 +2024-11-15 10:22:38,428 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 344 +2024-11-15 10:23:04,907 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:23:04,907 - logger - INFO - None - robot.py - 52 +2024-11-15 10:23:04,907 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:23:04,907 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:23:04,908 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:23:04,908 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:23:04,908 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:23:04,908 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:23:05,962 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:23:08,975 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:23:09,276 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:23:11,437 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:23:12,797 - logger - INFO - Координаты осей [59.863323, -16.990105, -40.73341, -4.266372, 30.761745, 2.563367] - client_socket.py - 344 +2024-11-15 10:23:13,991 - logger - INFO - Мировые координаты [578.689514, 1009.059631, 254.336945, 179.984924, 62.989555, -117.705849] - client_socket.py - 344 +2024-11-15 10:23:13,993 - logger - INFO - (array([1.3180245 , 0.40652589, 0.85356205]), array([0.01878438, 0.04224046, 0.15674123, 0.98655718])) - client_socket.py - 266 +2024-11-15 10:23:13,995 - logger - INFO - ['1318.0245044767353 -- 578.689514 -- delta -739.3349904767352', '406.52589206582644 -- 1009.059631 -- delta 602.5337389341735', '853.5620535455423 -- 254.336945 -- delta -599.2251085455423'] - client_socket.py - 271 +2024-11-15 10:23:13,995 - logger - INFO - ['2.892199317367706 -- 179.984924 -- delta 177.0927246826323', '4.442390975425495 -- 62.989555 -- delta 58.547164024574506', '18.167257854298466 -- -117.705849 -- delta -135.87310685429847'] - client_socket.py - 275 +2024-11-15 10:23:15,442 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 344 +2024-11-15 10:28:12,455 - logger - INFO - Координаты осей [59.863323, -16.990105, -40.73341, -4.266372, 30.761745, 2.563367] - client_socket.py - 344 +2024-11-15 10:28:13,868 - logger - INFO - Мировые координаты [578.689514, 1009.059631, 254.336945, 179.984924, 62.989555, -117.705849] - client_socket.py - 344 +2024-11-15 10:28:13,871 - logger - INFO - (array([0.58880265, 0.99863701, 0.2618857 ]), array([-0.120766 , 0.1998841 , 0.50304393, 0.83211101])) - client_socket.py - 266 +2024-11-15 10:28:13,872 - logger - INFO - ['588.8026457103973 -- 578.689514 -- delta -10.113131710397283', '998.6370086433476 -- 1009.059631 -- delta 10.422622356652369', '261.88570151407487 -- 254.336945 -- delta -7.548756514074881'] - client_socket.py - 271 +2024-11-15 10:28:13,872 - logger - INFO - ['0.007687447682894737 -- 179.984924 -- delta 179.97723655231712', '27.01043253992886 -- 62.989555 -- delta 35.97912246007114', '62.31108037686467 -- -117.705849 -- delta -180.01692937686468'] - client_socket.py - 275 +2024-11-15 10:28:15,155 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 344 +2024-11-15 10:28:45,139 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:28:50,409 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - None - robot.py - 52 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:28:50,410 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:28:51,447 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:28:52,330 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:28:52,631 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:28:54,893 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:37:10,978 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - None - robot.py - 52 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:37:10,979 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:37:12,011 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:37:12,975 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:37:13,276 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:37:15,478 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:37:17,562 - logger - INFO - Координаты осей [56.918949, -10.01921, -48.85408, -9.065748, 32.080753, 5.253445] - client_socket.py - 343 +2024-11-15 10:37:18,846 - logger - INFO - Мировые координаты [568.210022, 893.303223, 261.685242, 179.984726, 62.98711, -117.708229] - client_socket.py - 343 +2024-11-15 10:46:25,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:25,106 - logger - INFO - None - robot.py - 52 +2024-11-15 10:46:25,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:25,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:25,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:25,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:46:25,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:46:25,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:46:26,149 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:46:29,314 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:46:29,615 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:46:31,875 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:46:33,066 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 343 +2024-11-15 10:46:34,223 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 343 +2024-11-15 10:46:57,414 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - None - robot.py - 52 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:46:57,415 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:46:58,455 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:46:59,888 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:47:00,189 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:47:11,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:11,562 - logger - INFO - None - robot.py - 52 +2024-11-15 10:47:11,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:11,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:11,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:11,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:47:11,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:47:11,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:47:12,597 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:47:13,107 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:47:13,407 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:47:15,773 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:47:17,192 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 343 +2024-11-15 10:47:18,385 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 343 +2024-11-15 10:47:18,386 - logger - INFO - ['1085.4752544323808 -- 1131.959351 -- delta 46.48409656761919', '-337.6586277488475 -- -588.689941 -- delta -251.03131325115248', '1282.5277276099498 -- 1277.805054 -- delta -4.722673609949879'] - client_socket.py - 270 +2024-11-15 10:47:18,387 - logger - INFO - ['43.0538656264376 -- 6.181231 -- delta -36.8726346264376', '17.766699268111065 -- 54.227802 -- delta 36.46110273188893', '5.859267775057393 -- -100.604988 -- delta -106.4642557750574'] - client_socket.py - 274 +2024-11-15 10:47:19,777 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 343 +2024-11-15 10:47:47,457 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:47,457 - logger - INFO - None - robot.py - 52 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:47:47,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:47:48,505 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:47:50,203 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:47:50,504 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:48:03,742 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:48:03,742 - logger - INFO - None - robot.py - 52 +2024-11-15 10:48:03,742 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:48:03,742 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:48:03,742 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:48:03,743 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:48:03,743 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:48:03,743 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:48:04,787 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:48:05,172 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:48:05,473 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:48:08,005 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:48:13,871 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 343 +2024-11-15 10:48:14,894 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 343 +2024-11-15 10:48:14,894 - logger - INFO - ['1418.8311710378987 -- 1052.757 -- delta -366.0741710378986', '-346.4139449653132 -- -1028.846 -- delta -682.4320550346868', '994.0888013991353 -- 334.417 -- delta -659.6718013991353'] - client_socket.py - 270 +2024-11-15 10:48:14,895 - logger - INFO - ['38.88054673178751 -- 162.374 -- delta 123.49345326821248', '29.99849468679589 -- 20.467 -- delta -9.531494686795892', '-18.258536872260155 -- 75.065 -- delta 93.32353687226015'] - client_socket.py - 274 +2024-11-15 10:48:15,907 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 343 +2024-11-15 10:49:11,210 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:11,210 - logger - INFO - None - robot.py - 52 +2024-11-15 10:49:11,210 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:11,210 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:11,210 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:11,211 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:49:11,211 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:49:11,211 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:49:12,251 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:49:12,728 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:49:13,029 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:24,152 - logger - INFO - None - robot.py - 52 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:49:24,152 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:49:24,153 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:49:25,186 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:49:25,513 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:49:25,814 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:49:28,105 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:49:30,388 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 344 +2024-11-15 10:49:31,504 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 344 +2024-11-15 10:49:31,506 - logger - INFO - ['1416.2664778024657 -- 1052.757 -- delta -363.50947780246565', '-412.53966403056666 -- -1028.846 -- delta -616.3063359694333', '934.4706049375473 -- 334.417 -- delta -600.0536049375473'] - client_socket.py - 271 +2024-11-15 10:49:31,687 - logger - INFO - ['39.79450609388192 -- 162.374 -- delta 122.57949390611807', '33.22671624474515 -- 20.467 -- delta -12.75971624474515', '-21.389007386857283 -- 75.065 -- delta 96.45400738685728'] - client_socket.py - 275 +2024-11-15 10:49:32,888 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 344 +2024-11-15 10:51:28,556 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:51:28,556 - logger - INFO - None - robot.py - 52 +2024-11-15 10:51:28,556 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:51:28,556 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:51:28,556 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:51:28,556 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:51:28,557 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:51:28,557 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:51:29,597 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:51:30,284 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:51:30,585 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:51:34,221 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:51:36,178 - logger - INFO - Координаты осей [60.352097, -1.498175, -42.527523, -5.944001, 17.083422, 4.802587] - client_socket.py - 368 +2024-11-15 10:51:37,808 - logger - INFO - Мировые координаты [568.972778, 1010.24408, 471.029907, 179.983856, 62.984718, -117.70916] - client_socket.py - 368 +2024-11-15 10:51:37,810 - logger - INFO - ['1325.549319905972 -- 568.972778 -- delta -756.576541905972', '338.0194597947138 -- 1010.24408 -- delta 672.2246202052863', '939.0959839404103 -- 471.029907 -- delta -468.0660769404103'] - client_socket.py - 277 +2024-11-15 10:51:37,811 - logger - INFO - ['3.683198655892578 -- 179.983856 -- delta 176.30065734410744', '7.970035781467758 -- 62.984718 -- delta 55.01468221853224', '14.230367624742733 -- -117.70916 -- delta -131.93952762474274'] - client_socket.py - 281 +2024-11-15 10:51:37,811 - logger - INFO - ['1396.488904953003 -- 568.972778 -- delta -827.516126953003', '1.6934130107983947 -- 1010.24408 -- delta 1008.5506669892017', '1322.790026664734 -- 471.029907 -- delta -851.7601196647339'] - client_socket.py - 320 +2024-11-15 10:51:37,812 - logger - INFO - ['0.0 -- 179.983856 -- delta 179.983856', '90.0 -- 62.984718 -- delta -27.015282', '0.0 -- -117.70916 -- delta -117.70916'] - client_socket.py - 324 +2024-11-15 10:51:39,442 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 368 +2024-11-15 10:53:38,148 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:53:38,148 - logger - INFO - None - robot.py - 52 +2024-11-15 10:53:38,148 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:53:38,149 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:53:38,149 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:53:38,149 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:53:38,149 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:53:38,149 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:53:39,196 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:53:39,615 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:53:39,915 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:53:43,345 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:53:53,254 - logger - INFO - Координаты осей [60.352097, -1.498175, -42.527523, -5.944001, 17.083422, 4.802587] - client_socket.py - 395 +2024-11-15 10:56:40,204 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:56:40,204 - logger - INFO - None - robot.py - 52 +2024-11-15 10:56:40,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:56:40,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:56:40,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:56:40,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:56:40,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:56:40,206 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:56:41,270 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:56:43,194 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:56:43,495 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 10:56:47,821 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:56:51,722 - logger - INFO - Координаты осей [60.352097, -1.498175, -42.527523, -5.944001, 17.083422, 4.802587] - client_socket.py - 395 +2024-11-15 10:57:16,342 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:57:16,343 - logger - INFO - None - robot.py - 52 +2024-11-15 10:57:16,343 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:57:16,343 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:57:16,343 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:57:16,344 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:57:16,344 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:57:16,344 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:57:17,405 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:57:19,165 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:57:19,466 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:57:24,028 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:57:25,166 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 379 +2024-11-15 10:57:26,311 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 379 +2024-11-15 10:57:26,312 - logger - INFO - ['1404.544214434571 -- 1052.757 -- delta -351.78721443457084', '-133.123195401844 -- -1028.846 -- delta -895.722804598156', '1179.113909979154 -- 334.417 -- delta -844.696909979154'] - client_socket.py - 286 +2024-11-15 10:57:26,312 - logger - INFO - ['32.6005592015765 -- 162.374 -- delta 129.7734407984235', '18.472275717339922 -- 20.467 -- delta 1.9947242826600764', '-7.777694673027741 -- 75.065 -- delta 82.84269467302774'] - client_socket.py - 290 +2024-11-15 10:57:26,657 - logger - INFO - ['3069.1208839416504 -- 1052.757 -- delta -2016.3638839416503', '978.2852530479431 -- -1028.846 -- delta -2007.1312530479431', '354.19708490371704 -- 334.417 -- delta -19.780084903717068'] - client_socket.py - 331 +2024-11-15 10:57:26,659 - logger - INFO - ['38.69033716570189 -- 162.374 -- delta 123.6836628342981', '152.96416269199761 -- 20.467 -- delta -132.49716269199763', '-62.23862545197521 -- 75.065 -- delta 137.30362545197522'] - client_socket.py - 335 +2024-11-15 10:57:27,705 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 379 +2024-11-15 10:57:35,585 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 379 +2024-11-15 10:57:36,244 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 379 +2024-11-15 10:57:36,884 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 379 +2024-11-15 10:57:36,885 - logger - INFO - ['1065.3869971136592 -- 1052.757 -- delta -12.629997113659101', '-1021.9596928085552 -- -1028.846 -- delta -6.886307191444757', '349.8711268847659 -- 334.417 -- delta -15.454126884765913'] - client_socket.py - 286 +2024-11-15 10:57:36,886 - logger - INFO - ['39.08282952739481 -- 162.374 -- delta 123.29117047260519', '63.17885521813252 -- 20.467 -- delta -42.71185521813252', '-62.549556403944045 -- 75.065 -- delta 137.61455640394405'] - client_socket.py - 290 +2024-11-15 10:57:37,220 - logger - INFO - ['3064.0909671783447 -- 1052.757 -- delta -2011.3339671783447', '977.0839214324951 -- -1028.846 -- delta -2005.9299214324951', '348.69998693466187 -- 334.417 -- delta -14.282986934661892'] - client_socket.py - 331 +2024-11-15 10:57:37,221 - logger - INFO - ['39.05241179593224 -- 162.374 -- delta 123.32158820406775', '153.23786509515193 -- 20.467 -- delta -132.77086509515192', '-62.67531229274985 -- 75.065 -- delta 137.74031229274985'] - client_socket.py - 335 +2024-11-15 10:57:37,571 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 379 +2024-11-15 10:57:37,572 - logger - INFO - ['1064.9411888089064 -- 1052.757 -- delta -12.184188808906356', '-1022.2887647721473 -- -1028.846 -- delta -6.557235227852743', '349.468031733985 -- 334.417 -- delta -15.051031733985042'] - client_socket.py - 286 +2024-11-15 10:57:37,572 - logger - INFO - ['39.07216737555934 -- 162.374 -- delta 123.30183262444066', '63.19914039342825 -- 20.467 -- delta -42.73214039342825', '-62.59273408582788 -- 75.065 -- delta 137.65773408582788'] - client_socket.py - 290 +2024-11-15 10:57:37,977 - logger - INFO - ['3064.0909671783447 -- 1052.757 -- delta -2011.3339671783447', '977.0839214324951 -- -1028.846 -- delta -2005.9299214324951', '348.69998693466187 -- 334.417 -- delta -14.282986934661892'] - client_socket.py - 331 +2024-11-15 10:57:37,978 - logger - INFO - ['39.05241179593224 -- 162.374 -- delta 123.32158820406775', '153.23786509515193 -- 20.467 -- delta -132.77086509515192', '-62.67531229274985 -- 75.065 -- delta 137.74031229274985'] - client_socket.py - 335 +2024-11-15 10:57:38,333 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 379 +2024-11-15 10:57:39,126 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 379 +2024-11-15 10:58:04,159 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:58:04,159 - logger - INFO - None - robot.py - 52 +2024-11-15 10:58:04,159 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:58:04,159 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:58:04,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:58:04,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:58:04,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:58:04,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:58:05,226 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:58:05,850 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:58:06,150 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 10:58:10,571 - logger - INFO - connected - robot.py - 52 +2024-11-15 10:58:12,275 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 379 +2024-11-15 10:58:13,357 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 379 +2024-11-15 10:58:13,358 - logger - INFO - ['1403.6277066358296 -- 1052.757 -- delta -350.8707066358295', '-91.7970824160163 -- -1028.846 -- delta -937.0489175839837', '1215.1759414954001 -- 334.417 -- delta -880.7589414954002'] - client_socket.py - 286 +2024-11-15 10:58:13,358 - logger - INFO - ['32.991806928825284 -- 162.374 -- delta 129.3821930711747', '10.052552522333452 -- 20.467 -- delta 10.414447477666547', '-2.9044887234782952 -- 75.065 -- delta 77.96948872347829'] - client_socket.py - 290 +2024-11-15 10:58:13,359 - logger - INFO - ['1078.371286392212 -- 1052.757 -- delta -25.614286392211852', '-1013.0404233932495 -- -1028.846 -- delta -15.805576606750492', '362.8344535827637 -- 334.417 -- delta -28.4174535827637'] - client_socket.py - 331 +2024-11-15 10:58:13,359 - logger - INFO - ['31.525141090694447 -- 162.374 -- delta 130.84885890930553', '152.7048623228068 -- 20.467 -- delta -132.2378623228068', '-62.25963827110089 -- 75.065 -- delta 137.3246382711009'] - client_socket.py - 335 +2024-11-15 10:58:14,710 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 379 +2024-11-15 10:58:25,330 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 379 +2024-11-15 10:58:26,348 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 379 +2024-11-15 10:58:26,348 - logger - INFO - ['1064.5491810720207 -- 1052.757 -- delta -11.79218107202064', '-1022.5772135866202 -- -1028.846 -- delta -6.2687864133797575', '349.1037962596619 -- 334.417 -- delta -14.686796259661946'] - client_socket.py - 286 +2024-11-15 10:58:26,349 - logger - INFO - ['39.07604025302359 -- 162.374 -- delta 123.2979597469764', '63.218560876741684 -- 20.467 -- delta -42.751560876741685', '-62.62109917854306 -- 75.065 -- delta 137.68609917854306'] - client_socket.py - 290 +2024-11-15 10:58:26,349 - logger - INFO - ['1064.0909671783447 -- 1052.757 -- delta -11.333967178344665', '-1022.9160785675049 -- -1028.846 -- delta -5.929921432495121', '348.69998693466187 -- 334.417 -- delta -14.282986934661892'] - client_socket.py - 331 +2024-11-15 10:58:26,350 - logger - INFO - ['39.05241179593224 -- 162.374 -- delta 123.32158820406775', '153.23786509515193 -- 20.467 -- delta -132.77086509515192', '-62.67531229274985 -- 75.065 -- delta 137.74031229274985'] - client_socket.py - 335 +2024-11-15 10:58:27,389 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 379 +2024-11-15 10:59:55,358 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:59:55,359 - logger - INFO - None - robot.py - 52 +2024-11-15 10:59:55,359 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:59:55,359 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:59:55,359 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 10:59:55,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 10:59:55,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 10:59:55,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 10:59:56,419 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 10:59:58,299 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 10:59:58,600 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:00:01,234 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:00:04,011 - logger - INFO - Координаты осей [60.352097, -1.498175, -42.527523, -5.944001, 17.083422, 4.802587] - client_socket.py - 346 +2024-11-15 11:00:05,400 - logger - INFO - Мировые координаты [568.977051, 1010.241577, 471.029907, 179.983856, 62.984718, -117.709404] - client_socket.py - 346 +2024-11-15 11:00:05,401 - logger - INFO - ['1215.1716443756352 -- 568.977051 -- delta -646.1945933756352', '541.4421321022322 -- 1010.241577 -- delta 468.7994448977678', '799.5793405609177 -- 471.029907 -- delta -328.5494335609177'] - client_socket.py - 271 +2024-11-15 11:00:05,402 - logger - INFO - ['9.51809544883396 -- 179.983856 -- delta 170.46576055116606', '16.779805729085012 -- 62.984718 -- delta 46.20491227091499', '24.890286638580317 -- -117.709404 -- delta -142.5996906385803'] - client_socket.py - 275 +2024-11-15 11:00:06,761 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:07:48,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:07:48,484 - logger - INFO - None - robot.py - 52 +2024-11-15 11:07:48,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:07:48,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:07:48,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:07:48,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:07:48,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:07:48,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:07:49,529 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:07:51,657 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:07:51,958 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:07:54,446 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:07:57,377 - logger - INFO - Координаты осей [56.913326, -10.072156, -48.811771, -9.075107, 32.094425, 5.255885] - client_socket.py - 346 +2024-11-15 11:07:58,754 - logger - INFO - Мировые координаты [568.216675, 893.574463, 261.712463, 179.987518, 62.989822, -117.703041] - client_socket.py - 346 +2024-11-15 11:07:58,756 - logger - INFO - ['1125.2495384331241 -- 568.216675 -- delta -557.0328634331241', '655.0828025980035 -- 893.574463 -- delta 238.49166040199657', '604.5348726082888 -- 261.712463 -- delta -342.82240960828875'] - client_socket.py - 271 +2024-11-15 11:07:58,757 - logger - INFO - ['0.4277397662974134 -- 179.987518 -- delta 179.5597782337026', '12.822636723525127 -- 62.989822 -- delta 50.16718527647487', '33.30975672679372 -- -117.703041 -- delta -151.01279772679374'] - client_socket.py - 275 +2024-11-15 11:08:00,083 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:08:05,247 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:08:06,473 - logger - INFO - Мировые координаты [578.694641, 1008.813904, 254.342819, 179.994766, 62.989643, -117.693024] - client_socket.py - 346 +2024-11-15 11:08:06,475 - logger - INFO - ['586.9951714208698 -- 578.694641 -- delta -8.30053042086979', '962.085893087591 -- 1008.813904 -- delta 46.72801091240899', '265.2597137879092 -- 254.342819 -- delta -10.916894787909229'] - client_socket.py - 271 +2024-11-15 11:08:06,475 - logger - INFO - ['-0.01401996911451486 -- 179.994766 -- delta 180.0087859691145', '27.01553539995481 -- 62.989643 -- delta 35.97410760004519', '62.28571746054324 -- -117.693024 -- delta -179.97874146054323'] - client_socket.py - 275 +2024-11-15 11:08:07,856 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:08:08,898 - logger - INFO - Координаты осей [59.603168, -16.507708, -41.366325, -4.701573, 30.922215, 2.807746] - client_socket.py - 346 +2024-11-15 11:08:10,294 - logger - INFO - Мировые координаты [578.689819, 993.960693, 254.339722, 179.992676, 62.989418, -117.695442] - client_socket.py - 346 +2024-11-15 11:08:10,296 - logger - INFO - ['588.8030184011518 -- 578.689819 -- delta -10.113199401151746', '990.8920914762292 -- 993.960693 -- delta 3.0686015237707807', '262.002357890592 -- 254.339722 -- delta -7.662635890592014'] - client_socket.py - 271 +2024-11-15 11:08:10,297 - logger - INFO - ['0.0025095923578883836 -- 179.992676 -- delta 179.9901664076421', '27.010734789311904 -- 62.989418 -- delta 35.9786832106881', '62.312238155016914 -- -117.695442 -- delta -180.0076801550169'] - client_socket.py - 275 +2024-11-15 11:08:11,529 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:08:13,590 - logger - INFO - Координаты осей [59.075027, -15.54749, -42.614712, -5.568699, 31.234516, 3.297775] - client_socket.py - 346 +2024-11-15 11:08:14,898 - logger - INFO - Мировые координаты [578.690491, 975.514465, 254.342072, 179.992432, 62.989452, -117.695786] - client_socket.py - 346 +2024-11-15 11:08:14,901 - logger - INFO - ['588.9006256103276 -- 578.690491 -- delta -10.2101346103276', '976.2430154113167 -- 975.514465 -- delta -0.7285504113167462', '262.05221457096553 -- 254.342072 -- delta -7.71014257096553'] - client_socket.py - 271 +2024-11-15 11:08:14,902 - logger - INFO - ['0.002521845648802095 -- 179.992432 -- delta 179.9899101543512', '27.01048728643467 -- 62.989452 -- delta 35.97896471356533', '62.31204846930135 -- -117.695786 -- delta -180.00783446930134'] - client_socket.py - 275 +2024-11-15 11:08:16,183 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:12:46,955 - logger - INFO - Координаты осей [60.352585, -1.494907, -42.526093, -5.947277, 17.083422, 4.803309] - client_socket.py - 346 +2024-11-15 11:12:48,252 - logger - INFO - Мировые координаты [568.972412, 1010.267273, 471.110413, 179.987991, 62.98933, -117.703041] - client_socket.py - 346 +2024-11-15 11:12:48,254 - logger - INFO - ['584.3502202592117 -- 568.972412 -- delta -15.377808259211747', '995.730024054049 -- 1010.267273 -- delta 14.537248945951092', '408.18608922757363 -- 471.110413 -- delta 62.92432377242636'] - client_socket.py - 271 +2024-11-15 11:12:48,254 - logger - INFO - ['0.12236365998159603 -- 179.987991 -- delta 179.8656273400184', '27.61804229049708 -- 62.98933 -- delta 35.37128770950292', '62.3556557677222 -- -117.703041 -- delta -180.0586967677222'] - client_socket.py - 275 +2024-11-15 11:12:49,511 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:12:57,874 - logger - INFO - Координаты осей [60.352585, -1.494907, -42.526093, -5.947277, 17.083422, 4.803309] - client_socket.py - 346 +2024-11-15 11:12:59,162 - logger - INFO - Мировые координаты [568.972412, 1010.267273, 471.110413, 179.987991, 62.98933, -117.703041] - client_socket.py - 346 +2024-11-15 11:12:59,164 - logger - INFO - ['579.1934476390059 -- 568.972412 -- delta -10.22103563900589', '1000.082212787831 -- 1010.267273 -- delta 10.185060212168992', '480.2593306103301 -- 471.110413 -- delta -9.148917610330102'] - client_socket.py - 271 +2024-11-15 11:12:59,164 - logger - INFO - ['0.006000294944666483 -- 179.987991 -- delta 179.98199070505532', '27.010414189734817 -- 62.98933 -- delta 35.978915810265185', '62.31038762076416 -- -117.703041 -- delta -180.01342862076416'] - client_socket.py - 275 +2024-11-15 11:13:00,453 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:13:12,107 - logger - INFO - Координаты осей [60.352585, -1.494907, -42.526093, -5.947277, 17.083422, 4.803309] - client_socket.py - 346 +2024-11-15 11:13:13,386 - logger - INFO - Мировые координаты [568.972412, 1010.267273, 471.110413, 179.987991, 62.98933, -117.703041] - client_socket.py - 346 +2024-11-15 11:13:13,389 - logger - INFO - ['579.1932743056478 -- 568.972412 -- delta -10.22086230564787', '1000.0820066609872 -- 1010.267273 -- delta 10.185266339012855', '480.25909932511036 -- 471.110413 -- delta -9.148686325110361'] - client_socket.py - 271 +2024-11-15 11:13:13,390 - logger - INFO - ['0.006126845552645742 -- 179.987991 -- delta 179.98186415444735', '27.010673652257427 -- 62.98933 -- delta 35.97865634774257', '62.31044262032342 -- -117.703041 -- delta -180.01348362032343'] - client_socket.py - 275 +2024-11-15 11:13:14,865 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:13:25,211 - logger - INFO - Координаты осей [60.352585, -1.494907, -42.526093, -5.947277, 17.083422, 4.803309] - client_socket.py - 346 +2024-11-15 11:13:26,448 - logger - INFO - Мировые координаты [568.972412, 1010.267273, 471.110413, 179.987991, 62.98933, -117.703041] - client_socket.py - 346 +2024-11-15 11:13:26,450 - logger - INFO - ['579.1932743056386 -- 568.972412 -- delta -10.220862305638661', '1000.0820066609715 -- 1010.267273 -- delta 10.185266339028544', '480.25909932510336 -- 471.110413 -- delta -9.14868632510337'] - client_socket.py - 271 +2024-11-15 11:13:26,451 - logger - INFO - ['0.006126845547957512 -- 179.987991 -- delta 179.98186415445204', '27.010673652274104 -- 62.98933 -- delta 35.9786563477259', '62.31044262032342 -- -117.703041 -- delta -180.01348362032343'] - client_socket.py - 275 +2024-11-15 11:13:27,943 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:05,900 - logger - INFO - Координаты осей [61.656551, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 346 +2024-11-15 11:14:07,160 - logger - INFO - Мировые координаты [656.830444, 1232.378906, 1322.798096, -61.87392, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:14:07,162 - logger - INFO - ['664.8902514516097 -- 656.830444 -- delta -8.059807451609686', '1188.1793927164922 -- 1232.378906 -- delta 44.19951328350771', '920.6999441649627 -- 1322.798096 -- delta 402.09815183503724'] - client_socket.py - 271 +2024-11-15 11:14:07,162 - logger - INFO - ['12.07825350705219 -- -61.87392 -- delta -73.9521735070522', '16.330406709761505 -- 90.0 -- delta 73.6695932902385', '61.354025758104115 -- 0.0 -- delta -61.354025758104115'] - client_socket.py - 275 +2024-11-15 11:14:08,460 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:12,142 - logger - INFO - Координаты осей [61.566326, -2.551866, -6.241654, -0.657949, 4.669058, 0.396648] - client_socket.py - 346 +2024-11-15 11:14:13,408 - logger - INFO - Мировые координаты [686.465454, 1263.417725, 1048.817993, -176.586166, 83.706955, -115.035347] - client_socket.py - 346 +2024-11-15 11:14:13,411 - logger - INFO - ['684.4978688832815 -- 686.465454 -- delta 1.96758511671851', '1241.5694824726363 -- 1263.417725 -- delta 21.84824252736371', '1189.3401689217098 -- 1048.817993 -- delta -140.52217592170996'] - client_socket.py - 271 +2024-11-15 11:14:13,412 - logger - INFO - ['-1.6146889922643568 -- -176.586166 -- delta -174.97147700773564', '2.946176776043805 -- 83.706955 -- delta 80.7607782239562', '61.63914955639625 -- -115.035347 -- delta -176.67449655639626'] - client_socket.py - 275 +2024-11-15 11:14:14,733 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:16,236 - logger - INFO - Координаты осей [61.048214, -6.848334, -16.749039, -1.765605, 12.529139, 1.065794] - client_socket.py - 346 +2024-11-15 11:14:17,592 - logger - INFO - Мировые координаты [684.11731, 1233.715088, 746.513306, -177.317734, 76.595039, -115.793755] - client_socket.py - 346 +2024-11-15 11:14:17,594 - logger - INFO - ['698.0844488676297 -- 684.11731 -- delta -13.967138867629728', '1245.9081564812313 -- 1233.715088 -- delta -12.193068481231421', '931.1214851315723 -- 746.513306 -- delta -184.60817913157234'] - client_socket.py - 271 +2024-11-15 11:14:17,595 - logger - INFO - ['0.1078027451847536 -- -177.317734 -- delta -177.42553674518476', '9.137100835214998 -- 76.595039 -- delta 67.457938164785', '61.45845567234056 -- -115.793755 -- delta -177.25221067234057'] - client_socket.py - 275 +2024-11-15 11:14:19,146 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:20,763 - logger - INFO - Координаты осей [60.472641, -11.624584, -28.429628, -2.99727, 21.267117, 1.809541] - client_socket.py - 346 +2024-11-15 11:14:22,076 - logger - INFO - Мировые координаты [640.413757, 1132.15979, 453.348053, -178.62912, 68.986824, -116.77919] - client_socket.py - 346 +2024-11-15 11:14:22,079 - logger - INFO - ['680.2618783457403 -- 640.413757 -- delta -39.84812134574031', '1187.8094990673903 -- 1132.15979 -- delta -55.649709067390404', '628.0500093550654 -- 453.348053 -- delta -174.70195635506542'] - client_socket.py - 271 +2024-11-15 11:14:22,080 - logger - INFO - ['-1.3871373860873288 -- -178.62912 -- delta -177.24198261391268', '15.987694989780564 -- 68.986824 -- delta 52.999129010219434', '61.54173936716361 -- -116.77919 -- delta -178.32092936716361'] - client_socket.py - 275 +2024-11-15 11:14:23,611 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:26,065 - logger - INFO - Координаты осей [59.862835, -16.682886, -40.798874, -4.301937, 30.520683, 2.597537] - client_socket.py - 346 +2024-11-15 11:14:27,395 - logger - INFO - Мировые координаты [578.684875, 1009.042358, 258.327728, 179.993378, 62.989468, -117.693924] - client_socket.py - 346 +2024-11-15 11:14:27,397 - logger - INFO - ['617.2613815819218 -- 578.684875 -- delta -38.57650658192176', '1053.1570612936498 -- 1009.042358 -- delta -44.11470329364977', '341.30866163173687 -- 258.327728 -- delta -82.98093363173689'] - client_socket.py - 271 +2024-11-15 11:14:27,397 - logger - INFO - ['-0.3096089363080493 -- 179.993378 -- delta 180.30298693630806', '24.1208683956198 -- 62.989468 -- delta 38.8685996043802', '62.07111339009246 -- -117.693924 -- delta -179.76503739009246'] - client_socket.py - 275 +2024-11-15 11:14:28,931 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:34,543 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:14:35,812 - logger - INFO - Мировые координаты [578.68988, 1009.059143, 254.336761, 179.99411, 62.989468, -117.693352] - client_socket.py - 346 +2024-11-15 11:14:35,814 - logger - INFO - ['588.8054811863439 -- 578.68988 -- delta -10.115601186343838', '998.6387105425016 -- 1009.059143 -- delta 10.42043245749835', '262.9118092423716 -- 254.336761 -- delta -8.575048242371594'] - client_socket.py - 271 +2024-11-15 11:14:35,815 - logger - INFO - ['0.0026161209449308094 -- 179.99411 -- delta 179.99149387905507', '27.010642282483616 -- 62.989468 -- delta 35.978825717516386', '62.3136091506593 -- -117.693352 -- delta -180.00696115065932'] - client_socket.py - 275 +2024-11-15 11:14:37,147 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:38,251 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:14:39,774 - logger - INFO - Мировые координаты [578.68988, 1009.059143, 254.336761, 179.99411, 62.989468, -117.693352] - client_socket.py - 346 +2024-11-15 11:14:39,776 - logger - INFO - ['588.8024718032951 -- 578.68988 -- delta -10.112591803295118', '998.6357112500559 -- 1009.059143 -- delta 10.42343174994403', '261.89491427091417 -- 254.336761 -- delta -7.558153270914175'] - client_socket.py - 271 +2024-11-15 11:14:39,776 - logger - INFO - ['0.0026612719043864587 -- 179.99411 -- delta 179.99144872809563', '27.011390195941107 -- 62.989468 -- delta 35.9780778040589', '62.31373323605342 -- -117.693352 -- delta -180.00708523605343'] - client_socket.py - 275 +2024-11-15 11:14:40,936 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:14:41,319 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:42,243 - logger - INFO - Мировые координаты [578.68988, 1009.059143, 254.336761, 179.99411, 62.989468, -117.693352] - client_socket.py - 346 +2024-11-15 11:14:42,247 - logger - INFO - ['588.8034174398556 -- 578.68988 -- delta -10.113537439855577', '998.6360458186963 -- 1009.059143 -- delta 10.42309718130366', '261.8856598034665 -- 254.336761 -- delta -7.548898803466528'] - client_socket.py - 271 +2024-11-15 11:14:42,248 - logger - INFO - ['0.0031417159602092704 -- 179.99411 -- delta 179.9909682840398', '27.010862702273407 -- 62.989468 -- delta 35.978605297726595', '62.31334430213852 -- -117.693352 -- delta -180.00669630213852'] - client_socket.py - 275 +2024-11-15 11:14:43,852 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:53,097 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:14:54,335 - logger - INFO - Мировые координаты [578.68988, 1009.059143, 254.336761, 179.99411, 62.989468, -117.693352] - client_socket.py - 346 +2024-11-15 11:14:54,337 - logger - INFO - ['588.8036109255189 -- 578.68988 -- delta -10.113730925518894', '998.6362772990994 -- 1009.059143 -- delta 10.422865700900502', '261.8855981003071 -- 254.336761 -- delta -7.548837100307111'] - client_socket.py - 271 +2024-11-15 11:14:54,338 - logger - INFO - ['0.002998147333328369 -- 179.99411 -- delta 179.99111185266668', '27.010528648831333 -- 62.989468 -- delta 35.97893935116867', '62.31325203187889 -- -117.693352 -- delta -180.0066040318789'] - client_socket.py - 275 +2024-11-15 11:14:55,796 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:14:59,679 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.761745, 2.5612] - client_socket.py - 346 +2024-11-15 11:15:00,975 - logger - INFO - Мировые координаты [578.68988, 1009.059143, 254.336761, 179.99411, 62.989468, -117.693352] - client_socket.py - 346 +2024-11-15 11:15:00,977 - logger - INFO - ['588.8036109259147 -- 578.68988 -- delta -10.113730925914638', '998.6362772992696 -- 1009.059143 -- delta 10.422865700730313', '261.88559810034906 -- 254.336761 -- delta -7.548837100349061'] - client_socket.py - 271 +2024-11-15 11:15:00,977 - logger - INFO - ['0.0029981474532892113 -- 179.99411 -- delta 179.9911118525467', '27.010528648417452 -- 62.989468 -- delta 35.978939351582554', '62.31325203170647 -- -117.693352 -- delta -180.00660403170647'] - client_socket.py - 275 +2024-11-15 11:15:02,424 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:15:35,335 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - None - robot.py - 52 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:15:35,336 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:15:36,377 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:15:37,384 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:15:37,685 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:15:39,930 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:15:41,048 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.762106, 2.561208] - client_socket.py - 346 +2024-11-15 11:15:42,335 - logger - INFO - Мировые координаты [578.690002, 1009.059448, 254.337402, 179.994095, 62.989822, -117.693367] - client_socket.py - 346 +2024-11-15 11:15:42,338 - logger - INFO - ['1252.4552666501183 -- 578.690002 -- delta -673.7652646501183', '545.897157847227 -- 1009.059448 -- delta 463.1622901527729', '719.7790934314104 -- 254.337402 -- delta -465.4416914314104'] - client_socket.py - 271 +2024-11-15 11:15:42,338 - logger - INFO - ['2.231925409895964 -- 179.994095 -- delta 177.76216959010404', '9.150091213049091 -- 62.989822 -- delta 53.83973078695091', '24.837346735437052 -- -117.693367 -- delta -142.53071373543705'] - client_socket.py - 275 +2024-11-15 11:15:43,615 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:15:48,526 - logger - INFO - Координаты осей [59.863079, -16.990105, -40.73341, -4.270584, 30.762106, 2.561208] - client_socket.py - 346 +2024-11-15 11:15:49,829 - logger - INFO - Мировые координаты [578.690002, 1009.059448, 254.337402, 179.994095, 62.989822, -117.693367] - client_socket.py - 346 +2024-11-15 11:15:49,832 - logger - INFO - ['588.9130537124024 -- 578.690002 -- delta -10.223051712402366', '998.6231534101727 -- 1009.059448 -- delta 10.436294589827298', '261.9324321433683 -- 254.337402 -- delta -7.595030143368319'] - client_socket.py - 271 +2024-11-15 11:15:49,832 - logger - INFO - ['0.002802874008214608 -- 179.994095 -- delta 179.99129212599178', '27.008489454384367 -- 62.989822 -- delta 35.98133254561563', '62.308736432479044 -- -117.693367 -- delta -180.00210343247903'] - client_socket.py - 275 +2024-11-15 11:15:51,374 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:16:28,326 - logger - INFO - Координаты осей [60.351608, -1.497522, -42.527523, -5.952424, 17.084143, 4.806211] - client_socket.py - 346 +2024-11-15 11:16:29,613 - logger - INFO - Мировые координаты [568.977051, 1010.242065, 471.042023, 179.990067, 62.985874, -117.699852] - client_socket.py - 346 +2024-11-15 11:16:29,615 - logger - INFO - ['589.3068364645701 -- 568.977051 -- delta -20.329785464570136', '1009.7995471885266 -- 1010.242065 -- delta 0.4425178114734081', '412.3181584105282 -- 471.042023 -- delta 58.72386458947176'] - client_socket.py - 271 +2024-11-15 11:16:29,615 - logger - INFO - ['-34.656073859483676 -- 179.990067 -- delta 214.6461408594837', '22.00428547861705 -- 62.985874 -- delta 40.98158852138295', '67.75839955236567 -- -117.699852 -- delta -185.45825155236568'] - client_socket.py - 275 +2024-11-15 11:16:30,883 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - None - robot.py - 52 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:17:02,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:17:03,883 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:17:06,743 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:17:07,044 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:17:09,295 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:17:11,208 - logger - INFO - Координаты осей [0.001712, -0.001634, -0.000572, -0.001404, 0.0, -0.002888] - client_socket.py - 346 +2024-11-15 11:17:12,536 - logger - INFO - Мировые координаты [1396.51355, 1.734717, 1322.750732, -0.001712, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:17:13,659 - logger - INFO - ['1396.5091172294956 -- 1396.51355 -- delta 0.004432770504308792', '1.7224369494337408 -- 1.734717 -- delta 0.012280050566259249', '1322.7544844728275 -- 1322.750732 -- delta -0.0037524728275002417'] - client_socket.py - 271 +2024-11-15 11:17:13,660 - logger - INFO - ['-0.05781865397579938 -- -0.001712 -- delta 0.056106653975799385', '0.0007213534733373712 -- 90.0 -- delta 89.99927864652666', '0.0012083594802497035 -- 0.0 -- delta -0.0012083594802497035'] - client_socket.py - 275 +2024-11-15 11:17:13,854 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:17:18,565 - logger - INFO - Координаты осей [0.001712, -0.001634, -0.000572, -0.001404, 0.0, -0.002888] - client_socket.py - 346 +2024-11-15 11:17:19,918 - logger - INFO - Мировые координаты [1396.51355, 1.734717, 1322.750732, -0.001712, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:17:21,079 - logger - INFO - ['1396.511460091535 -- 1396.51355 -- delta 0.0020899084649954602', '1.7250637453802355 -- 1.734717 -- delta 0.009653254619764517', '1322.7537023042369 -- 1322.750732 -- delta -0.0029703042368964816'] - client_socket.py - 271 +2024-11-15 11:17:21,080 - logger - INFO - ['-0.06354526287943459 -- -0.001712 -- delta 0.06183326287943459', '0.0009124208523047305 -- 90.0 -- delta 89.9990875791477', '0.0013179332322471203 -- 0.0 -- delta -0.0013179332322471203'] - client_socket.py - 275 +2024-11-15 11:17:21,299 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:20:05,926 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:20:07,251 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:20:08,414 - logger - INFO - ['1396.5162935109897 -- 1396.518677 -- delta 0.0023834890102989448', '1.729669958668814 -- 1.740677 -- delta 0.011007041331186018', '1322.7422324544887 -- 1322.737793 -- delta -0.004439454488647243'] - client_socket.py - 271 +2024-11-15 11:20:08,415 - logger - INFO - ['-0.0701525614827107 -- -0.001956 -- delta 0.06819656148271071', '0.0013141420632296935 -- 90.0 -- delta 89.99868585793676', '0.0015096007303005957 -- 0.0 -- delta -0.0015096007303005957'] - client_socket.py - 275 +2024-11-15 11:20:08,617 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:20:20,582 - logger - INFO - Координаты осей [33.237297, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:20:21,856 - logger - INFO - Мировые координаты [939.901428, 1032.885498, 1322.737793, -47.629089, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:20:22,934 - logger - INFO - ['1092.3429506967796 -- 939.901428 -- delta -152.44152269677954', '880.4515124201074 -- 1032.885498 -- delta 152.4339855798927', '1346.7177150059533 -- 1322.737793 -- delta -23.979922005953313'] - client_socket.py - 271 +2024-11-15 11:20:22,935 - logger - INFO - ['105.22972130205278 -- -47.629089 -- delta -152.85881030205277', '-15.885433761034193 -- 90.0 -- delta 105.8854337610342', '9.072314775681436 -- 0.0 -- delta -9.072314775681436'] - client_socket.py - 275 +2024-11-15 11:20:23,116 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:20:30,378 - logger - INFO - Координаты осей [59.830803, -16.929642, -40.812881, -4.323931, 30.781895, 2.59193] - client_socket.py - 346 +2024-11-15 11:20:31,724 - logger - INFO - Мировые координаты [578.68811, 1002.456726, 254.33786, 179.993607, 62.989372, -117.694183] - client_socket.py - 346 +2024-11-15 11:20:32,835 - logger - INFO - ['700.6801264785502 -- 578.68811 -- delta -121.99201647855011', '1095.4597198449455 -- 1002.456726 -- delta -93.00299384494554', '369.54875932308255 -- 254.33786 -- delta -115.21089932308254'] - client_socket.py - 271 +2024-11-15 11:20:32,836 - logger - INFO - ['-10.729252960469367 -- 179.993607 -- delta 190.72285996046935', '-28.088648976649463 -- 62.989372 -- delta 91.07802097664947', '24.802464891653724 -- -117.694183 -- delta -142.4966478916537'] - client_socket.py - 275 +2024-11-15 11:20:33,020 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:20:44,941 - logger - INFO - Координаты осей [58.166431, -13.953227, -44.654385, -7.034811, 31.729235, 4.111328] - client_socket.py - 346 +2024-11-15 11:20:46,169 - logger - INFO - Мировые координаты [578.691284, 944.599121, 254.337158, 179.98877, 62.988892, -117.700577] - client_socket.py - 346 +2024-11-15 11:20:47,274 - logger - INFO - ['646.6321961664479 -- 578.691284 -- delta -67.9409121664479', '994.1219154006527 -- 944.599121 -- delta -49.52279440065274', '253.61910270133137 -- 254.337158 -- delta 0.7180552986686166'] - client_socket.py - 271 +2024-11-15 11:20:47,275 - logger - INFO - ['-24.798299344991758 -- 179.98877 -- delta 204.78706934499175', '-26.915676059068243 -- 62.988892 -- delta 89.90456805906824', '29.071221965927876 -- -117.700577 -- delta -146.77179896592787'] - client_socket.py - 275 +2024-11-15 11:20:47,488 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:20:51,824 - logger - INFO - Координаты осей [57.31921, -12.5263, -46.443352, -8.378318, 32.146595, 4.842463] - client_socket.py - 346 +2024-11-15 11:20:53,095 - logger - INFO - Мировые координаты [578.695312, 916.919617, 254.341171, 179.98671, 62.988953, -117.703461] - client_socket.py - 346 +2024-11-15 11:20:54,159 - logger - INFO - ['648.0147968506097 -- 578.695312 -- delta -69.3194848506098', '963.5676421065227 -- 916.919617 -- delta -46.64802510652271', '254.22128313136216 -- 254.341171 -- delta 0.1198878686378464'] - client_socket.py - 271 +2024-11-15 11:20:54,160 - logger - INFO - ['-24.026271855162598 -- 179.98671 -- delta 204.0129818551626', '-27.02103440462755 -- 62.988953 -- delta 90.00998740462755', '27.43808045654396 -- -117.703461 -- delta -145.14154145654396'] - client_socket.py - 275 +2024-11-15 11:20:54,354 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:21:25,342 - logger - INFO - Координаты осей [59.383598, -16.105383, -41.890892, -5.063304, 31.054258, 3.012565] - client_socket.py - 346 +2024-11-15 11:21:26,621 - logger - INFO - Мировые координаты [578.6922, 986.536865, 254.340363, 179.993713, 62.989174, -117.694374] - client_socket.py - 346 +2024-11-15 11:21:27,727 - logger - INFO - ['644.7629631851609 -- 578.6922 -- delta -66.0707631851609', '1027.253506149894 -- 986.536865 -- delta -40.71664114989403', '253.38752675471432 -- 254.340363 -- delta 0.9528362452856811'] - client_socket.py - 271 +2024-11-15 11:21:27,729 - logger - INFO - ['-25.700908469769075 -- 179.993713 -- delta 205.6946214697691', '-26.8734978907658 -- 62.989174 -- delta 89.8626718907658', '30.69298449027129 -- -117.694374 -- delta -148.38735849027128'] - client_socket.py - 275 +2024-11-15 11:21:28,097 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:21:29,009 - logger - INFO - Координаты осей [58.968422, -15.357276, -42.860558, -5.741843, 31.294962, 3.395019] - client_socket.py - 346 +2024-11-15 11:21:30,288 - logger - INFO - Мировые координаты [578.691772, 971.880981, 254.339996, 179.991257, 62.989029, -117.697411] - client_socket.py - 346 +2024-11-15 11:21:31,389 - logger - INFO - ['645.8374368372388 -- 578.691772 -- delta -67.14566483723877', '1018.5967994874834 -- 971.880981 -- delta -46.715818487483375', '252.00568534196944 -- 254.339996 -- delta 2.3343106580305744'] - client_socket.py - 271 +2024-11-15 11:21:31,389 - logger - INFO - ['-26.643319761724484 -- 179.991257 -- delta 206.63457676172447', '-28.844747305640293 -- 62.989029 -- delta 91.8337763056403', '28.523791412255374 -- -117.697411 -- delta -146.22120241225537'] - client_socket.py - 275 +2024-11-15 11:21:31,574 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:21:33,011 - logger - INFO - Координаты осей [58.503613, -14.536941, -43.912556, -6.493851, 31.551495, 3.813171] - client_socket.py - 346 +2024-11-15 11:21:34,252 - logger - INFO - Мировые координаты [578.691101, 956.022339, 254.336426, 179.990814, 62.988785, -117.698174] - client_socket.py - 346 +2024-11-15 11:21:35,380 - logger - INFO - ['646.8967513491415 -- 578.691101 -- delta -68.20565034914148', '1002.4873475917198 -- 956.022339 -- delta -46.465008591719766', '251.77597274677294 -- 254.336426 -- delta 2.5604532532270525'] - client_socket.py - 271 +2024-11-15 11:21:35,381 - logger - INFO - ['-26.15294218642903 -- 179.990814 -- delta 206.14375618642902', '-29.18329060082841 -- 62.988785 -- delta 92.1720756008284', '27.176399353247056 -- -117.698174 -- delta -144.87457335324706'] - client_socket.py - 275 +2024-11-15 11:21:35,570 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:21:36,983 - logger - INFO - Координаты осей [58.030487, -13.720853, -44.948257, -7.251475, 31.799034, 4.230421] - client_socket.py - 346 +2024-11-15 11:21:38,199 - logger - INFO - Мировые координаты [578.693115, 940.138611, 254.342285, 179.988983, 62.989235, -117.700363] - client_socket.py - 346 +2024-11-15 11:21:39,349 - logger - INFO - ['646.5298198814921 -- 578.693115 -- delta -67.8367048814921', '986.2880488004014 -- 940.138611 -- delta -46.149437800401415', '254.201236419182 -- 254.342285 -- delta 0.1410485808179942'] - client_socket.py - 271 +2024-11-15 11:21:39,349 - logger - INFO - ['-24.611668052406564 -- 179.988983 -- delta 204.60065105240656', '-26.675857310132873 -- 62.989235 -- delta 89.66509231013288', '29.074517471563237 -- -117.700363 -- delta -146.77488047156322'] - client_socket.py - 275 +2024-11-15 11:21:39,559 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:24:34,517 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:24:35,906 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:24:37,081 - logger - INFO - ['1445.8276955161807 -- 1396.518677 -- delta -49.309018516180686', '218.4693721665022 -- 1.740677 -- delta -216.7286951665022', '1152.303476566349 -- 1322.737793 -- delta 170.43431643365102'] - client_socket.py - 271 +2024-11-15 11:24:37,082 - logger - INFO - ['4.880243112717485 -- -0.001956 -- delta -4.882199112717485', '1.3307699872274927 -- 90.0 -- delta 88.6692300127725', '7.18656826124278 -- 0.0 -- delta -7.18656826124278'] - client_socket.py - 275 +2024-11-15 11:24:37,470 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:24:45,583 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:24:46,957 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:24:48,127 - logger - INFO - ['1396.5071844352992 -- 1396.518677 -- delta 0.011492564700802177', '1.7312758743836463 -- 1.740677 -- delta 0.009401125616353756', '1322.498660648023 -- 1322.737793 -- delta 0.23913235197710492'] - client_socket.py - 271 +2024-11-15 11:24:48,127 - logger - INFO - ['-0.40711182765673937 -- -0.001956 -- delta 0.40515582765673935', '-0.03660275252672593 -- 90.0 -- delta 90.03660275252673', '-0.001932325732989355 -- 0.0 -- delta 0.001932325732989355'] - client_socket.py - 275 +2024-11-15 11:24:48,322 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:24:58,543 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:24:59,934 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:25:01,100 - logger - INFO - ['1396.5180572287068 -- 1396.518677 -- delta 0.0006197712932589639', '1.7306936868650356 -- 1.740677 -- delta 0.009983313134964478', '1322.673865379594 -- 1322.737793 -- delta 0.06392762040604794'] - client_socket.py - 271 +2024-11-15 11:25:01,100 - logger - INFO - ['-0.15877979381572843 -- -0.001956 -- delta 0.15682379381572842', '-0.009090353073541588 -- 90.0 -- delta 90.00909035307355', '0.0012255227754472359 -- 0.0 -- delta -0.0012255227754472359'] - client_socket.py - 275 +2024-11-15 11:25:01,472 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:30:42,729 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:30:43,976 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:30:45,015 - logger - INFO - ['1396.5173696145475 -- 1396.518677 -- delta 0.0013073854524918715', '1.7312806349147405 -- 1.740677 -- delta 0.00939636508525954', '1322.7211149531142 -- 1322.737793 -- delta 0.016678046885772346'] - client_socket.py - 271 +2024-11-15 11:30:45,016 - logger - INFO - ['-0.08780510832026903 -- -0.001956 -- delta 0.08584910832026903', '-0.001341960325238068 -- 90.0 -- delta 90.00134196032523', '0.0015315520617159306 -- 0.0 -- delta -0.0015315520617159306'] - client_socket.py - 275 +2024-11-15 11:30:45,236 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:30:45,633 - logger - INFO - Координаты осей [0.001956, -0.001961, -0.000858, -0.001872, 0.0, -0.00361] - client_socket.py - 346 +2024-11-15 11:30:46,925 - logger - INFO - Мировые координаты [1396.518677, 1.740677, 1322.737793, -0.001956, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:30:48,102 - logger - INFO - ['1396.516847847003 -- 1396.518677 -- delta 0.001829152997061101', '1.7302893408178006 -- 1.740677 -- delta 0.010387659182199416', '1322.736905914471 -- 1322.737793 -- delta 0.0008870855290297186'] - client_socket.py - 271 +2024-11-15 11:30:48,103 - logger - INFO - ['-0.07421370812657072 -- -0.001956 -- delta 0.07225770812657072', '0.0007766129374833621 -- 90.0 -- delta 89.99922338706251', '0.0015270616557962722 -- 0.0 -- delta -0.0015270616557962722'] - client_socket.py - 275 +2024-11-15 11:30:48,503 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:34:24,754 - logger - INFO - Координаты осей [0.004157, -0.004249, -0.002573, -0.00234, -0.00036, -0.003618] - client_socket.py - 346 +2024-11-15 11:34:26,118 - logger - INFO - Мировые координаты [1396.554565, 1.794316, 1322.651367, -0.004157, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:34:27,261 - logger - INFO - ['1396.5477983479245 -- 1396.554565 -- delta 0.006766652075384627', '1.767236190473538 -- 1.794316 -- delta 0.02707980952646194', '1322.6701964248864 -- 1322.651367 -- delta -0.01882942488646222'] - client_socket.py - 271 +2024-11-15 11:34:27,262 - logger - INFO - ['-0.14754018667904872 -- -0.004157 -- delta 0.14338318667904873', '0.0026312913537367903 -- 90.0 -- delta 89.99736870864626', '0.0030740504034192204 -- 0.0 -- delta -0.0030740504034192204'] - client_socket.py - 275 +2024-11-15 11:34:27,651 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:34:28,836 - logger - INFO - Координаты осей [0.004157, -0.004576, -0.002573, -0.00234, -0.00036, -0.003618] - client_socket.py - 346 +2024-11-15 11:34:30,150 - logger - INFO - Мировые координаты [1396.554565, 1.794316, 1322.651367, -0.004157, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:34:31,289 - logger - INFO - ['1396.553046009901 -- 1396.554565 -- delta 0.0015189900989298621', '1.7714949827284665 -- 1.794316 -- delta 0.022821017271533517', '1322.6647919820232 -- 1322.651367 -- delta -0.013424982023252596'] - client_socket.py - 271 +2024-11-15 11:34:31,290 - logger - INFO - ['-0.14696802235598022 -- -0.004157 -- delta 0.14281102235598023', '0.0036134438840060216 -- 90.0 -- delta 89.996386556116', '0.003252101716461757 -- 0.0 -- delta -0.003252101716461757'] - client_socket.py - 275 +2024-11-15 11:34:31,668 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:34:49,535 - logger - INFO - Координаты осей [0.004157, -0.004249, -0.002573, -0.00234, -0.00036, -0.003618] - client_socket.py - 346 +2024-11-15 11:34:50,909 - logger - INFO - Мировые координаты [1396.554565, 1.794316, 1322.651367, -0.004157, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:34:52,062 - logger - INFO - ['1396.5515516355167 -- 1396.554565 -- delta 0.0030133644831948914', '1.7718472592570742 -- 1.794316 -- delta 0.02246874074292582', '1322.6671671631475 -- 1322.651367 -- delta -0.015800163147559942'] - client_socket.py - 271 +2024-11-15 11:34:52,063 - logger - INFO - ['-0.1450067466213548 -- -0.004157 -- delta 0.1408497466213548', '0.003535005312684363 -- 90.0 -- delta 89.99646499468732', '0.0032669155932781827 -- 0.0 -- delta -0.0032669155932781827'] - client_socket.py - 275 +2024-11-15 11:34:52,476 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:35:17,010 - logger - INFO - Координаты осей [0.004157, -0.004249, -0.002573, -0.00234, -0.00036, -0.003618] - client_socket.py - 346 +2024-11-15 11:35:18,304 - logger - INFO - Мировые координаты [1396.554565, 1.794316, 1322.651367, -0.004157, 90.0, 0.0] - client_socket.py - 346 +2024-11-15 11:35:19,409 - logger - INFO - ['1396.5965397604061 -- 1396.554565 -- delta -0.0419747604062195', '1.7610412496315355 -- 1.794316 -- delta 0.0332747503684645', '1322.2279220113899 -- 1322.651367 -- delta 0.42344498861007196'] - client_socket.py - 271 +2024-11-15 11:35:19,410 - logger - INFO - ['-0.8370168099314954 -- -0.004157 -- delta 0.8328598099314954', '-0.06832440130406058 -- 90.0 -- delta 90.06832440130405', '-0.005489461672451682 -- 0.0 -- delta 0.005489461672451682'] - client_socket.py - 275 +2024-11-15 11:35:19,776 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 346 +2024-11-15 11:35:47,282 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:35:47,283 - logger - INFO - {} - main.py - 145 +2024-11-15 11:35:47,298 - logger - INFO - Старт одиночного цикла - client_socket.py - 346 +2024-11-15 11:39:39,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:39,106 - logger - INFO - None - robot.py - 52 +2024-11-15 11:39:39,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:39,106 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:39,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:39,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:39:39,107 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:39:39,108 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:39:40,183 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:39:41,101 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:39:41,401 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 11:39:43,818 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:39:45,875 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:39:45,876 - logger - INFO - {} - main.py - 145 +2024-11-15 11:39:45,877 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:39:53,411 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:53,411 - logger - INFO - None - robot.py - 52 +2024-11-15 11:39:53,412 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:53,412 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:53,412 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:39:53,412 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:39:53,412 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:39:53,413 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:39:54,466 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:39:56,000 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:39:56,300 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:39:58,529 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:39:59,539 - logger - INFO - Координаты осей [0.000734, -0.001307, -0.000858, 0.000936, -0.001079, -0.000744] - client_socket.py - 345 +2024-11-15 11:40:00,752 - logger - INFO - Мировые координаты [1396.508789, 1.716838, 1322.755493, -0.000978, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:40:01,949 - logger - INFO - ['1396.5040133305442 -- 1396.508789 -- delta 0.004775669455739262', '1.7076545821907498 -- 1.716838 -- delta 0.00918341780925025', '1322.7594291904213 -- 1322.755493 -- delta -0.003936190421427455'] - client_socket.py - 270 +2024-11-15 11:40:01,950 - logger - INFO - ['-0.03357458341387862 -- -0.000978 -- delta 0.03259658341387862', '0.0011007140045893055 -- 90.0 -- delta 89.9988992859954', '0.0005931849472730067 -- 0.0 -- delta -0.0005931849472730067'] - client_socket.py - 274 +2024-11-15 11:40:02,157 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 345 +2024-11-15 11:40:19,815 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:40:19,816 - logger - INFO - {} - main.py - 145 +2024-11-15 11:40:19,832 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:40:25,278 - logger - INFO - Координаты осей [0.000734, -0.001307, -0.000858, 0.000936, -0.001079, -0.001466] - client_socket.py - 345 +2024-11-15 11:40:26,494 - logger - INFO - Мировые координаты [1396.509277, 1.710879, 1322.74939, -0.000734, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:40:27,576 - logger - INFO - ['1396.5739527659332 -- 1396.509277 -- delta -0.06467576593308877', '1.7032373826475071 -- 1.710879 -- delta 0.007641617352492913', '1322.1875245296649 -- 1322.74939 -- delta 0.5618654703350785'] - client_socket.py - 270 +2024-11-15 11:40:27,577 - logger - INFO - ['-0.7732952845864957 -- -0.000734 -- delta 0.7725612845864956', '-0.07687702601704417 -- 90.0 -- delta 90.07687702601704', '-0.011895502039989235 -- 0.0 -- delta 0.011895502039989235'] - client_socket.py - 274 +2024-11-15 11:40:27,787 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 11:40:30,819 - logger - INFO - Координаты осей [0.000734, -0.001307, -0.000858, 0.000936, -0.001079, -0.001466] - client_socket.py - 345 +2024-11-15 11:40:32,122 - logger - INFO - Мировые координаты [1396.508789, 1.710879, 1322.755493, -0.000734, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:40:33,198 - logger - INFO - ['1396.5257515375806 -- 1396.508789 -- delta -0.016962537580639037', '1.7068532275594102 -- 1.710879 -- delta 0.004025772440589881', '1322.6552085430997 -- 1322.755493 -- delta 0.10028445690022636'] - client_socket.py - 270 +2024-11-15 11:40:33,198 - logger - INFO - ['-0.20882312358986646 -- -0.000734 -- delta 0.20808912358986645', '-0.01873522950062746 -- 90.0 -- delta 90.01873522950062', '-0.00048042397903353545 -- 0.0 -- delta 0.00048042397903353545'] - client_socket.py - 274 +2024-11-15 11:40:33,444 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - None - robot.py - 52 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:42:43,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:42:44,753 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:42:45,523 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:42:45,824 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:42:47,957 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:42:48,905 - logger - INFO - Координаты осей [0.000978, -0.001307, -0.000858, 0.000936, -0.001079, -0.001466] - client_socket.py - 345 +2024-11-15 11:42:50,214 - logger - INFO - Мировые координаты [1396.509277, 1.710879, 1322.74939, -0.000734, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:42:51,309 - logger - INFO - ['1396.5052170004165 -- 1396.509277 -- delta 0.004059999583660101', '1.707850399270003 -- 1.710879 -- delta 0.0030286007299971107', '1322.7549470549832 -- 1322.74939 -- delta -0.005557054983228227'] - client_socket.py - 270 +2024-11-15 11:42:51,310 - logger - INFO - ['-0.025098091303562834 -- -0.000734 -- delta 0.024364091303562836', '0.001194959369203402 -- 90.0 -- delta 89.9988050406308', '0.0006003689893583991 -- 0.0 -- delta -0.0006003689893583991'] - client_socket.py - 274 +2024-11-15 11:42:51,496 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 11:43:17,119 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:43:17,119 - logger - INFO - {} - main.py - 145 +2024-11-15 11:43:17,132 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:44:27,610 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:44:27,610 - logger - INFO - None - robot.py - 52 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:44:27,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:44:28,667 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:44:29,332 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:44:29,633 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:44:32,147 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:44:34,235 - logger - INFO - Координаты осей [0.000734, -0.001307, -0.000858, 0.000936, -0.001079, -0.000744] - client_socket.py - 345 +2024-11-15 11:44:35,457 - logger - INFO - Мировые координаты [1396.508789, 1.710879, 1322.755493, -0.000734, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:44:36,529 - logger - INFO - ['1396.5039838434725 -- 1396.508789 -- delta 0.004805156527481813', '1.705454891741849 -- 1.710879 -- delta 0.005424108258150984', '1322.7582950798032 -- 1322.755493 -- delta -0.0028020798033594474'] - client_socket.py - 270 +2024-11-15 11:44:36,530 - logger - INFO - ['-0.023923396299350457 -- -0.000734 -- delta 0.02318939629935046', '0.001092540206343098 -- 90.0 -- delta 89.99890745979366', '0.0005010100717095491 -- 0.0 -- delta -0.0005010100717095491'] - client_socket.py - 274 +2024-11-15 11:44:36,735 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 11:44:37,553 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:44:37,553 - logger - INFO - {} - main.py - 145 +2024-11-15 11:44:37,569 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:44:41,155 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:44:41,156 - logger - INFO - {} - main.py - 145 +2024-11-15 11:44:41,172 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:46:09,625 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:09,625 - logger - INFO - None - robot.py - 52 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:46:09,626 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:46:10,671 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:46:11,209 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:46:11,509 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 11:46:13,725 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:46:14,580 - logger - INFO - Координаты осей [89.999763, -0.001307, -0.000572, 0.000936, -0.001079, -0.000744] - client_socket.py - 345 +2024-11-15 11:46:16,072 - logger - INFO - Мировые координаты [-1.687234, 1396.508789, 1322.755493, -89.999763, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 11:46:17,084 - logger - INFO - ['516.6130450737691 -- -1.687234 -- delta -518.300279073769', '1329.681515864289 -- 1396.508789 -- delta 66.82727313571104', '1258.4385706978617 -- 1322.755493 -- delta 64.31692230213821'] - client_socket.py - 270 +2024-11-15 11:46:17,085 - logger - INFO - ['-79.75027873672369 -- -89.999763 -- delta -10.249484263276315', '30.728453642051804 -- 90.0 -- delta 59.271546357948196', '24.592996291274318 -- 0.0 -- delta -24.592996291274318'] - client_socket.py - 274 +2024-11-15 11:46:17,280 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 11:46:19,734 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:46:19,734 - logger - INFO - {} - main.py - 145 +2024-11-15 11:46:19,750 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:32,251 - logger - INFO - None - robot.py - 52 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:46:32,251 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:46:32,252 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:46:33,293 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:46:33,439 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:46:33,740 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 11:46:36,340 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:46:37,442 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 345 +2024-11-15 11:46:38,639 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 345 +2024-11-15 11:46:39,685 - logger - INFO - ['1248.6403452635275 -- 1052.757 -- delta -195.88334526352742', '-887.3254104935328 -- -1028.846 -- delta -141.52058950646722', '510.0446882319095 -- 334.417 -- delta -175.62768823190953'] - client_socket.py - 270 +2024-11-15 11:46:39,686 - logger - INFO - ['-15.211589835770399 -- 162.374 -- delta 177.5855898357704', '4.237653707455206 -- 20.467 -- delta 16.229346292544793', '-23.705510849962103 -- 75.065 -- delta 98.77051084996211'] - client_socket.py - 274 +2024-11-15 11:46:39,917 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 11:46:43,269 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:46:43,270 - logger - INFO - {} - main.py - 145 +2024-11-15 11:46:43,270 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:46:43,771 - logger - INFO - [[1.0527455148220994, -1.0288752102314769, 0.33444853947161135, -0.48803758543134723, -0.10310346668185373, -0.2398679398500766, 0.8328579481499858]] - client_socket.py - 481 +2024-11-15 11:46:55,737 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - None - robot.py - 52 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 11:46:55,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 11:46:56,782 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 11:46:57,084 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 11:46:57,385 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 11:46:59,703 - logger - INFO - connected - robot.py - 52 +2024-11-15 11:47:00,889 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 345 +2024-11-15 11:47:01,917 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 345 +2024-11-15 11:47:02,919 - logger - INFO - ['1282.8349392764605 -- 1052.757 -- delta -230.07793927646048', '-843.5728550814299 -- -1028.846 -- delta -185.2731449185701', '539.870956025888 -- 334.417 -- delta -205.45395602588798'] - client_socket.py - 270 +2024-11-15 11:47:02,920 - logger - INFO - ['-18.953058620162697 -- 162.374 -- delta 181.3270586201627', '-1.0261179808507381 -- 20.467 -- delta 21.493117980850737', '-20.652784438209995 -- 75.065 -- delta 95.71778443820999'] - client_socket.py - 274 +2024-11-15 11:47:03,114 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 11:47:19,384 - logger - INFO - (False,) - main.py - 144 +2024-11-15 11:47:19,385 - logger - INFO - {} - main.py - 145 +2024-11-15 11:47:19,386 - logger - INFO - Старт одиночного цикла - client_socket.py - 345 +2024-11-15 11:47:19,887 - logger - INFO - [1.052728327717467, -1.0288174524375493, 0.3344366337863245, -0.48804521832875103, -0.1031067638607853, -0.23988598503063405, 0.8328478698408734] - client_socket.py - 481 +2024-11-15 11:47:19,887 - logger - INFO - [1.052728327717467, -1.0288174524375493, 0.3344366337863245, -0.48804521832875103, -0.1031067638607853, -0.23988598503063405, 0.8328478698408734] - client_socket.py - 481 +2024-11-15 11:47:19,888 - logger - INFO - [1.052728327717467, -1.0288174524375493, 0.3344366337863245, -0.48804521832875103, -0.1031067638607853, -0.23988598503063405, 0.8328478698408734] - client_socket.py - 481 +2024-11-15 11:47:19,888 - logger - INFO - [1.052728327717467, -1.0288174524375493, 0.3344366337863245, -0.48804521832875103, -0.1031067638607853, -0.23988598503063405, 0.8328478698408734] - client_socket.py - 481 +2024-11-15 11:47:19,888 - logger - INFO - [1.052728327717467, -1.0288174524375493, 0.3344366337863245, -0.48804521832875103, -0.1031067638607853, -0.23988598503063405, 0.8328478698408734] - client_socket.py - 481 +2024-11-15 11:47:19,889 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,890 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,890 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,890 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,891 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,891 - logger - INFO - [1.052728326512998, -1.0288174526274356, 0.3344366348696506, -0.48804521733332284, -0.10310677115690278, -0.23988599973772912, 0.8328478652848298] - client_socket.py - 481 +2024-11-15 11:47:19,943 - logger - ERROR - Error sending data: [Errno 104] Connection reset by peer - client_socket.py - 112 +2024-11-15 11:47:19,994 - logger - ERROR - Error sending data: [Errno 32] Broken pipe - client_socket.py - 112 +2024-11-15 11:47:20,044 - logger - ERROR - Error sending data: [Errno 32] Broken pipe - client_socket.py - 112 +2024-11-15 12:09:47,469 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:09:47,469 - logger - INFO - None - robot.py - 52 +2024-11-15 12:09:47,469 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:09:47,469 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:09:47,469 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:09:47,470 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:09:47,470 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:09:47,470 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:09:48,505 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:09:48,732 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:09:49,033 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:09:51,263 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:09:54,918 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:09:59,448 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:11:48,645 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:11:48,645 - logger - INFO - None - robot.py - 52 +2024-11-15 12:11:48,645 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:11:48,645 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:11:48,645 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:11:48,646 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:11:48,646 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:11:48,646 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:11:49,691 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:11:51,021 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:11:51,322 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:11:53,609 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:11:55,518 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:12:27,537 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:12:33,289 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:12:33,289 - logger - INFO - None - robot.py - 52 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:12:33,290 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:12:34,339 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:12:35,518 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:12:35,818 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:12:38,107 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:12:39,105 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:16:26,638 - logger - INFO - None - robot.py - 52 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:16:26,638 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:16:26,639 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:16:27,674 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:16:29,500 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:16:29,801 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:16:32,179 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:16:33,211 - logger - INFO - Координаты осей [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:17:38,058 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - None - robot.py - 52 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:17:38,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:17:39,119 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - None - robot.py - 52 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:17:43,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:17:44,539 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:17:44,629 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:17:44,929 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:17:47,170 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:17:48,326 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:17:49,493 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:17:50,504 - logger - INFO - ['1396.501686920929 -- 1396.513 -- delta 0.011313079070987442', '1.7357941863226785 -- 1.758 -- delta 0.02220581367732155', '1322.7701970201144 -- 1322.749 -- delta -0.021197020114414045'] - client_socket.py - 270 +2024-11-15 12:17:50,504 - logger - INFO - ['-0.0012259250539710582 -- -0.002 -- delta -0.0007740749460289418', '0.0008645245884442992 -- 90.0 -- delta 89.99913547541155', '0.0017569174617873976 -- 0.0 -- delta -0.0017569174617873976'] - client_socket.py - 274 +2024-11-15 12:17:50,715 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:18:27,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:18:27,931 - logger - INFO - None - robot.py - 52 +2024-11-15 12:18:27,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:18:27,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:18:27,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:18:27,932 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:18:27,932 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:18:27,932 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:18:28,979 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:18:30,622 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:18:30,923 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:18:33,264 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:18:34,076 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:18:35,081 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:18:36,083 - logger - INFO - ['1400.8555288029177 -- 1396.513 -- delta -4.342528802917741', '2.3272276706996013 -- 1.758 -- delta -0.5692276706996013', '1160.3746090702707 -- 1322.749 -- delta 162.37439092972932'] - client_socket.py - 270 +2024-11-15 12:18:36,084 - logger - INFO - ['4.682638524688103 -- -0.002 -- delta -4.684638524688102', '34.264597222623806 -- 90.0 -- delta 55.735402777376194', '0.011831457477307595 -- 0.0 -- delta -0.011831457477307595'] - client_socket.py - 274 +2024-11-15 12:18:36,494 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:19:06,206 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:19:13,353 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:19:24,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:19:24,235 - logger - INFO - None - robot.py - 52 +2024-11-15 12:19:24,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:19:24,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:19:24,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:19:24,235 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:19:24,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:19:24,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:19:25,293 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:19:30,467 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:19:30,767 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:20:56,946 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:20:56,946 - logger - INFO - None - robot.py - 52 +2024-11-15 12:20:56,946 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:20:56,946 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:20:56,946 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:20:56,947 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:20:56,947 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:20:56,947 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:20:58,011 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:20:59,625 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:20:59,926 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:21:02,302 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:21:07,870 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:22:25,630 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:22:25,630 - logger - INFO - None - robot.py - 52 +2024-11-15 12:22:25,631 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:22:25,631 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:22:25,631 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:22:25,631 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:22:25,631 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:22:25,632 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:22:26,678 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:22:30,853 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:22:31,153 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:22:33,632 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:22:34,700 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:23:45,733 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:23:45,733 - logger - INFO - None - robot.py - 52 +2024-11-15 12:23:45,733 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:23:45,733 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:23:45,733 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:23:45,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:23:45,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:23:45,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:23:46,770 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:23:47,429 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:23:47,730 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:23:50,045 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:23:51,457 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:23:52,529 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:23:53,547 - logger - INFO - ['1198.5212494232449 -- -61.982 -- delta -1260.5032494232448', '569.413134907182 -- 1.689 -- delta -567.724134907182', '1434.5007376653928 -- 1955.771 -- delta 521.2702623346072'] - client_socket.py - 270 +2024-11-15 12:23:53,548 - logger - INFO - ['-10.683977689826131 -- 0.0 -- delta 10.683977689826131', '25.755745125511094 -- 25.0 -- delta -0.7557451255110941', '24.922365340226452 -- 0.003 -- delta -24.919365340226452'] - client_socket.py - 274 +2024-11-15 12:23:53,762 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:24:03,031 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:24:04,219 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:24:05,222 - logger - INFO - ['353.57500051552404 -- 1396.542 -- delta 1042.9669994844758', '62.46746633749377 -- 1.748 -- delta -60.71946633749377', '2276.673791684229 -- 1322.702 -- delta -953.971791684229'] - client_socket.py - 270 +2024-11-15 12:24:05,222 - logger - INFO - ['117.39617544805574 -- 90.004 -- delta -27.39217544805574', '-39.477620780369996 -- 0.001 -- delta 39.478620780369994', '107.2294644020419 -- 90.003 -- delta -17.2264644020419'] - client_socket.py - 274 +2024-11-15 12:24:05,411 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:24:11,061 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:24:12,229 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:24:13,281 - logger - INFO - ['1372.2232310550721 -- 1396.518 -- delta 24.29476894492791', '25.635814785448545 -- 1.704 -- delta -23.931814785448545', '1379.4957654277491 -- 1322.743 -- delta -56.75276542774918'] - client_socket.py - 270 +2024-11-15 12:24:13,281 - logger - INFO - ['154.92830645439795 -- 90.002 -- delta -64.92630645439796', '-26.77274734495274 -- -0.006 -- delta 26.76674734495274', '107.41946121849249 -- 90.0 -- delta -17.419461218492486'] - client_socket.py - 274 +2024-11-15 12:24:13,496 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:24:15,813 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - None - robot.py - 52 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:24:26,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:24:27,607 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:25:24,588 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:25:24,889 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:25:27,268 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:25:28,526 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:25:29,569 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:25:30,630 - logger - INFO - ['1198.5212494232449 -- -61.982 -- delta -1260.5032494232448', '569.413134907182 -- 1.689 -- delta -567.724134907182', '1434.5007376653928 -- 1955.771 -- delta 521.2702623346072'] - client_socket.py - 270 +2024-11-15 12:25:30,631 - logger - INFO - ['-10.683977689826131 -- 0.0 -- delta 10.683977689826131', '25.755745125511094 -- 25.0 -- delta -0.7557451255110941', '24.922365340226452 -- 0.003 -- delta -24.919365340226452'] - client_socket.py - 274 +2024-11-15 12:25:30,634 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:25:35,500 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:25:36,545 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:25:37,564 - logger - INFO - ['303.57303512251696 -- 1396.542 -- delta 1092.968964877483', '63.641951212307774 -- 1.748 -- delta -61.893951212307776', '2291.3398791055806 -- 1322.702 -- delta -968.6378791055806'] - client_socket.py - 270 +2024-11-15 12:25:37,565 - logger - INFO - ['114.77540452027667 -- 90.004 -- delta -24.77140452027666', '-40.693104537716266 -- 0.001 -- delta 40.694104537716264', '107.04755532768094 -- 90.003 -- delta -17.04455532768094'] - client_socket.py - 274 +2024-11-15 12:25:37,746 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:25:42,673 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:25:43,771 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:25:44,934 - logger - INFO - ['1373.8926136594027 -- 1396.518 -- delta 22.625386340597288', '24.873332850375323 -- 1.704 -- delta -23.169332850375323', '1371.9472335778426 -- 1322.743 -- delta -49.204233577842615'] - client_socket.py - 270 +2024-11-15 12:25:44,936 - logger - INFO - ['150.93494655318017 -- 90.002 -- delta -60.93294655318017', '-24.02704555128122 -- -0.006 -- delta 24.02104555128122', '107.57190241756021 -- 90.0 -- delta -17.57190241756021'] - client_socket.py - 274 +2024-11-15 12:25:45,139 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:25:46,644 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:26:31,796 - logger - INFO - None - robot.py - 52 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:26:31,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:26:31,797 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:26:32,854 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:27:19,993 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:27:20,294 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:27:22,904 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:27:37,088 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:27:38,222 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:27:39,322 - logger - INFO - ['689.4990854045794 -- -61.982 -- delta -751.4810854045794', '1207.9779427600308 -- 1.689 -- delta -1206.2889427600307', '1318.7024968244903 -- 1955.771 -- delta 637.0685031755097'] - client_socket.py - 270 +2024-11-15 12:27:39,323 - logger - INFO - ['-5.684195699972127 -- 0.0 -- delta 5.684195699972127', '-0.5408856675080933 -- 25.0 -- delta 25.540885667508093', '60.765546612740366 -- 0.003 -- delta -60.762546612740366'] - client_socket.py - 274 +2024-11-15 12:27:39,533 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:27:44,500 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:27:45,508 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:27:46,643 - logger - INFO - ['944.6114261356527 -- 1396.542 -- delta 451.93057386434725', '594.3992438454181 -- 1.748 -- delta -592.6512438454181', '2173.927404658665 -- 1322.702 -- delta -851.2254046586652'] - client_socket.py - 270 +2024-11-15 12:27:46,644 - logger - INFO - ['-11.82277649314559 -- 90.004 -- delta 101.82677649314559', '-52.953232306536016 -- 0.001 -- delta 52.954232306536014', '32.50315339832271 -- 90.003 -- delta 57.49984660167729'] - client_socket.py - 274 +2024-11-15 12:27:46,821 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:27:52,250 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:27:53,322 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:27:54,420 - logger - INFO - ['1075.0898231641602 -- 1396.518 -- delta 321.42817683583985', '1.698931184323911 -- 1.704 -- delta 0.005068815676088967', '1776.013978815036 -- 1322.743 -- delta -453.27097881503596'] - client_socket.py - 270 +2024-11-15 12:27:54,420 - logger - INFO - ['-179.3690466592953 -- 90.002 -- delta 269.3710466592953', '-79.63256787937371 -- -0.006 -- delta 79.62656787937371', '-179.97846508502542 -- 90.0 -- delta 269.9784650850254'] - client_socket.py - 274 +2024-11-15 12:27:54,623 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:27:56,786 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:29:11,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:11,611 - logger - INFO - None - robot.py - 52 +2024-11-15 12:29:11,612 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:11,612 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:11,612 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:11,613 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:29:11,613 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:29:11,613 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:29:12,683 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:29:15,481 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:29:15,782 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:29:18,332 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:29:20,956 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:29:22,010 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:29:23,165 - logger - INFO - ['1396.5014945383912 -- -1.645 -- delta -1398.1464945383912', '1.7351423554294796 -- 1396.533 -- delta 1394.7978576445705', '1322.7704736579615 -- 1322.0 -- delta -0.7704736579614746'] - client_socket.py - 270 +2024-11-15 12:29:23,165 - logger - INFO - ['-0.001188718219783185 -- 700.0 -- delta 700.0011887182197', '0.0008664965766993985 -- -89.998 -- delta -89.99886649657671', '0.0017299001133854446 -- 90.0 -- delta 89.99827009988661'] - client_socket.py - 274 +2024-11-15 12:29:23,386 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:29:26,887 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:29:48,768 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:48,768 - logger - INFO - None - robot.py - 52 +2024-11-15 12:29:48,769 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:48,769 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:48,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:29:48,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:29:48,771 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:29:48,771 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:29:49,827 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:29:50,649 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:29:50,949 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:29:53,315 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:29:54,358 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:29:55,431 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:29:56,476 - logger - INFO - ['841.2682142495291 -- 1396.542 -- delta 555.2737857504708', '2.470116550138811 -- 1.748 -- delta -0.7221165501388109', '2298.0377010469497 -- 1322.702 -- delta -975.3357010469497'] - client_socket.py - 270 +2024-11-15 12:29:56,480 - logger - INFO - ['-18.024099097168804 -- 90.004 -- delta 108.0280990971688', '-62.47025340283401 -- 0.001 -- delta 62.47125340283401', '0.05355705031690023 -- 90.003 -- delta 89.9494429496831'] - client_socket.py - 274 +2024-11-15 12:29:56,696 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:30:00,803 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:30:01,878 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:30:02,897 - logger - INFO - ['933.8246715525618 -- 1396.518 -- delta 462.69332844743826', '1.6968151586801845 -- 1.704 -- delta 0.007184841319815449', '1906.1342629976664 -- 1322.743 -- delta -583.3912629976664'] - client_socket.py - 270 +2024-11-15 12:30:02,898 - logger - INFO - ['-179.66301337752438 -- 90.002 -- delta 269.66501337752436', '-74.60502555253453 -- -0.006 -- delta 74.59902555253453', '-179.98421143857286 -- 90.0 -- delta 269.98421143857286'] - client_socket.py - 274 +2024-11-15 12:30:03,107 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:30:05,497 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:31:41,833 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:31:41,834 - logger - INFO - None - robot.py - 52 +2024-11-15 12:31:41,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:31:41,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:31:41,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:31:41,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:31:41,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:31:41,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:31:42,874 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:31:43,153 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:31:43,454 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:31:45,801 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:31:48,075 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:31:49,159 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:31:50,362 - logger - INFO - ['1396.5018593099483 -- -1.645 -- delta -1398.1468593099482', '1.7363808092653865 -- 1396.533 -- delta 1394.7966191907344', '1322.7699637412777 -- 1322.0 -- delta -0.7699637412777065'] - client_socket.py - 270 +2024-11-15 12:31:50,363 - logger - INFO - ['-0.0012372459888659072 -- 700.0 -- delta 700.0012372459888', '0.0008649402700720916 -- -89.998 -- delta -89.99886494027008', '0.0017812320210213004 -- 90.0 -- delta 89.99821876797898'] - client_socket.py - 274 +2024-11-15 12:31:50,367 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:32:00,115 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:32:01,187 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:32:02,217 - logger - INFO - ['775.0465243392304 -- 72.252 -- delta -702.7945243392304', '3.150007232743987 -- 1.696 -- delta -1.4540072327439872', '1830.996268807426 -- 2450.564 -- delta 619.5677311925738'] - client_socket.py - 270 +2024-11-15 12:32:02,218 - logger - INFO - ['-28.387409908013925 -- 0.0 -- delta 28.387409908013925', '-36.081180955624816 -- 0.0 -- delta 36.081180955624816', '0.10963050228590529 -- 0.0 -- delta -0.10963050228590529'] - client_socket.py - 274 +2024-11-15 12:32:02,449 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:32:07,045 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:32:08,112 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:32:09,123 - logger - INFO - ['737.6029478012377 -- 1279.0 -- delta 541.3970521987623', '3.0608288726007067 -- 539.0 -- delta 535.9391711273993', '1855.519255616189 -- 1.716 -- delta -1853.803255616189'] - client_socket.py - 270 +2024-11-15 12:32:09,124 - logger - INFO - ['77.73031599915221 -- 1439.0 -- delta 1361.2696840008477', '-33.53575042108187 -- 725.0 -- delta 758.5357504210818', '0.22334458887465788 -- 0.004 -- delta -0.21934458887465788'] - client_socket.py - 274 +2024-11-15 12:32:09,131 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:32:13,843 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:32:14,954 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:32:21,197 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:32:35,392 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:32:35,393 - logger - INFO - None - robot.py - 52 +2024-11-15 12:32:35,393 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:32:35,393 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:32:35,393 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:32:35,394 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:32:35,394 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:32:35,394 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:32:36,459 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:32:38,534 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:32:38,834 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:32:41,228 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:32:42,288 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:32:44,167 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 112 +2024-11-15 12:32:46,484 - logger - ERROR - Error sending data: [Errno 32] Broken pipe - client_socket.py - 112 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - None - robot.py - 52 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:33:30,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:33:31,822 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:33:32,697 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:33:32,998 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:33:35,482 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:33:36,319 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:33:37,347 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:33:38,407 - logger - INFO - ['1396.5014945383912 -- -1.645 -- delta -1398.1464945383912', '1.7351423554294796 -- 1396.533 -- delta 1394.7978576445705', '1322.7704736579615 -- 1322.0 -- delta -0.7704736579614746'] - client_socket.py - 270 +2024-11-15 12:33:38,408 - logger - INFO - ['-0.001188718219783185 -- 700.0 -- delta 700.0011887182197', '0.0008664965766993985 -- -89.998 -- delta -89.99886649657671', '0.0017299001133854446 -- 90.0 -- delta 89.99827009988661'] - client_socket.py - 274 +2024-11-15 12:33:38,673 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:33:40,989 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:33:42,129 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:33:43,288 - logger - INFO - ['548.4239265486871 -- 72.252 -- delta -476.17192654868705', '1.5515900458021106 -- 1.696 -- delta 0.14440995419788938', '1920.9033353943128 -- 2450.564 -- delta 529.6606646056871'] - client_socket.py - 270 +2024-11-15 12:33:43,288 - logger - INFO - ['2.0163811300982517 -- 0.0 -- delta -2.0163811300982517', '-41.75794643119928 -- 0.0 -- delta 41.75794643119928', '-0.015221712787981418 -- 0.0 -- delta 0.015221712787981418'] - client_socket.py - 274 +2024-11-15 12:33:43,512 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:33:46,310 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:33:47,361 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:33:48,489 - logger - INFO - ['804.347188685275 -- 1279.0 -- delta 474.652811314725', '3.2165085300284844 -- 539.0 -- delta 535.7834914699715', '1826.91399611426 -- 1.716 -- delta -1825.1979961142601'] - client_socket.py - 270 +2024-11-15 12:33:48,490 - logger - INFO - ['80.32577292319938 -- 1439.0 -- delta 1358.6742270768007', '-30.678767769431566 -- 725.0 -- delta 755.6787677694316', '0.44528081067135683 -- 0.004 -- delta -0.4412808106713568'] - client_socket.py - 274 +2024-11-15 12:33:48,700 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:33:51,547 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:33:52,644 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:36:22,546 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:36:22,546 - logger - INFO - None - robot.py - 52 +2024-11-15 12:36:22,546 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:36:22,546 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:36:22,546 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:36:22,547 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:36:22,547 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:36:22,547 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:36:23,609 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:36:26,098 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:36:26,399 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:36:28,784 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:36:30,033 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:36:31,121 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:36:32,209 - logger - INFO - ['1396.501686920929 -- 1396.513 -- delta 0.011313079070987442', '1.7357941863226785 -- 1.758 -- delta 0.02220581367732155', '1322.7701970201144 -- 1322.749 -- delta -0.021197020114414045'] - client_socket.py - 270 +2024-11-15 12:36:32,209 - logger - INFO - ['-0.0012259250539710582 -- -0.002 -- delta -0.0007740749460289418', '0.0008645245884442992 -- 90.0 -- delta 89.99913547541155', '0.0017569174617873976 -- 0.0 -- delta -0.0017569174617873976'] - client_socket.py - 274 +2024-11-15 12:36:32,421 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:36:37,797 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:36:38,881 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:36:39,883 - logger - INFO - ['927.399995536742 -- -1.645 -- delta -929.044995536742', '1039.5403970926468 -- 1396.533 -- delta 356.9926029073531', '1319.9860076405052 -- 1322.0 -- delta 2.0139923594947504'] - client_socket.py - 270 +2024-11-15 12:36:39,884 - logger - INFO - ['-3.768797217974591 -- 700.0 -- delta 703.7687972179746', '-0.33367513908524504 -- -89.998 -- delta -89.66432486091476', '48.66089234039 -- 90.0 -- delta 41.33910765961'] - client_socket.py - 274 +2024-11-15 12:36:40,301 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:36:44,399 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:36:45,477 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:36:46,504 - logger - INFO - ['816.1876291262325 -- -61.982 -- delta -878.1696291262325', '371.77581225050045 -- 1.689 -- delta -370.08681225050043', '1773.3542703777657 -- 1955.771 -- delta 182.41672962223424'] - client_socket.py - 270 +2024-11-15 12:36:46,504 - logger - INFO - ['-21.286149213211644 -- 0.0 -- delta 21.286149213211644', '-29.766533853043153 -- 25.0 -- delta 54.76653385304316', '24.77572838403716 -- 0.003 -- delta -24.77272838403716'] - client_socket.py - 274 +2024-11-15 12:36:46,722 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:36:52,406 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:36:53,467 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:36:54,484 - logger - INFO - ['9.8552804560934 -- 72.252 -- delta 62.3967195439066', '1.6968761294175392 -- 1.696 -- delta -0.0008761294175392287', '2422.046050337401 -- 2450.564 -- delta 28.517949662598767'] - client_socket.py - 270 +2024-11-15 12:36:54,484 - logger - INFO - ['16.519196169953613 -- 0.0 -- delta -16.519196169953613', '-85.07299323805105 -- 0.0 -- delta 85.07299323805105', '-0.041526940255914135 -- 0.0 -- delta 0.041526940255914135'] - client_socket.py - 274 +2024-11-15 12:36:54,699 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:36:58,636 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:36:59,728 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:37:00,747 - logger - INFO - ['1005.3721228487796 -- 1396.542 -- delta 391.16987715122036', '-1.345752315147917 -- 1.748 -- delta 3.093752315147917', '1885.664644618773 -- 1322.702 -- delta -562.9626446187731'] - client_socket.py - 270 +2024-11-15 12:37:00,747 - logger - INFO - ['83.94823988321227 -- 90.004 -- delta 6.055760116787738', '-29.521146458801358 -- 0.001 -- delta 29.52214645880136', '0.8427958832654082 -- 90.003 -- delta 89.16020411673459'] - client_socket.py - 274 +2024-11-15 12:37:00,953 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:37:04,885 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:37:05,954 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:37:07,146 - logger - INFO - ['1314.877288463131 -- 1279.0 -- delta -35.87728846313098', '-14.838447313244227 -- 539.0 -- delta 553.8384473132443', '1419.2686345049328 -- 1.716 -- delta -1417.552634504933'] - client_socket.py - 270 +2024-11-15 12:37:07,147 - logger - INFO - ['45.36675513299518 -- 1439.0 -- delta 1393.6332448670048', '-76.14143806941641 -- 725.0 -- delta 801.1414380694164', '-44.640896362791096 -- 0.004 -- delta 44.644896362791094'] - client_socket.py - 274 +2024-11-15 12:37:07,366 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:37:09,022 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:37:10,223 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:37:11,411 - logger - INFO - ['1395.6410497032105 -- 1396.518 -- delta 0.8769502967895733', '1.7094907906065118 -- 1.704 -- delta -0.005490790606511808', '1336.1332159091091 -- 1322.743 -- delta -13.390215909109202'] - client_socket.py - 270 +2024-11-15 12:37:11,412 - logger - INFO - ['81.91879569817627 -- 90.002 -- delta 8.083204301823727', '-7.892928669734054 -- -0.006 -- delta 7.886928669734054', '-0.013274145889723908 -- 90.0 -- delta 90.01327414588972'] - client_socket.py - 274 +2024-11-15 12:37:11,612 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:37:14,147 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:37:15,209 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:37:16,248 - logger - INFO - ['1396.5055315549016 -- 1396.513 -- delta 0.007468445098311349', '1.735951254615467 -- 1.758 -- delta 0.022048745384533053', '1322.8189737404307 -- 1322.749 -- delta -0.06997374043066884'] - client_socket.py - 270 +2024-11-15 12:37:16,248 - logger - INFO - ['13.414554329375926 -- -0.002 -- delta -13.416554329375927', '-0.05185938196772139 -- 90.0 -- delta 90.05185938196772', '0.0017623520168727985 -- 0.0 -- delta -0.0017623520168727985'] - client_socket.py - 274 +2024-11-15 12:37:16,474 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:37:21,001 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:37:22,028 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:37:23,160 - logger - INFO - ['846.7813098806839 -- -1.645 -- delta -848.4263098806839', '1105.279284684236 -- 1396.533 -- delta 291.2537153157639', '1319.5511529174576 -- 1322.0 -- delta 2.448847082542443'] - client_socket.py - 270 +2024-11-15 12:37:23,160 - logger - INFO - ['-4.400519902164289 -- 700.0 -- delta 704.4005199021643', '-0.4009766670981485 -- -89.998 -- delta -89.59702333290186', '52.97367959170002 -- 90.0 -- delta 37.02632040829998'] - client_socket.py - 274 +2024-11-15 12:37:23,346 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:37:56,507 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:37:56,507 - logger - INFO - None - robot.py - 52 +2024-11-15 12:37:56,508 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:37:56,508 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:37:56,508 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:37:56,509 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:37:56,509 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:37:56,509 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:37:57,557 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:37:59,073 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:37:59,374 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:38:01,698 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:38:03,115 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:38:04,212 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:38:05,246 - logger - INFO - ['1244.78373870753 -- -61.982 -- delta -1306.7657387075299', '3.496537906273599 -- 1.689 -- delta -1.8075379062735988', '1527.2793018416482 -- 1955.771 -- delta 428.4916981583517'] - client_socket.py - 270 +2024-11-15 12:38:05,246 - logger - INFO - ['-9.991816165758102 -- 0.0 -- delta 9.991816165758102', '25.666156114816687 -- 25.0 -- delta -0.6661561148166868', '0.09601957327176133 -- 0.003 -- delta -0.09301957327176133'] - client_socket.py - 274 +2024-11-15 12:38:05,430 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:38:09,419 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:38:10,502 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:38:11,566 - logger - INFO - ['-38.435839155430834 -- 72.252 -- delta 110.68783915543082', '1.4830867421122342 -- 1.696 -- delta 0.21291325788776572', '2231.472986250896 -- 2450.564 -- delta 219.0910137491037'] - client_socket.py - 270 +2024-11-15 12:38:11,567 - logger - INFO - ['-0.01554381499402632 -- 0.0 -- delta 0.01554381499402632', '-3.552374498147606 -- 0.0 -- delta 3.552374498147606', '0.06204934586362519 -- 0.0 -- delta -0.06204934586362519'] - client_socket.py - 274 +2024-11-15 12:38:11,570 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:38:13,811 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:38:14,890 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:38:16,022 - logger - INFO - ['372.83318768254185 -- 1396.542 -- delta 1023.7088123174581', '69.48554281182992 -- 1.748 -- delta -67.73754281182991', '2137.4407329775386 -- 1322.702 -- delta -814.7387329775386'] - client_socket.py - 270 +2024-11-15 12:38:16,023 - logger - INFO - ['45.81583905197 -- 90.004 -- delta 44.18816094803', '27.778548543144318 -- 0.001 -- delta -27.777548543144317', '66.92407905435668 -- 90.003 -- delta 23.07892094564332'] - client_socket.py - 274 +2024-11-15 12:38:16,213 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:38:19,366 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:38:20,446 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:38:27,046 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:38:28,225 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:38:29,259 - logger - INFO - ['1404.8849527396621 -- 1396.518 -- delta -8.36695273966211', '5.443707303136952 -- 1.704 -- delta -3.739707303136952', '1322.9798923181672 -- 1322.743 -- delta -0.23689231816729261'] - client_socket.py - 270 +2024-11-15 12:38:29,259 - logger - INFO - ['116.7993069940677 -- 90.002 -- delta -26.79730699406771', '-0.30802126861495244 -- -0.006 -- delta 0.30202126861495243', '111.43156954993005 -- 90.0 -- delta -21.431569549930046'] - client_socket.py - 274 +2024-11-15 12:38:29,445 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:38:31,420 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:38:32,500 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:38:33,572 - logger - INFO - ['1407.334594502838 -- 1396.513 -- delta -10.821594502838025', '16.182464988031263 -- 1.758 -- delta -14.424464988031264', '1301.4557587472186 -- 1322.749 -- delta 21.2932412527814'] - client_socket.py - 270 +2024-11-15 12:38:33,573 - logger - INFO - ['129.15897774577712 -- -0.002 -- delta -129.16097774577713', '52.97236043907097 -- 90.0 -- delta 37.02763956092903', '126.40002100205325 -- 0.0 -- delta -126.40002100205325'] - client_socket.py - 274 +2024-11-15 12:38:33,759 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:39:13,845 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:39:13,845 - logger - INFO - None - robot.py - 52 +2024-11-15 12:39:13,845 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:39:13,845 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:39:13,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:39:13,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:39:13,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:39:13,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:39:14,884 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:39:15,818 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:39:16,119 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:39:18,419 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:39:22,829 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:39:24,946 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:39:29,813 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:39:31,820 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:39:33,947 - logger - INFO - ['80.74581809650985 -- -61.982 -- delta -142.72781809650985', '63.54088606213837 -- 1.689 -- delta -61.85188606213837', '1975.2667152925967 -- 1955.771 -- delta -19.495715292596742'] - client_socket.py - 270 +2024-11-15 12:39:33,948 - logger - INFO - ['-170.9451886652873 -- 0.0 -- delta 170.9451886652873', '-67.23223068612826 -- 25.0 -- delta 92.23223068612826', '164.78433559944912 -- 0.003 -- delta -164.78133559944914'] - client_socket.py - 274 +2024-11-15 12:39:34,132 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:40:15,845 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:40:15,845 - logger - INFO - None - robot.py - 52 +2024-11-15 12:40:15,845 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:40:15,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:40:15,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:40:15,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:40:15,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:40:15,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:40:16,886 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:40:17,312 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:40:17,612 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:40:20,052 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:40:29,424 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:40:31,495 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:40:33,696 - logger - INFO - ['40.242814146823804 -- 72.252 -- delta 32.00918585317619', '1.697365267877421 -- 1.696 -- delta -0.0013652678774209726', '2429.2675207805155 -- 2450.564 -- delta 21.296479219484354'] - client_socket.py - 270 +2024-11-15 12:40:33,697 - logger - INFO - ['17.758318274770502 -- 0.0 -- delta -17.758318274770502', '-87.52288614356794 -- 0.0 -- delta 87.52288614356794', '0.011081957927196595 -- 0.0 -- delta -0.011081957927196595'] - client_socket.py - 274 +2024-11-15 12:40:33,896 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:40:36,720 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:40:38,893 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:40:40,994 - logger - INFO - ['1391.7184151939307 -- 1396.542 -- delta 4.823584806069221', '2.989421964734613 -- 1.748 -- delta -1.2414219647346132', '1353.1249471623441 -- 1322.702 -- delta -30.422947162344144'] - client_socket.py - 270 +2024-11-15 12:40:40,995 - logger - INFO - ['88.54020041508066 -- 90.004 -- delta 1.463799584919343', '-1.4840276702726674 -- 0.001 -- delta 1.4850276702726672', '-0.048568142925815815 -- 90.003 -- delta 90.05156814292582'] - client_socket.py - 274 +2024-11-15 12:40:40,998 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:40:41,368 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:40:43,443 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:40:45,181 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:40:45,596 - logger - INFO - ['1340.5273821793662 -- 1279.0 -- delta -61.527382179366214', '0.04964807684395417 -- 539.0 -- delta 538.9503519231561', '1412.3470994971378 -- 1.716 -- delta -1410.631099497138'] - client_socket.py - 270 +2024-11-15 12:40:45,596 - logger - INFO - ['26.868074929854007 -- 1439.0 -- delta 1412.131925070146', '-64.51976819865544 -- 725.0 -- delta 789.5197681986555', '-2.24964753844273 -- 0.004 -- delta 2.25364753844273'] - client_socket.py - 274 +2024-11-15 12:40:45,810 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:40:47,338 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:40:49,474 - logger - INFO - ['1396.51779959704 -- 1396.518 -- delta 0.00020040295999024238', '1.713093599681005 -- 1.704 -- delta -0.009093599681005093', '1323.6475626974334 -- 1322.743 -- delta -0.9045626974334482'] - client_socket.py - 270 +2024-11-15 12:40:49,475 - logger - INFO - ['88.89311121345406 -- 90.002 -- delta 1.1088887865459327', '-0.727254274213036 -- -0.006 -- delta 0.721254274213036', '0.0006494553091766051 -- 90.0 -- delta 89.99935054469083'] - client_socket.py - 274 +2024-11-15 12:40:49,660 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:40:51,069 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:40:53,149 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:40:55,308 - logger - INFO - ['1396.5034638892414 -- 1396.513 -- delta 0.00953611075851768', '1.7411719700291053 -- 1.758 -- delta 0.01682802997089472', '1322.7691107059518 -- 1322.749 -- delta -0.02011070595176534'] - client_socket.py - 270 +2024-11-15 12:40:55,308 - logger - INFO - ['0.9686555326151087 -- -0.002 -- delta -0.9706555326151087', '0.0002438026235004152 -- 90.0 -- delta 89.9997561973765', '0.0019798072660234703 -- 0.0 -- delta -0.0019798072660234703'] - client_socket.py - 274 +2024-11-15 12:40:55,521 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:12,792 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:41:14,964 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:41:17,167 - logger - INFO - ['37.17266467439921 -- -1.645 -- delta -38.81766467439921', '1383.7346747008228 -- 1396.533 -- delta 12.798325299177122', '1321.967750047353 -- 1322.0 -- delta 0.03224995264690733'] - client_socket.py - 270 +2024-11-15 12:41:17,168 - logger - INFO - ['-1.1805168239809727 -- 700.0 -- delta 701.180516823981', '-0.1354980442421959 -- -89.998 -- delta -89.8625019557578', '89.05555002656442 -- 90.0 -- delta 0.9444499734355816'] - client_socket.py - 274 +2024-11-15 12:41:17,172 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:17,906 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:41:20,059 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:41:22,119 - logger - INFO - ['28.530994472710756 -- -61.982 -- delta -90.51299447271076', '1.9631155002882843 -- 1.689 -- delta -0.27411550028828424', '1967.5480482246242 -- 1955.771 -- delta -11.777048224624195'] - client_socket.py - 270 +2024-11-15 12:41:22,120 - logger - INFO - ['28.272422563260825 -- 0.0 -- delta -28.272422563260825', '-58.41343190216913 -- 25.0 -- delta 83.41343190216912', '1.089974241078665 -- 0.003 -- delta -1.0869742410786651'] - client_socket.py - 274 +2024-11-15 12:41:22,341 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:24,481 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:41:26,500 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:41:28,635 - logger - INFO - ['95.94911222471286 -- 72.252 -- delta -23.697112224712868', '1.7770201072901948 -- 1.696 -- delta -0.08102010729019482', '2432.9696646630196 -- 2450.564 -- delta 17.594335336980294'] - client_socket.py - 270 +2024-11-15 12:41:28,636 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:41:28,636 - logger - INFO - ['0.0 -- 0.0 -- delta 0.0', '-90.0 -- 0.0 -- delta 90.0', '-6.050548666284282 -- 0.0 -- delta 6.050548666284282'] - client_socket.py - 274 +2024-11-15 12:41:28,642 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:30,709 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:41:32,715 - logger - INFO - ['1386.2431336811262 -- 1396.542 -- delta 10.298866318873706', '2.9199160305327707 -- 1.748 -- delta -1.1719160305327707', '1376.763454788045 -- 1322.702 -- delta -54.06145478804501'] - client_socket.py - 270 +2024-11-15 12:41:32,717 - logger - INFO - ['87.47719700296824 -- 90.004 -- delta 2.5268029970317656', '-2.6117620855365398 -- 0.001 -- delta 2.6127620855365397', '-0.09048524331048075 -- 90.003 -- delta 90.09348524331048'] - client_socket.py - 274 +2024-11-15 12:41:32,964 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:33,457 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:41:35,534 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:41:37,720 - logger - INFO - ['1300.3743422368234 -- 1279.0 -- delta -21.374342236823395', '-0.5615156431050261 -- 539.0 -- delta 539.561515643105', '1422.0468336264119 -- 1.716 -- delta -1420.330833626412'] - client_socket.py - 270 +2024-11-15 12:41:37,721 - logger - INFO - ['45.030024374220105 -- 1439.0 -- delta 1393.9699756257799', '-88.12798700535824 -- 725.0 -- delta 813.1279870053582', '-45.03196188905718 -- 0.004 -- delta 45.03596188905718'] - client_socket.py - 274 +2024-11-15 12:41:37,726 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:38,204 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:41:40,271 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:41:42,401 - logger - INFO - ['1396.5090441756463 -- 1396.518 -- delta 0.008955824353733988', '1.7258761123035358 -- 1.704 -- delta -0.02187611230353581', '1324.6249104302244 -- 1322.743 -- delta -1.8819104302244796'] - client_socket.py - 270 +2024-11-15 12:41:42,401 - logger - INFO - ['88.1381571477607 -- 90.002 -- delta 1.8638428522393014', '-1.3644491343004659 -- -0.006 -- delta 1.3584491343004659', '0.0010880792362509726 -- 90.0 -- delta 89.99891192076375'] - client_socket.py - 274 +2024-11-15 12:41:42,614 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:41:43,988 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:41:45,999 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:41:48,098 - logger - INFO - ['1396.5034794427463 -- 1396.513 -- delta 0.009520557253608786', '1.7413719450487393 -- 1.758 -- delta 0.01662805495126074', '1322.7698978619198 -- 1322.749 -- delta -0.02089786191982057'] - client_socket.py - 270 +2024-11-15 12:41:48,098 - logger - INFO - ['0.6345151421715761 -- -0.002 -- delta -0.6365151421715761', '-0.0004951080650412603 -- 90.0 -- delta 90.00049510806504', '0.0019879496119693013 -- 0.0 -- delta -0.0019879496119693013'] - client_socket.py - 274 +2024-11-15 12:41:48,103 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:42:34,547 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:42:36,644 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:42:38,808 - logger - INFO - ['52.93483803227042 -- -1.645 -- delta -54.57983803227042', '1383.4246161640115 -- 1396.533 -- delta 13.108383835988434', '1321.153932340106 -- 1322.0 -- delta 0.8460676598940609'] - client_socket.py - 270 +2024-11-15 12:42:38,809 - logger - INFO - ['-2.4074989149246484 -- 700.0 -- delta 702.4074989149246', '-0.27218746465024835 -- -89.998 -- delta -89.72581253534976', '88.4020453236559 -- 90.0 -- delta 1.5979546763441022'] - client_socket.py - 274 +2024-11-15 12:42:39,019 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:42:40,514 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:42:42,585 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:42:44,604 - logger - INFO - ['39.47132419727697 -- -61.982 -- delta -101.45332419727697', '2.230970276297442 -- 1.689 -- delta -0.5419702762974419', '1969.2660622755025 -- 1955.771 -- delta -13.495062275502505'] - client_socket.py - 270 +2024-11-15 12:42:44,605 - logger - INFO - ['30.067677237206716 -- 0.0 -- delta -30.067677237206716', '-57.79394791827302 -- 25.0 -- delta 82.79394791827302', '1.2261948250333206 -- 0.003 -- delta -1.2231948250333207'] - client_socket.py - 274 +2024-11-15 12:42:44,801 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:42:47,701 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:42:49,758 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:42:51,927 - logger - INFO - ['96.79724746675136 -- 72.252 -- delta -24.545247466751363', '1.7968259780717921 -- 1.696 -- delta -0.10082597807179217', '2433.183796356709 -- 2450.564 -- delta 17.38020364329077'] - client_socket.py - 270 +2024-11-15 12:42:51,928 - logger - INFO - ['172.35852948193764 -- 0.0 -- delta -172.35852948193764', '-89.69966548006514 -- 0.0 -- delta 89.69966548006514', '-179.92093591204446 -- 0.0 -- delta 179.92093591204446'] - client_socket.py - 274 +2024-11-15 12:42:52,133 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:44:02,631 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:11,035 - logger - INFO - None - robot.py - 52 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:44:11,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:44:11,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:44:12,082 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:44:12,509 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:44:12,810 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:44:15,065 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:44:16,795 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:44:18,837 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:44:20,890 - logger - INFO - ['1396.5350813580983 -- 1396.542 -- delta 0.006918641901620504', '3.015332707639931 -- 1.748 -- delta -1.267332707639931', '1321.791060464535 -- 1322.702 -- delta 0.9109395354651042'] - client_socket.py - 270 +2024-11-15 12:44:20,891 - logger - INFO - ['88.96568416213884 -- 90.004 -- delta 1.0383158378611625', '0.005767312983821235 -- 0.001 -- delta -0.004767312983821235', '0.005018354927429846 -- 90.003 -- delta 89.99798164507257'] - client_socket.py - 274 +2024-11-15 12:44:21,090 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:44:41,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:41,930 - logger - INFO - None - robot.py - 52 +2024-11-15 12:44:41,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:41,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:41,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:44:41,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:44:41,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:44:41,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:44:42,994 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:44:43,385 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:44:43,685 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:44:46,007 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:44:47,263 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:44:50,367 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:44:50,369 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:44:53,464 - logger - INFO - ['1396.4121314290999 -- 1279.0 -- delta -117.41213142909987', '1.7433522573311877 -- 539.0 -- delta 537.2566477426689', '1327.5377275581761 -- 1.716 -- delta -1325.8217275581762'] - client_socket.py - 270 +2024-11-15 12:44:53,464 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:44:53,466 - logger - INFO - ['86.37060143986841 -- 90.002 -- delta 3.6313985601315864', '-3.059684830910484 -- -0.006 -- delta 3.053684830910484', '0.0019599022971848296 -- 90.0 -- delta 89.99804009770281'] - client_socket.py - 274 +2024-11-15 12:44:53,645 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:44:54,195 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:44:56,551 - logger - INFO - ['1396.5068719816372 -- 1396.518 -- delta 0.011128018362796865', '1.7407031876985057 -- 1.704 -- delta -0.03670318769850578', '1322.8545800235725 -- 1322.743 -- delta -0.11158002357251462'] - client_socket.py - 270 +2024-11-15 12:44:56,552 - logger - INFO - ['6.3022314886494835 -- 90.002 -- delta 83.69976851135051', '-0.0876156139750639 -- -0.006 -- delta 0.0816156139750639', '0.0019601277824733945 -- 90.0 -- delta 89.99803987221753'] - client_socket.py - 274 +2024-11-15 12:44:56,555 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:44:57,292 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:44:58,771 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:45:00,390 - logger - INFO - ['1144.6947019774836 -- 1396.513 -- delta 251.81829802251627', '797.2855894208576 -- 1.758 -- delta -795.5275894208576', '1321.026725462185 -- 1322.749 -- delta 1.7222745378151103'] - client_socket.py - 270 +2024-11-15 12:45:00,391 - logger - INFO - ['-2.2683207720383174 -- -0.002 -- delta 2.2663207720383176', '-0.20859665809952246 -- 90.0 -- delta 90.20859665809952', '35.14022509366184 -- 0.0 -- delta -35.14022509366184'] - client_socket.py - 274 +2024-11-15 12:45:00,578 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:01,865 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:45:04,982 - logger - INFO - ['18.651355517169947 -- -1.645 -- delta -20.296355517169946', '1383.8786305133679 -- 1396.533 -- delta 12.65436948663205', '1322.692361476698 -- 1322.0 -- delta -0.6923614766978972'] - client_socket.py - 270 +2024-11-15 12:45:04,983 - logger - INFO - ['-0.0649590138562873 -- 700.0 -- delta 700.0649590138563', '-0.0064469308432603695 -- -89.998 -- delta -89.99155306915675', '89.82334735874294 -- 90.0 -- delta 0.17665264125706415'] - client_socket.py - 274 +2024-11-15 12:45:05,203 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:09,639 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:45:12,692 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:45:15,862 - logger - INFO - ['-48.43247282397191 -- -61.982 -- delta -13.549527176028093', '1.576067417549433 -- 1.689 -- delta 0.11293258245056714', '1948.7792345071582 -- 1955.771 -- delta 6.9917654928417505'] - client_socket.py - 270 +2024-11-15 12:45:15,863 - logger - INFO - ['7.0300549883777785 -- 0.0 -- delta -7.0300549883777785', '-63.93960467055057 -- 25.0 -- delta 88.93960467055058', '0.1071439681074007 -- 0.003 -- delta -0.1041439681074007'] - client_socket.py - 274 +2024-11-15 12:45:15,867 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:28,957 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - None - robot.py - 52 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:45:28,958 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:45:29,996 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:45:31,936 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:45:32,237 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:45:34,445 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:45:35,214 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:45:40,056 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:45:40,244 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:45:45,137 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:45:45,316 - logger - INFO - ['1397.729306726706 -- 1396.542 -- delta -1.1873067267060833', '3.058906248248057 -- 1.748 -- delta -1.3109062482480571', '1326.3705980714833 -- 1322.702 -- delta -3.668598071483302'] - client_socket.py - 270 +2024-11-15 12:45:45,317 - logger - INFO - ['89.66958223080353 -- 90.004 -- delta 0.33441776919647737', '-0.21248276849401967 -- 0.001 -- delta 0.21348276849401968', '-0.004630224168224027 -- 90.003 -- delta 90.00763022416822'] - client_socket.py - 274 +2024-11-15 12:45:45,499 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:48,666 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:45:50,314 - logger - INFO - ['1326.4225867149485 -- 1396.542 -- delta 70.11941328505145', '-25.291653527306806 -- 1.748 -- delta 27.039653527306807', '1413.4122915967703 -- 1322.702 -- delta -90.71029159677028'] - client_socket.py - 270 +2024-11-15 12:45:50,315 - logger - INFO - ['46.071452235100736 -- 90.004 -- delta 43.93254776489927', '-66.59984561195331 -- 0.001 -- delta 66.60084561195332', '-43.81421671815322 -- 90.003 -- delta 133.81721671815322'] - client_socket.py - 274 +2024-11-15 12:45:50,319 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:53,679 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:45:53,867 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:45:58,759 - logger - INFO - ['1396.51502711648 -- 1279.0 -- delta -117.51502711648004', '1.704354466275676 -- 539.0 -- delta 537.2956455337243', '1323.2032885266838 -- 1.716 -- delta -1321.4872885266839'] - client_socket.py - 270 +2024-11-15 12:45:58,760 - logger - INFO - ['89.35814607328143 -- 1439.0 -- delta 1349.6418539267186', '-0.3943228494155414 -- 725.0 -- delta 725.3943228494155', '0.00043378136791793456 -- 0.004 -- delta 0.0035662186320820654'] - client_socket.py - 274 +2024-11-15 12:45:58,959 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:45:58,961 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:46:04,053 - logger - INFO - ['1396.5034326243099 -- 1396.518 -- delta 0.014567375690148765', '1.6934560229935127 -- 1.704 -- delta 0.010543977006487237', '1322.7694214979117 -- 1322.743 -- delta -0.02642149791176962'] - client_socket.py - 270 +2024-11-15 12:46:04,054 - logger - INFO - ['90.00464644206627 -- 90.002 -- delta -0.0026464420662790644', '0.00011523620627999201 -- -0.006 -- delta -0.006115236206279992', '1.1896302987525725e-06 -- 90.0 -- delta 89.9999988103697'] - client_socket.py - 274 +2024-11-15 12:46:04,235 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:46:11,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - None - robot.py - 52 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:46:11,338 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:46:12,390 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:46:12,716 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:46:13,017 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:46:15,277 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:46:16,196 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:46:23,344 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:46:30,509 - logger - INFO - ['1396.5033767347593 -- 1396.513 -- delta 0.009623265240634282', '1.7416584761456368 -- 1.758 -- delta 0.01634152385436316', '1322.7686745761641 -- 1322.749 -- delta -0.01967457616410684'] - client_socket.py - 270 +2024-11-15 12:46:30,510 - logger - INFO - ['0.00011054221996301982 -- -0.002 -- delta -0.00211054221996302', '0.0010726579265576302 -- 90.0 -- delta 89.99892734207344', '0.001999991963387591 -- 0.0 -- delta -0.001999991963387591'] - client_socket.py - 274 +2024-11-15 12:46:30,709 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:46:34,612 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:46:41,645 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:46:44,170 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:46:48,814 - logger - INFO - ['-13.024197533958914 -- -1.645 -- delta 11.379197533958914', '1.418837859175133 -- 1396.533 -- delta 1395.1141621408249', '1959.372054295095 -- 1322.0 -- delta -637.372054295095'] - client_socket.py - 270 +2024-11-15 12:46:48,815 - logger - INFO - ['20.407541229717324 -- 700.0 -- delta 679.5924587702826', '-60.951015392500544 -- -89.998 -- delta -29.04698460749946', '0.5747641175720897 -- 90.0 -- delta 89.42523588242791'] - client_socket.py - 274 +2024-11-15 12:46:48,818 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:46:51,238 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:46:58,286 - logger - INFO - ['-53.67654324817773 -- -61.982 -- delta -8.30545675182227', '1.6898372478285142 -- 1.689 -- delta -0.0008372478285141316', '1945.092674879199 -- 1955.771 -- delta 10.678325120800991'] - client_socket.py - 270 +2024-11-15 12:46:58,287 - logger - INFO - ['0.0002775134031793025 -- 0.0 -- delta -0.0002775134031793025', '-64.99884100091106 -- 25.0 -- delta 89.99884100091106', '0.003011850631242656 -- 0.003 -- delta -1.1850631242656118e-05'] - client_socket.py - 274 +2024-11-15 12:46:58,483 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:46:59,974 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:47:07,140 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:47:09,111 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:47:14,189 - logger - INFO - ['1394.767216832839 -- 72.252 -- delta -1322.515216832839', '3.0665063447646697 -- 1.696 -- delta -1.3705063447646697', '1333.0344676310665 -- 2450.564 -- delta 1117.5295323689334'] - client_socket.py - 270 +2024-11-15 12:47:14,190 - logger - INFO - ['89.48978723254959 -- 0.0 -- delta -89.48978723254959', '-0.5280461549565221 -- 0.0 -- delta 0.5280461549565221', '-0.014998399389118981 -- 0.0 -- delta 0.014998399389118981'] - client_socket.py - 274 +2024-11-15 12:47:14,369 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:47:16,168 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:47:16,520 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:47:23,203 - logger - INFO - ['1298.23735889169 -- 1396.542 -- delta 98.30464110830985', '1.608273308562516 -- 1.748 -- delta 0.13972669143748395', '1421.9639767345616 -- 1322.702 -- delta -99.26197673456159'] - client_socket.py - 270 +2024-11-15 12:47:23,203 - logger - INFO - ['0.0 -- 90.004 -- delta 90.004', '-90.0 -- 0.001 -- delta 90.001', '0.06286347114316826 -- 90.003 -- delta 89.94013652885683'] - client_socket.py - 274 +2024-11-15 12:47:23,382 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:47:23,925 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:47:26,867 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:47:31,084 - logger - INFO - ['1396.5171553227954 -- 1279.0 -- delta -117.51715532279536', '1.7168430813805993 -- 539.0 -- delta 537.2831569186194', '1323.9156224606224 -- 1.716 -- delta -1322.1996224606225'] - client_socket.py - 270 +2024-11-15 12:47:31,085 - logger - INFO - ['88.66911340171049 -- 1439.0 -- delta 1350.3308865982895', '-0.908552124348579 -- 725.0 -- delta 725.9085521243486', '0.0009402348567645293 -- 0.004 -- delta 0.0030597651432354707'] - client_socket.py - 274 +2024-11-15 12:47:31,281 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:47:33,906 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:47:37,866 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:47:41,060 - logger - INFO - ['1396.5034040674198 -- 1396.518 -- delta 0.014595932580277804', '1.7400025357828184 -- 1.704 -- delta -0.03600253578281842', '1322.7681421993873 -- 1322.743 -- delta -0.02514219938734641'] - client_socket.py - 270 +2024-11-15 12:47:41,061 - logger - INFO - ['3.089359488911852 -- 90.002 -- delta 86.91264051108814', '0.0009032269662913708 -- -0.006 -- delta -0.006903226966291371', '0.0019313732712321664 -- 90.0 -- delta 89.99806862672877'] - client_socket.py - 274 +2024-11-15 12:47:41,247 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:47:44,953 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:47:52,123 - logger - INFO - ['1396.503349787545 -- 1396.513 -- delta 0.009650212454971552', '1.7416591398648484 -- 1.758 -- delta 0.01634086013515157', '1322.7690009009345 -- 1322.749 -- delta -0.02000090093451945'] - client_socket.py - 270 +2024-11-15 12:47:52,123 - logger - INFO - ['-0.00020991824869408528 -- -0.002 -- delta -0.0017900817513059148', '0.0009046284125615715 -- 90.0 -- delta 89.99909537158744', '0.0020000098437234735 -- 0.0 -- delta -0.0020000098437234735'] - client_socket.py - 274 +2024-11-15 12:47:52,323 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:48:26,887 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:48:26,888 - logger - INFO - None - robot.py - 52 +2024-11-15 12:48:26,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:48:26,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:48:26,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:48:26,889 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:48:26,889 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:48:26,889 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:48:27,933 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:48:28,109 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:48:28,410 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:48:30,616 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:48:31,685 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:48:38,742 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:48:45,917 - logger - INFO - ['14.438662337929891 -- -1.645 -- delta -16.08366233792989', '1383.8252600207418 -- 1396.533 -- delta 12.707739979258122', '1322.8092734522381 -- 1322.0 -- delta -0.8092734522381306'] - client_socket.py - 270 +2024-11-15 12:48:45,919 - logger - INFO - ['1.1306761022136616e-05 -- 700.0 -- delta 699.999988693239', '0.00014966091329464377 -- -89.998 -- delta -89.9981496609133', '89.99797971242714 -- 90.0 -- delta 0.0020202875728614345'] - client_socket.py - 274 +2024-11-15 12:48:46,095 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:48:49,499 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:48:56,676 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:48:57,991 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:49:03,837 - logger - INFO - ['-361.87881213600224 -- -61.982 -- delta 299.89681213600227', '2.145359791980356 -- 1.689 -- delta -0.4563597919803559', '2355.388270141945 -- 1955.771 -- delta -399.61727014194526'] - client_socket.py - 270 +2024-11-15 12:49:03,837 - logger - INFO - ['-167.84502362393192 -- 0.0 -- delta 167.84502362393192', '-79.20612660834904 -- 25.0 -- delta 104.20612660834904', '179.92934141062872 -- 0.003 -- delta -179.92634141062874'] - client_socket.py - 274 +2024-11-15 12:49:04,023 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:49:05,125 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:49:05,128 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:49:45,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:49:45,835 - logger - INFO - None - robot.py - 52 +2024-11-15 12:49:45,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:49:45,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:49:45,836 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:49:45,836 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:49:45,836 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:49:45,836 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:49:46,887 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:49:47,615 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:49:47,915 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:49:50,222 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:49:51,267 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:49:58,421 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 12:50:05,481 - logger - INFO - ['1298.1301750512796 -- 1279.0 -- delta -19.130175051279593', '1.7089080409949318 -- 539.0 -- delta 537.291091959005', '1421.967636560133 -- 1.716 -- delta -1420.2516365601332'] - client_socket.py - 270 +2024-11-15 12:50:05,482 - logger - INFO - ['0.0 -- 1439.0 -- delta 1439.0', '-90.0 -- 725.0 -- delta 815.0', '0.004998166903764456 -- 0.004 -- delta -0.0009981669037644556'] - client_socket.py - 274 +2024-11-15 12:50:05,667 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:50:25,968 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:50:33,155 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:50:37,106 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:50:40,201 - logger - INFO - ['1396.5034047084994 -- 1396.518 -- delta 0.014595291500654639', '1.7401672118065314 -- 1.704 -- delta -0.036167211806531485', '1322.76813422171 -- 1322.743 -- delta -0.025134221710004567'] - client_socket.py - 270 +2024-11-15 12:50:40,202 - logger - INFO - ['2.78034884891762 -- 90.002 -- delta 87.22165115108237', '0.000955550753202864 -- -0.006 -- delta -0.006955550753202864', '0.0019382262021701603 -- 90.0 -- delta 89.99806177379783'] - client_socket.py - 274 +2024-11-15 12:50:40,379 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:50:41,478 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:50:44,261 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:51:07,582 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:51:07,582 - logger - INFO - None - robot.py - 52 +2024-11-15 12:51:07,582 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:51:07,582 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:51:07,582 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:51:07,582 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:51:07,583 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:51:07,583 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:51:08,654 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:51:09,442 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:51:09,742 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:51:11,995 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:51:12,841 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:51:19,990 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 12:51:27,005 - logger - INFO - ['-95.82226314104742 -- -61.982 -- delta 33.840263141047416', '40.71664168535495 -- 1.689 -- delta -39.02764168535495', '1855.7118065578732 -- 1955.771 -- delta 100.0591934421268'] - client_socket.py - 270 +2024-11-15 12:51:27,007 - logger - INFO - ['0.00020871683576475285 -- 0.0 -- delta -0.00020871683576475285', '-64.99897317451742 -- 25.0 -- delta 89.99897317451742', '0.0029997726929211917 -- 0.003 -- delta 2.273070788083413e-07'] - client_socket.py - 274 +2024-11-15 12:51:27,188 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:51:34,479 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:51:41,550 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:51:48,497 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 12:51:48,686 - logger - INFO - ['100.1508386130441 -- 72.252 -- delta -27.898838613044106', '40.23079625450891 -- 1.696 -- delta -38.53479625450891', '2335.1879155599495 -- 2450.564 -- delta 115.37608444005036'] - client_socket.py - 270 +2024-11-15 12:51:48,687 - logger - INFO - ['9.000092777341857 -- 0.0 -- delta -9.000092777341857', '-88.71290777528107 -- 0.0 -- delta 88.71290777528107', '0.0027204835259147697 -- 0.0 -- delta -0.0027204835259147697'] - client_socket.py - 274 +2024-11-15 12:51:48,885 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:51:55,570 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 12:51:59,413 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 12:52:02,584 - logger - INFO - ['1297.744096462807 -- 1396.542 -- delta 98.79790353719295', '40.816844068732706 -- 1.748 -- delta -39.06884406873271', '1323.5648626895484 -- 1322.702 -- delta -0.8628626895483649'] - client_socket.py - 270 +2024-11-15 12:52:02,585 - logger - INFO - ['44.476746734977965 -- 90.004 -- delta 45.52725326502204', '-86.43184946283108 -- 0.001 -- delta 86.43284946283109', '-44.59628052083944 -- 90.003 -- delta 134.59928052083944'] - client_socket.py - 274 +2024-11-15 12:52:02,767 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:52:05,087 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 12:52:06,558 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 12:52:10,980 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 12:52:12,226 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:52:13,739 - logger - INFO - ['1297.6851132341142 -- 1396.513 -- delta 98.82788676588575', '40.76460866963016 -- 1.758 -- delta -39.006608669630154', '1323.1890799113107 -- 1322.749 -- delta -0.4400799113107041'] - client_socket.py - 270 +2024-11-15 12:52:13,739 - logger - INFO - ['5.227656988947067 -- -0.002 -- delta -5.229656988947067', '-0.004537505856263313 -- 90.0 -- delta 90.00453750585626', '0.0018838864864551908 -- 0.0 -- delta -0.0018838864864551908'] - client_socket.py - 274 +2024-11-15 12:52:13,926 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:52:15,396 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 12:52:18,172 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:52:19,329 - logger - INFO - ['41.147699917918736 -- -1.645 -- delta -42.79269991791874', '1285.4515689190684 -- 1396.533 -- delta 111.08143108093145', '1321.9091217636492 -- 1322.0 -- delta 0.09087823635081804'] - client_socket.py - 270 +2024-11-15 12:52:19,329 - logger - INFO - ['-1.2554847759682968 -- 700.0 -- delta 701.2554847759683', '0.026045425409046825 -- -89.998 -- delta -90.02404542540906', '87.06406726250874 -- 90.0 -- delta 2.9359327374912567'] - client_socket.py - 274 +2024-11-15 12:52:19,333 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:52:22,474 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 12:52:25,186 - logger - INFO - ['-162.58742880841436 -- -1.645 -- delta 160.94242880841435', '1146.3021937414842 -- 1396.533 -- delta 250.2308062585157', '1316.516813062893 -- 1322.0 -- delta 5.483186937106893'] - client_socket.py - 270 +2024-11-15 12:52:25,187 - logger - INFO - ['-40.22114836522814 -- 700.0 -- delta 740.2211483652281', '-64.89155261137073 -- -89.998 -- delta -25.106447388629277', '-56.260372687211806 -- 90.0 -- delta 146.2603726872118'] - client_socket.py - 274 +2024-11-15 12:52:25,373 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:52:29,633 - logger - INFO - ['-269.6219911387371 -- -1.645 -- delta 267.9769911387371', '1273.1507495000162 -- 1396.533 -- delta 123.38225049998368', '1585.2072639631624 -- 1322.0 -- delta -263.2072639631624'] - client_socket.py - 270 +2024-11-15 12:52:29,633 - logger - INFO - ['-35.92184525565969 -- 700.0 -- delta 735.9218452556597', '-65.24176922882121 -- -89.998 -- delta -24.756230771178792', '-62.95552736477083 -- 90.0 -- delta 152.95552736477083'] - client_socket.py - 274 +2024-11-15 12:52:29,841 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 12:53:14,662 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:14,662 - logger - INFO - None - robot.py - 52 +2024-11-15 12:53:14,662 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:14,662 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:14,663 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:14,663 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:53:14,663 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:53:14,663 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:53:15,707 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:53:16,681 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:53:16,982 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:53:37,895 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:37,895 - logger - INFO - None - robot.py - 52 +2024-11-15 12:53:37,895 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:37,895 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:37,895 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:53:37,896 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:53:37,896 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:53:37,896 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:53:38,937 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:53:39,729 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:53:40,029 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:53:42,319 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:53:44,269 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 12:55:07,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:55:07,036 - logger - INFO - None - robot.py - 52 +2024-11-15 12:55:07,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:55:07,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:55:07,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:55:07,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:55:07,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:55:07,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:55:08,087 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:55:08,970 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:55:09,271 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:55:11,568 - logger - INFO - connected - robot.py - 52 +2024-11-15 12:56:53,784 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:56:53,784 - logger - INFO - None - robot.py - 52 +2024-11-15 12:56:53,784 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:56:53,784 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:56:53,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 12:56:53,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 12:56:53,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 12:56:53,785 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 12:56:54,820 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 12:56:58,744 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 12:56:59,045 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 12:57:01,403 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - None - robot.py - 52 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:02:25,704 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:02:26,748 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:02:28,322 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:02:28,622 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:02:30,876 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:02:31,827 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:02:38,905 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:02:39,100 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 13:02:43,852 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 13:02:46,057 - logger - INFO - ['1316.374991179294 -- 72.252 -- delta -1244.122991179294', '-16.50037070079505 -- 1.696 -- delta 18.19637070079505', '1420.052736588436 -- 2450.564 -- delta 1030.511263411564'] - client_socket.py - 270 +2024-11-15 13:02:46,057 - logger - INFO - ['45.4900315127248 -- 0.0 -- delta -45.4900315127248', '-74.7010037928554 -- 0.0 -- delta 74.7010037928554', '-44.59606460193535 -- 0.0 -- delta 44.59606460193535'] - client_socket.py - 274 +2024-11-15 13:02:46,061 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:02:46,268 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 13:02:46,480 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 13:02:50,223 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:02:51,037 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:02:53,373 - logger - INFO - ['1396.5054035754276 -- 1396.513 -- delta 0.007596424572284377', '1.7419336459569625 -- 1.758 -- delta 0.016066354043037467', '1322.8156127143964 -- 1322.749 -- delta -0.0666127143963422'] - client_socket.py - 270 +2024-11-15 13:02:53,373 - logger - INFO - ['2.4117957765352047 -- -0.002 -- delta -2.4137957765352045', '-0.04930209181361168 -- 90.0 -- delta 90.04930209181362', '0.002007992389780111 -- 0.0 -- delta -0.002007992389780111'] - client_socket.py - 274 +2024-11-15 13:02:53,552 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:02:53,553 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:02:53,752 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:02:57,269 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:02:58,170 - logger - INFO - ['45.62242861903768 -- -1.645 -- delta -47.26742861903768', '1383.5908562811298 -- 1396.533 -- delta 12.942143718870057', '1321.5353041489789 -- 1322.0 -- delta 0.4646958510211334'] - client_socket.py - 270 +2024-11-15 13:02:58,172 - logger - INFO - ['-1.8235104747577384 -- 700.0 -- delta 701.8235104747578', '-0.20865483878037988 -- -89.998 -- delta -89.78934516121963', '88.70523609879024 -- 90.0 -- delta 1.2947639012097625'] - client_socket.py - 274 +2024-11-15 13:02:58,174 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:03:45,435 - logger - INFO - None - robot.py - 52 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:03:45,435 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:03:45,436 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:03:46,488 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:03:47,070 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:03:47,371 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:03:49,690 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:04:04,657 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:04:10,091 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:04:11,712 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:04:13,745 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 13:04:17,260 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 13:04:18,752 - logger - INFO - ['1397.5676261277017 -- 1396.542 -- delta -1.0256261277017984', '3.03008074782198 -- 1.748 -- delta -1.2820807478219798', '1329.5821392634616 -- 1322.702 -- delta -6.880139263461615'] - client_socket.py - 270 +2024-11-15 13:04:18,753 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 13:04:18,755 - logger - INFO - ['89.41294217111447 -- 90.004 -- delta 0.591057828885539', '-0.3652531943978012 -- 0.001 -- delta 0.3662531943978012', '-0.020632559930057626 -- 90.003 -- delta 90.02363255993006'] - client_socket.py - 274 +2024-11-15 13:04:18,758 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:04:20,784 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 13:04:23,024 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 13:04:24,286 - logger - INFO - ['1389.0328181713064 -- 1279.0 -- delta -110.03281817130642', '1.5703731439238242 -- 539.0 -- delta 537.4296268560762', '1360.8928919967302 -- 1.716 -- delta -1359.1768919967303'] - client_socket.py - 270 +2024-11-15 13:04:24,287 - logger - INFO - ['67.33575644975166 -- 1439.0 -- delta 1371.6642435502483', '-22.67679343978865 -- 725.0 -- delta 747.6767934397886', '-0.08342093966775155 -- 0.004 -- delta 0.08742093966775155'] - client_socket.py - 274 +2024-11-15 13:04:24,469 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:04:25,940 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 13:04:27,415 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:04:27,977 - logger - INFO - ['1396.5142601755142 -- 1396.518 -- delta 0.003739824485819554', '1.7230840658546618 -- 1.704 -- delta -0.019084065854661825', '1323.1528213513843 -- 1322.743 -- delta -0.40982135138438025'] - client_socket.py - 270 +2024-11-15 13:04:27,978 - logger - INFO - ['52.563201297839456 -- 90.002 -- delta 37.43879870216054', '-0.3527428503676138 -- -0.006 -- delta 0.3467428503676138', '0.0012048842819145757 -- 90.0 -- delta 89.99879511571808'] - client_socket.py - 274 +2024-11-15 13:04:28,172 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:04:30,084 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - None - robot.py - 52 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:05:08,250 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:05:09,298 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:05:10,627 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:05:10,927 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:05:13,386 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:05:15,849 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:05:22,939 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:05:30,076 - logger - INFO - ['14.44054858668855 -- -1.645 -- delta -16.08554858668855', '1383.8829590060343 -- 1396.533 -- delta 12.650040993965604', '1322.7249955461637 -- 1322.0 -- delta -0.7249955461636546'] - client_socket.py - 270 +2024-11-15 13:05:30,077 - logger - INFO - ['-0.00014970134428391718 -- 700.0 -- delta 700.0001497013443', '0.003936104397745463 -- -89.998 -- delta -90.00193610439776', '89.99790155274582 -- 90.0 -- delta 0.002098447254184066'] - client_socket.py - 274 +2024-11-15 13:05:30,301 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:05:49,021 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:05:56,043 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:06:03,202 - logger - INFO - ['-53.676396997294496 -- -61.982 -- delta -8.305603002705503', '1.6898315988187542 -- 1.689 -- delta -0.0008315988187541645', '1945.0928765398094 -- 1955.771 -- delta 10.67812346019059'] - client_socket.py - 270 +2024-11-15 13:06:03,203 - logger - INFO - ['0.0005754761308946465 -- 0.0 -- delta -0.0005754761308946465', '-64.99879845309735 -- 25.0 -- delta 89.99879845309735', '0.0030163458966187937 -- 0.003 -- delta -1.634589661879361e-05'] - client_socket.py - 274 +2024-11-15 13:06:03,398 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:06:22,903 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:06:29,988 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:06:37,090 - logger - INFO - ['92.40898152572294 -- 72.252 -- delta -20.15698152572294', '1.696157145669487 -- 1.696 -- delta -0.00015714566948710207', '2431.9332650934393 -- 2450.564 -- delta 18.63073490656052'] - client_socket.py - 270 +2024-11-15 13:06:37,091 - logger - INFO - ['0.0 -- 0.0 -- delta 0.0', '-90.0 -- 0.0 -- delta 90.0', '0.0030122564679540297 -- 0.0 -- delta -0.0030122564679540297'] - client_socket.py - 274 +2024-11-15 13:06:37,288 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:07:10,625 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 13:07:17,655 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 13:07:24,702 - logger - INFO - ['1396.5321666234108 -- 1396.542 -- delta 0.009833376589085674', '3.1025468924027764 -- 1.748 -- delta -1.3545468924027764', '1321.8514814645973 -- 1322.702 -- delta 0.8505185354026708'] - client_socket.py - 270 +2024-11-15 13:07:24,704 - logger - INFO - ['89.9991785338173 -- 90.004 -- delta 0.004821466182704626', '0.0029985120569678758 -- 0.001 -- delta -0.0019985120569678758', '0.0031149698206180726 -- 90.003 -- delta 89.99988503017939'] - client_socket.py - 274 +2024-11-15 13:07:24,903 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:07:31,755 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 13:07:38,816 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 13:07:45,949 - logger - INFO - ['1298.1301522901495 -- 1279.0 -- delta -19.130152290149454', '1.7089039228734906 -- 539.0 -- delta 537.2910960771266', '1421.9676336003483 -- 1.716 -- delta -1420.2516336003484'] - client_socket.py - 270 +2024-11-15 13:07:45,949 - logger - INFO - ['0.0 -- 1439.0 -- delta 1439.0', '-90.0 -- 725.0 -- delta 815.0', '0.005002722365561538 -- 0.004 -- delta -0.0010027223655615378'] - client_socket.py - 274 +2024-11-15 13:07:46,138 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:08:24,222 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 13:08:31,283 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 13:08:38,374 - logger - INFO - ['1396.5033594013255 -- 1396.518 -- delta 0.014640598674532157', '1.6934212362845271 -- 1.704 -- delta 0.010578763715472839', '1322.7688478539574 -- 1322.743 -- delta -0.025847853957429834'] - client_socket.py - 270 +2024-11-15 13:08:38,375 - logger - INFO - ['90.00481800163386 -- 90.002 -- delta -0.0028180016338694713', '0.0009621796463202474 -- -0.006 -- delta -0.006962179646320248', '7.0888945928482354e-09 -- 90.0 -- delta 89.9999999929111'] - client_socket.py - 274 +2024-11-15 13:08:38,546 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:10:14,695 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - None - robot.py - 52 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:10:14,696 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:10:15,730 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:10:16,220 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:10:16,521 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:10:18,836 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:10:18,840 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:10:21,355 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:10:25,869 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:10:28,596 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:10:31,094 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:10:35,740 - logger - INFO - ['37.17268386551855 -- 1396.513 -- delta 1359.3403161344813', '1383.7346327117393 -- 1.758 -- delta -1381.9766327117393', '1321.968612694014 -- 1322.749 -- delta 0.7803873059860962'] - client_socket.py - 270 +2024-11-15 13:10:35,741 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:10:35,743 - logger - INFO - ['-1.1812739309694182 -- -0.002 -- delta 1.1792739309694182', '-0.13536068317005423 -- 90.0 -- delta 90.13536068317005', '89.05555567446198 -- 0.0 -- delta -89.05555567446198'] - client_socket.py - 274 +2024-11-15 13:10:35,926 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:10:38,177 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:10:42,867 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:10:42,868 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:10:45,185 - logger - INFO - ['64.33221202600429 -- 72.252 -- delta 7.91978797399571', '1.7772421698835152 -- 1.696 -- delta -0.08124216988351529', '2431.5895229506514 -- 2450.564 -- delta 18.97447704934848'] - client_socket.py - 270 +2024-11-15 13:10:45,187 - logger - INFO - ['-4.855355476292374 -- 0.0 -- delta 4.855355476292374', '-88.29917374570493 -- 0.0 -- delta 88.29917374570493', '0.09689681284830391 -- 0.0 -- delta -0.09689681284830391'] - client_socket.py - 274 +2024-11-15 13:10:45,366 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:10:47,383 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 13:10:50,046 - logger - INFO - ['1327.60545085834 -- 72.252 -- delta -1255.35345085834', '1.3344848146042374 -- 1.696 -- delta 0.36151518539576255', '1509.3993255788612 -- 2450.564 -- delta 941.1646744211387'] - client_socket.py - 270 +2024-11-15 13:10:50,047 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 13:10:50,048 - logger - INFO - ['-88.4573442856691 -- 90.004 -- delta 178.4613442856691', '-8.953833757816597 -- 0.001 -- delta 8.954833757816596', '0.34397423268565214 -- 90.003 -- delta 89.65902576731435'] - client_socket.py - 274 +2024-11-15 13:10:50,228 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:10:51,726 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 13:10:54,484 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 13:10:57,192 - logger - INFO - ['1298.4619684458942 -- 1279.0 -- delta -19.461968445894172', '2.0454797371758717 -- 539.0 -- delta 536.9545202628241', '1422.0036458495322 -- 1.716 -- delta -1420.2876458495323'] - client_socket.py - 270 +2024-11-15 13:10:57,193 - logger - INFO - ['-44.09446924378974 -- 1439.0 -- delta 1483.0944692437897', '-89.71706815746795 -- 725.0 -- delta 814.7170681574679', '44.09011206959536 -- 0.004 -- delta -44.08611206959536'] - client_socket.py - 274 +2024-11-15 13:10:57,198 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:10:57,396 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 13:10:58,811 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 13:11:01,497 - logger - INFO - ['1396.5176140392557 -- 1396.518 -- delta 0.00038596074432462046', '1.7147951750756396 -- 1.704 -- delta -0.010795175075639651', '1323.7822567674746 -- 1322.743 -- delta -1.039256767474626'] - client_socket.py - 270 +2024-11-15 13:11:01,497 - logger - INFO - ['88.77561655079788 -- 90.002 -- delta 1.2263834492021175', '-0.817860911858092 -- -0.006 -- delta 0.811860911858092', '0.000930823284958774 -- 90.0 -- delta 89.99906917671504'] - client_socket.py - 274 +2024-11-15 13:11:01,702 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:11:02,400 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:11:04,586 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:11:05,849 - logger - INFO - ['1396.503604720206 -- 1396.513 -- delta 0.009395279793807276', '1.7408141719513284 -- 1.758 -- delta 0.017185828048671636', '1322.7725933937656 -- 1322.749 -- delta -0.02359339376562275'] - client_socket.py - 270 +2024-11-15 13:11:05,850 - logger - INFO - ['1.817627144336666 -- -0.002 -- delta -1.819627144336666', '-0.0033597480705622753 -- 90.0 -- delta 90.00335974807057', '0.001964877363235286 -- 0.0 -- delta -0.001964877363235286'] - client_socket.py - 274 +2024-11-15 13:11:06,085 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:11:09,448 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:11:11,715 - logger - INFO - ['1396.5033498194152 -- 1396.513 -- delta 0.009650180584685586', '1.7416581094270787 -- 1.758 -- delta 0.016341890572921347', '1322.7690427269888 -- 1322.749 -- delta -0.02004272698877685'] - client_socket.py - 270 +2024-11-15 13:11:11,716 - logger - INFO - ['0.002976213886621656 -- -0.002 -- delta -0.0049762138866216565', '0.0009264146296436735 -- 90.0 -- delta 89.99907358537035', '0.0019999470082374335 -- 0.0 -- delta -0.0019999470082374335'] - client_socket.py - 274 +2024-11-15 13:11:11,899 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:11:16,499 - logger - INFO - ['1396.5033802420621 -- 1396.513 -- delta 0.009619757937798568', '1.7416584854081583 -- 1.758 -- delta 0.016341514591841744', '1322.7686320524067 -- 1322.749 -- delta -0.019632052406677758'] - client_socket.py - 270 +2024-11-15 13:11:16,500 - logger - INFO - ['0.00018591190535671693 -- -0.002 -- delta -0.002185911905356717', '0.0010944478047457773 -- 90.0 -- delta 89.99890555219525', '0.0019999897201837097 -- 0.0 -- delta -0.0019999897201837097'] - client_socket.py - 274 +2024-11-15 13:11:16,680 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:11:55,206 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:11:55,207 - logger - INFO - None - robot.py - 52 +2024-11-15 13:11:55,207 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:11:55,207 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:11:55,207 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:11:55,207 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:11:55,207 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:11:55,208 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:11:56,251 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:11:56,497 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:11:56,798 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:11:59,012 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:12:01,189 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:12:08,207 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:12:15,232 - logger - INFO - ['-24.593272218996173 -- -1.645 -- delta 22.948272218996173', '1305.0673858405567 -- 1396.533 -- delta 91.46561415944325', '1323.1498151869228 -- 1322.0 -- delta -1.1498151869227513'] - client_socket.py - 270 +2024-11-15 13:12:15,233 - logger - INFO - ['-4.176062637297539e-06 -- 700.0 -- delta 700.0000041760626', '0.004004785509299092 -- -89.998 -- delta -90.0020047855093', '89.99798685660596 -- 90.0 -- delta 0.0020131433940377974'] - client_socket.py - 274 +2024-11-15 13:12:15,236 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:12:17,035 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:12:24,187 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:12:31,330 - logger - INFO - ['-87.36946405855193 -- -61.982 -- delta 25.387464058551927', '40.717074873254916 -- 1.689 -- delta -39.028074873254916', '1873.8378048959323 -- 1955.771 -- delta 81.93319510406764'] - client_socket.py - 270 +2024-11-15 13:12:31,331 - logger - INFO - ['-4.599277651005557e-05 -- 0.0 -- delta 4.599277651005557e-05', '-64.9989705488533 -- 25.0 -- delta 89.9989705488533', '0.003004783662707465 -- 0.003 -- delta -4.783662707464817e-06'] - client_socket.py - 274 +2024-11-15 13:12:31,511 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:12:33,236 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:12:40,253 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:12:47,320 - logger - INFO - ['91.9857297899896 -- 72.252 -- delta -19.73372978998961', '40.72512007617499 -- 1.696 -- delta -39.02912007617499', '2353.116309369105 -- 2450.564 -- delta 97.44769063089507'] - client_socket.py - 270 +2024-11-15 13:12:47,321 - logger - INFO - ['0.0 -- 0.0 -- delta 0.0', '-90.0 -- 0.0 -- delta 90.0', '0.0029741858504406813 -- 0.0 -- delta -0.0029741858504406813'] - client_socket.py - 274 +2024-11-15 13:12:47,512 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:12:52,090 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 13:12:59,252 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 13:13:06,376 - logger - INFO - ['1317.7172530791815 -- 1396.542 -- delta 78.82474692081837', '2.6799382848957873 -- 1.748 -- delta -0.9319382848957873', '1360.8846506933185 -- 1322.702 -- delta -38.182650693318465'] - client_socket.py - 270 +2024-11-15 13:13:06,377 - logger - INFO - ['89.99900203315391 -- 90.004 -- delta 0.004997966846090662', '0.002996637092976455 -- 0.001 -- delta -0.001996637092976455', '0.003000114538448389 -- 90.003 -- delta 89.99999988546155'] - client_socket.py - 274 +2024-11-15 13:13:06,573 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:13:08,197 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 13:13:15,310 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 13:13:18,034 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 13:13:22,358 - logger - INFO - ['1317.6887946006216 -- 1279.0 -- delta -38.68879460062158', '40.72464252093138 -- 539.0 -- delta 498.2753574790686', '1323.34318348237 -- 1.716 -- delta -1321.6271834823701'] - client_socket.py - 270 +2024-11-15 13:13:22,361 - logger - INFO - ['89.20754541912802 -- 1439.0 -- delta 1349.792454580872', '-0.696471012967687 -- 725.0 -- delta 725.6964710129677', '7.40668434945924e-05 -- 0.004 -- delta 0.003925933156505408'] - client_socket.py - 274 +2024-11-15 13:13:22,546 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:13:25,117 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 13:13:32,238 - logger - INFO - ['1317.6863543821507 -- 1396.518 -- delta 78.83164561784929', '40.722407289404984 -- 1.704 -- delta -39.01840728940498', '1323.1907098544448 -- 1322.743 -- delta -0.44770985444483813'] - client_socket.py - 270 +2024-11-15 13:13:32,239 - logger - INFO - ['90.00498999640679 -- 90.002 -- delta -0.0029899964067965357', '0.0009811833071650998 -- -0.006 -- delta -0.0069811833071651', '5.5923494742031324e-08 -- 90.0 -- delta 89.9999999440765'] - client_socket.py - 274 +2024-11-15 13:13:32,420 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:14:09,713 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:14:09,714 - logger - INFO - None - robot.py - 52 +2024-11-15 13:14:09,714 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:14:09,715 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:14:09,715 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:14:09,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:14:09,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:14:09,716 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:14:10,775 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:14:12,440 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:14:12,740 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:14:14,996 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:14:22,645 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:14:29,707 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:14:36,787 - logger - INFO - ['1329.7202692167157 -- 1396.513 -- delta 66.79273078328424', '-266.27471896602543 -- 1.758 -- delta 268.0327189660254', '1331.8747098909093 -- 1322.749 -- delta -9.12570989090932'] - client_socket.py - 270 +2024-11-15 13:14:36,788 - logger - INFO - ['-174.79017802827846 -- -0.002 -- delta 174.78817802827845', '71.6699682874285 -- 90.0 -- delta 18.330031712571497', '-175.11201518986914 -- 0.0 -- delta 175.11201518986914'] - client_socket.py - 274 +2024-11-15 13:14:36,969 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:14:53,287 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:15:00,348 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:15:07,360 - logger - INFO - ['-103.47924406137243 -- -1.645 -- delta 101.83424406137243', '1138.4667545444072 -- 1396.533 -- delta 258.0662454555927', '1327.4210393197006 -- 1322.0 -- delta -5.42103931970064'] - client_socket.py - 270 +2024-11-15 13:15:07,361 - logger - INFO - ['-40.19866838872605 -- 700.0 -- delta 740.198668388726', '-67.0422319589477 -- -89.998 -- delta -22.95576804105231', '-55.004004618232074 -- 90.0 -- delta 145.00400461823207'] - client_socket.py - 274 +2024-11-15 13:15:07,364 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:15:27,053 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - None - robot.py - 52 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:15:27,054 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:15:28,086 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:57:46,173 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:57:46,173 - logger - INFO - None - robot.py - 52 +2024-11-15 13:57:46,173 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:57:46,173 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:57:46,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 13:57:46,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 13:57:46,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 13:57:46,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 13:57:47,213 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 13:57:48,757 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 13:57:49,058 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 13:57:51,534 - logger - INFO - connected - robot.py - 52 +2024-11-15 13:58:46,545 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:58:50,458 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:58:53,705 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:58:57,717 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:58:58,531 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:59:00,790 - logger - INFO - ['808.7669865664066 -- -1.645 -- delta -810.4119865664065', '299.3031435865659 -- 1396.533 -- delta 1097.229856413434', '1792.083660624391 -- 1322.0 -- delta -470.0836606243911'] - client_socket.py - 270 +2024-11-15 13:59:00,791 - logger - INFO - ['-21.700415098556803 -- 700.0 -- delta 721.7004150985568', '-31.351508400620887 -- -89.998 -- delta -58.64649159937912', '20.537581246539556 -- 90.0 -- delta 69.46241875346044'] - client_socket.py - 274 +2024-11-15 13:59:01,036 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:59:04,729 - logger - INFO - ['-29.120424274737655 -- -1.645 -- delta 27.475424274737655', '1.4014610406159824 -- 1396.533 -- delta 1395.131538959384', '1955.370889622551 -- 1322.0 -- delta -633.370889622551'] - client_socket.py - 270 +2024-11-15 13:59:04,730 - logger - INFO - ['16.00507676000037 -- 700.0 -- delta 683.9949232399996', '-62.098778379800066 -- -89.998 -- delta -27.89922162019994', '0.38488896398386524 -- 90.0 -- delta 89.61511103601613'] - client_socket.py - 274 +2024-11-15 13:59:04,930 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:59:05,587 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:59:05,834 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 13:59:11,364 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 13:59:12,601 - logger - INFO - ['1329.3130956494538 -- -61.982 -- delta -1391.2950956494537', '412.9085913402277 -- 1.689 -- delta -411.2195913402277', '1326.4214272420052 -- 1955.771 -- delta 629.3495727579948'] - client_socket.py - 270 +2024-11-15 13:59:12,601 - logger - INFO - ['-4.369652009397224 -- 0.0 -- delta 4.369652009397224', '-0.6791231728141396 -- 25.0 -- delta 25.67912317281414', '17.365678169580427 -- 0.003 -- delta -17.362678169580427'] - client_socket.py - 274 +2024-11-15 13:59:12,843 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:59:13,311 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 13:59:16,669 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 13:59:18,475 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:59:20,437 - logger - INFO - ['244.4772454989254 -- -61.982 -- delta -306.4592454989254', '14.346972317317388 -- 1.689 -- delta -12.657972317317387', '1976.0714013798904 -- 1955.771 -- delta -20.300401379890445'] - client_socket.py - 270 +2024-11-15 13:59:20,437 - logger - INFO - ['29.641121833632365 -- 0.0 -- delta -29.641121833632365', '-50.089389360759185 -- 25.0 -- delta 75.08938936075918', '3.1474654935238986 -- 0.003 -- delta -3.1444654935238985'] - client_socket.py - 274 +2024-11-15 13:59:20,668 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:59:23,843 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 13:59:25,650 - logger - INFO - ['-53.51309333314728 -- -61.982 -- delta -8.468906666852718', '1.683777947701401 -- 1.689 -- delta 0.005222052298599067', '1945.3198453416946 -- 1955.771 -- delta 10.451154658305313'] - client_socket.py - 270 +2024-11-15 13:59:25,651 - logger - INFO - ['0.49473517744867884 -- 0.0 -- delta -0.49473517744867884', '-64.93340043499069 -- 25.0 -- delta 89.93340043499069', '0.008141691796488732 -- 0.003 -- delta -0.005141691796488732'] - client_socket.py - 274 +2024-11-15 13:59:25,655 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 13:59:30,920 - logger - INFO - ['-53.676646561586075 -- -61.982 -- delta -8.305353438413924', '1.689840989693589 -- 1.689 -- delta -0.0008409896935890337', '1945.0925657397797 -- 1955.771 -- delta 10.678434260220229'] - client_socket.py - 270 +2024-11-15 13:59:30,920 - logger - INFO - ['8.356602017306083e-05 -- 0.0 -- delta -8.356602017306083e-05', '-64.9988924363472 -- 25.0 -- delta 89.9988924363472', '0.0030091024261862023 -- 0.003 -- delta -9.102426186202196e-06'] - client_socket.py - 274 +2024-11-15 13:59:31,190 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:09:29,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:09:29,255 - logger - INFO - None - robot.py - 52 +2024-11-15 14:09:29,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:09:29,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:09:29,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:09:29,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:09:29,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:09:29,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:09:30,326 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:09:36,781 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:09:37,081 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:09:39,684 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:09:42,290 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 14:09:49,334 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 14:09:56,391 - logger - INFO - ['1396.5033541232904 -- 1396.513 -- delta 0.009645876709555523', '1.7416589192588288 -- 1.758 -- delta 0.016341080741171243', '1322.768948528166 -- 1322.749 -- delta -0.019948528165969037'] - client_socket.py - 270 +2024-11-15 14:09:56,392 - logger - INFO - ['-0.00018935169732678687 -- -0.002 -- delta -0.001810648302673213', '0.0009319907476666926 -- 90.0 -- delta 89.99906800925233', '0.0020000062767845817 -- 0.0 -- delta -0.0020000062767845817'] - client_socket.py - 274 +2024-11-15 14:09:56,395 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:09:58,009 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 14:10:05,018 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 14:10:12,216 - logger - INFO - ['14.440311434243098 -- -1.645 -- delta -16.0853114342431', '1383.8829612238333 -- 1396.533 -- delta 12.650038776166639', '1322.7249675585554 -- 1322.0 -- delta -0.7249675585553632'] - client_socket.py - 270 +2024-11-15 14:10:12,217 - logger - INFO - ['-0.00015765961545728918 -- 700.0 -- delta 700.0001576596154', '0.003948840596723532 -- -89.998 -- delta -90.00194884059673', '89.99791138934968 -- 90.0 -- delta 0.002088610650318401'] - client_socket.py - 274 +2024-11-15 14:10:12,408 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:10:14,033 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 14:10:21,214 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 14:10:28,237 - logger - INFO - ['-53.67511136991791 -- -61.982 -- delta -8.306888630082092', '1.6897794562055133 -- 1.689 -- delta -0.0007794562055132292', '1945.09473826442 -- 1955.771 -- delta 10.676261735580056'] - client_socket.py - 270 +2024-11-15 14:10:28,237 - logger - INFO - ['0.004117542812718075 -- 0.0 -- delta -0.004117542812718075', '-64.99824747526617 -- 25.0 -- delta 89.99824747526617', '0.003058139462745572 -- 0.003 -- delta -5.8139462745571916e-05'] - client_socket.py - 274 +2024-11-15 14:10:28,448 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:10:32,608 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 14:10:39,644 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 14:10:44,506 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 14:10:46,757 - logger - INFO - ['1155.7061471240388 -- 72.252 -- delta -1083.4541471240389', '-0.21729002259810587 -- 1.696 -- delta 1.9132900225981058', '1737.8114877847843 -- 2450.564 -- delta 712.7525122152156'] - client_socket.py - 270 +2024-11-15 14:10:46,758 - logger - INFO - ['84.70891958766333 -- 0.0 -- delta -84.70891958766333', '-20.897112585683715 -- 0.0 -- delta 20.897112585683715', '0.4378376502566208 -- 0.0 -- delta -0.4378376502566208'] - client_socket.py - 274 +2024-11-15 14:10:46,950 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:10:51,524 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 14:10:58,640 - logger - INFO - ['1396.5322212194912 -- 1396.542 -- delta 0.009778780508668206', '3.1024197671264395 -- 1.748 -- delta -1.3544197671264395', '1321.8515869936891 -- 1322.702 -- delta 0.8504130063108732'] - client_socket.py - 270 +2024-11-15 14:10:58,641 - logger - INFO - ['89.99903456692091 -- 90.004 -- delta 0.004965433079092918', '0.002993466521294915 -- 0.001 -- delta -0.001993466521294915', '0.0030570322101746796 -- 90.003 -- delta 89.99994296778982'] - client_socket.py - 274 +2024-11-15 14:10:58,832 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:11:02,598 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 14:11:09,745 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 345 +2024-11-15 14:11:16,856 - logger - INFO - ['1298.130153135164 -- 1279.0 -- delta -19.130153135163937', '1.7089034242302668 -- 539.0 -- delta 537.2910965757698', '1421.9676335353106 -- 1.716 -- delta -1420.2516335353107'] - client_socket.py - 270 +2024-11-15 14:11:16,858 - logger - INFO - ['0.0 -- 1439.0 -- delta 1439.0', '-90.0 -- 725.0 -- delta 815.0', '0.00500303798370171 -- 0.004 -- delta -0.0010030379837017095'] - client_socket.py - 274 +2024-11-15 14:11:17,059 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:11:18,167 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 14:11:25,240 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 14:11:32,335 - logger - INFO - ['1396.5033583615188 -- 1396.518 -- delta 0.014641638481180053', '1.693421392271105 -- 1.704 -- delta 0.010578607728894962', '1322.768861471324 -- 1322.743 -- delta -0.025861471324105878'] - client_socket.py - 270 +2024-11-15 14:11:32,335 - logger - INFO - ['90.00482651785923 -- 90.002 -- delta -0.0028265178592334905', '0.0009544075095957952 -- -0.006 -- delta -0.006954407509595795', '8.772711887116886e-09 -- 90.0 -- delta 89.99999999122728'] - client_socket.py - 274 +2024-11-15 14:11:32,339 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:11:33,587 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 14:11:40,642 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 14:11:47,738 - logger - INFO - ['1396.5033429023003 -- 1396.513 -- delta 0.009657097699573569', '1.7416594012260451 -- 1.758 -- delta 0.016340598773954884', '1322.7690841395136 -- 1322.749 -- delta -0.0200841395135285'] - client_socket.py - 270 +2024-11-15 14:11:47,739 - logger - INFO - ['-0.000265585036443029 -- -0.002 -- delta -0.001734414963556971', '0.0008614425611097355 -- 90.0 -- delta 89.9991385574389', '0.0020000142504404948 -- 0.0 -- delta -0.0020000142504404948'] - client_socket.py - 274 +2024-11-15 14:11:47,948 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:13:47,101 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:13:47,101 - logger - INFO - None - robot.py - 52 +2024-11-15 14:13:47,101 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:13:47,101 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:13:47,102 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:13:47,102 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:13:47,102 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:13:47,102 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:13:48,161 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:16:18,414 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:16:18,715 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:16:21,316 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:16:32,068 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 345 +2024-11-15 14:16:39,244 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 345 +2024-11-15 14:16:41,431 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 14:16:46,392 - logger - INFO - ['-25.679866270090724 -- -1.645 -- delta 24.034866270090724', '1.4009789579230159 -- 1396.533 -- delta 1395.132021042077', '1956.3137214404237 -- 1322.0 -- delta -634.3137214404237'] - client_socket.py - 270 +2024-11-15 14:16:46,392 - logger - INFO - ['17.08666054819129 -- 700.0 -- delta 682.9133394518087', '-61.83744864823118 -- -89.998 -- delta -28.160551351768824', '0.41865522658737586 -- 90.0 -- delta 89.58134477341262'] - client_socket.py - 274 +2024-11-15 14:16:46,588 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:16:48,545 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 345 +2024-11-15 14:16:50,586 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 345 +2024-11-15 14:16:55,712 - logger - INFO - ['255.8730941656488 -- -61.982 -- delta -317.8550941656488', '1.7621351900084097 -- 1.689 -- delta -0.07313519000840962', '9.851888774896567 -- 1955.771 -- delta 1945.9191112251033'] - client_socket.py - 270 +2024-11-15 14:16:55,713 - logger - INFO - ['-176.0615935672658 -- 0.0 -- delta 176.0615935672658', '84.57566245828141 -- 25.0 -- delta -59.575662458281414', '-179.9837758416153 -- 0.003 -- delta 179.9867758416153'] - client_socket.py - 274 +2024-11-15 14:16:55,892 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:16:57,697 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 14:17:04,704 - logger - INFO - ['287.3621661165026 -- 72.252 -- delta -215.11016611650257', '1.702920890192361 -- 1.696 -- delta -0.006920890192360973', '18.65573582282111 -- 2450.564 -- delta 2431.908264177179'] - client_socket.py - 270 +2024-11-15 14:17:04,707 - logger - INFO - ['0.0 -- 0.0 -- delta 0.0', '90.0 -- 0.0 -- delta -90.0', '0.000900150130594997 -- 0.0 -- delta -0.000900150130594997'] - client_socket.py - 274 +2024-11-15 14:17:04,905 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:17:27,128 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:17:27,128 - logger - INFO - None - robot.py - 52 +2024-11-15 14:17:27,128 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:17:27,128 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:17:27,129 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:17:27,129 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:17:27,129 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:17:27,129 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:17:28,177 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:19:29,232 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:19:29,532 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:19:32,018 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:19:35,259 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 345 +2024-11-15 14:19:42,379 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 345 +2024-11-15 14:19:49,425 - logger - INFO - ['1396.532130572073 -- 1396.542 -- delta 0.00986942792701484', '3.1025116266725674 -- 1.748 -- delta -1.3545116266725674', '1321.8514501283328 -- 1322.702 -- delta 0.8505498716672264'] - client_socket.py - 270 +2024-11-15 14:19:49,426 - logger - INFO - ['89.9991525413179 -- 90.004 -- delta 0.004847458682107231', '0.003000023068105755 -- 0.001 -- delta -0.002000023068105755', '0.0030905426170914903 -- 90.003 -- delta 89.99990945738291'] - client_socket.py - 274 +2024-11-15 14:19:49,605 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:20:14,495 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 345 +2024-11-15 14:20:19,375 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 345 +2024-11-15 14:20:21,588 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 14:20:26,501 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 345 +2024-11-15 14:20:28,660 - logger - INFO - ['1396.5034909896046 -- 1396.518 -- delta 0.014509010395386213', '1.6934965216408027 -- 1.704 -- delta 0.010503478359197294', '1322.7708033675058 -- 1322.743 -- delta -0.02780336750583956'] - client_socket.py - 270 +2024-11-15 14:20:28,660 - logger - INFO - ['90.00203498218772 -- 90.002 -- delta -3.498218772790551e-05', '-0.00131799953702132 -- -0.006 -- delta -0.00468200046297868', '2.80367502362483e-06 -- 90.0 -- delta 89.99999719632498'] - client_socket.py - 274 +2024-11-15 14:20:28,665 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 345 +2024-11-15 14:20:29,013 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 345 +2024-11-15 14:20:36,919 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:20:36,920 - logger - INFO - None - robot.py - 52 +2024-11-15 14:20:36,920 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:20:36,920 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:20:36,920 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:20:36,921 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:20:36,921 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:20:36,921 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:20:37,979 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:20:41,774 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:20:42,075 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 14:20:44,629 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:20:48,344 - logger - INFO - Координаты осей [58.26228, -10.726137, -48.668839, -6.716599, 32.499916, 3.838638] - client_socket.py - 345 +2024-11-15 14:20:55,555 - logger - INFO - Мировые координаты [549.640808, 905.779053, 254.075378, 179.98468, 62.981503, -117.711395] - client_socket.py - 345 +2024-11-15 14:21:02,638 - logger - INFO - ['618.3716977891922 -- 549.640808 -- delta -68.73088978919225', '989.9864706376275 -- 905.779053 -- delta -84.20741763762749', '2062.448167878282 -- 254.075378 -- delta -1808.3727898782822'] - client_socket.py - 270 +2024-11-15 14:21:02,638 - logger - INFO - ['-11.76901640299037 -- 179.98468 -- delta 191.75369640299036', '-69.95076227849273 -- 62.981503 -- delta 132.93226527849274', '68.82466285357495 -- -117.711395 -- delta -186.53605785357496'] - client_socket.py - 274 +2024-11-15 14:21:02,825 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:21:18,639 - logger - INFO - Координаты осей [58.260571, -10.727118, -48.670265, -6.716599, 32.499554, 3.840075] - client_socket.py - 345 +2024-11-15 14:21:25,945 - logger - INFO - Мировые координаты [549.637634, 905.773926, 254.066452, 179.984589, 62.980896, -117.711479] - client_socket.py - 345 +2024-11-15 14:21:33,077 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:21:33,078 - logger - INFO - None - robot.py - 52 +2024-11-15 14:21:33,078 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:21:33,078 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:21:33,078 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:21:33,078 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:21:33,078 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:21:33,079 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:21:34,135 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:21:36,203 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:21:36,504 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83 +2024-11-15 14:21:38,960 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:22:03,559 - logger - INFO - Координаты осей [58.260571, -10.727118, -48.670265, -6.716599, 32.499554, 3.840075] - client_socket.py - 345 +2024-11-15 14:22:09,616 - logger - INFO - Координаты осей [58.260571, -10.727118, -48.670265, -6.716599, 32.499554, 3.840075] - client_socket.py - 345 +2024-11-15 14:22:10,922 - logger - INFO - Мировые координаты [549.644531, 905.776794, 254.075378, 179.98468, 62.981503, -117.711632] - client_socket.py - 345 +2024-11-15 14:22:12,837 - logger - INFO - Координаты осей [58.260571, -10.727118, -48.670265, -6.716599, 32.499554, 3.840075] - client_socket.py - 345 +2024-11-15 14:22:15,453 - logger - INFO - Координаты осей [58.260571, -10.727118, -48.670265, -6.716599, 32.499554, 3.840075] - client_socket.py - 345 +2024-11-15 14:22:16,974 - logger - INFO - Мировые координаты [549.644531, 905.776794, 254.075378, 179.98468, 62.981503, -117.711632] - client_socket.py - 345 +2024-11-15 14:22:18,089 - logger - INFO - ['559.9721563976306 -- 549.644531 -- delta -10.327625397630527', '895.5092078765979 -- 905.776794 -- delta 10.267586123402111', '262.39430176270366 -- 254.075378 -- delta -8.318923762703662'] - client_socket.py - 270 +2024-11-15 14:22:18,090 - logger - INFO - ['0.007818869238345658 -- 179.98468 -- delta 179.97686113076165', '27.01856989753187 -- 62.981503 -- delta 35.96293310246813', '62.30563145929741 -- -117.711632 -- delta -180.0172634592974'] - client_socket.py - 274 +2024-11-15 14:22:18,298 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:22:20,176 - logger - INFO - Мировые координаты [549.640808, 905.779053, 254.075378, 179.983276, 62.981495, -117.712982] - client_socket.py - 345 +2024-11-15 14:22:22,730 - logger - INFO - Мировые координаты [549.640808, 905.779053, 254.075378, 179.98468, 62.981503, -117.711395] - client_socket.py - 345 +2024-11-15 14:22:24,152 - logger - INFO - ['559.9721357027048 -- 549.640808 -- delta -10.331327702704812', '895.5092293626266 -- 905.779053 -- delta 10.269823637373406', '262.3943760741567 -- 254.075378 -- delta -8.318998074156696'] - client_socket.py - 270 +2024-11-15 14:22:24,152 - logger - INFO - ['0.007811200874469979 -- 179.98468 -- delta 179.97686879912553', '27.01850045890113 -- 62.981503 -- delta 35.96300254109887', '62.30555609282244 -- -117.711395 -- delta -180.01695109282244'] - client_socket.py - 274 +2024-11-15 14:22:24,413 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:22:27,233 - logger - INFO - ['559.9721357465676 -- 549.640808 -- delta -10.331327746567581', '895.5092293124482 -- 905.779053 -- delta 10.26982368755182', '262.39437607771 -- 254.075378 -- delta -8.318998077709978'] - client_socket.py - 270 +2024-11-15 14:22:27,234 - logger - INFO - ['0.007811213874245754 -- 179.98468 -- delta 179.97686878612575', '27.018500429760486 -- 62.981503 -- delta 35.96300257023951', '62.30555597835657 -- -117.711395 -- delta -180.01695097835656'] - client_socket.py - 274 +2024-11-15 14:22:27,433 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:22:29,879 - logger - INFO - ['559.9721357481214 -- 549.640808 -- delta -10.331327748121453', '895.5092293103611 -- 905.779053 -- delta 10.269823689638883', '262.3943760771748 -- 254.075378 -- delta -8.318998077174797'] - client_socket.py - 270 +2024-11-15 14:22:29,879 - logger - INFO - ['0.007811214212767056 -- 179.98468 -- delta 179.97686878578722', '27.01850042913812 -- 62.981503 -- delta 35.963002570861875', '62.30555597448091 -- -117.711395 -- delta -180.0169509744809'] - client_socket.py - 274 +2024-11-15 14:22:30,079 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:27:06,603 - logger - INFO - Координаты осей [57.035336, -9.422424, -49.007305, -8.973092, 31.624174, 5.268864] - client_socket.py - 345 +2024-11-15 14:27:13,978 - logger - INFO - Мировые координаты [566.284668, 893.877991, 268.069824, 179.981857, 62.978531, -117.717369] - client_socket.py - 345 +2024-11-15 14:27:21,126 - logger - INFO - ['576.6951173282466 -- 566.284668 -- delta -10.410449328246614', '883.5847532888822 -- 893.877991 -- delta 10.29323771111774', '276.5512269352333 -- 268.069824 -- delta -8.481402935233291'] - client_socket.py - 270 +2024-11-15 14:27:21,127 - logger - INFO - ['0.009533706518312014 -- 179.981857 -- delta 179.97232329348168', '27.021428117947156 -- 62.978531 -- delta 35.95710288205284', '62.302737271197934 -- -117.717369 -- delta -180.02010627119793'] - client_socket.py - 274 +2024-11-15 14:27:21,311 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 345 +2024-11-15 14:57:40,610 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - None - robot.py - 52 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:57:40,611 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:57:41,657 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:57:43,295 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:57:43,595 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:57:45,763 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:57:47,822 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 372 +2024-11-15 14:57:47,826 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 372 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:58:54,618 - logger - INFO - None - robot.py - 52 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:58:54,618 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:58:54,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:58:55,654 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:58:56,985 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:58:57,286 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:58:59,506 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:59:01,003 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 369 +2024-11-15 14:59:40,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:59:40,255 - logger - INFO - None - robot.py - 52 +2024-11-15 14:59:40,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:59:40,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:59:40,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 14:59:40,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 14:59:40,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 14:59:40,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 14:59:41,299 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 14:59:43,695 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 14:59:43,996 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 14:59:46,201 - logger - INFO - connected - robot.py - 52 +2024-11-15 14:59:55,121 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 369 +2024-11-15 15:00:14,351 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:00:14,351 - logger - INFO - None - robot.py - 52 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:00:14,352 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:00:15,399 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:00:28,625 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:00:28,926 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:00:31,276 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:00:38,769 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 370 +2024-11-15 15:00:43,965 - logger - INFO - {'joint_1': {'position': 1.376859845028919e-05, 'velocity': 0.0004654112170236833, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.16150705478333385}, 'joint_2': {'position': -5.184863060578433e-05, 'velocity': -1.7268458380004633e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.03225895058237211}, 'joint_3': {'position': -1.4953270806738178e-05, 'velocity': 0.000403695267109668, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.03145092024428137}, 'joint_4': {'position': 1.5648772968570506, 'velocity': 0.15737537720869277, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.005584363082605194}, 'joint_5': {'position': -6.775322896023859e-05, 'velocity': 0.0008146499429530228, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0017048062882904671}, 'joint_6': {'position': 0.00039054247080322487, 'velocity': -0.0069007994558504746, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.7352628642670537e-06}} - client_socket.py - 310 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - None - robot.py - 52 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:03:55,157 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:03:56,196 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:03:57,158 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:03:57,459 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:03:59,721 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:04:01,526 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 374 +2024-11-15 15:04:06,635 - logger - INFO - {'joint_1': {'position': 1.9111853702331616e-05, 'velocity': -2.466495432114943e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0014279180621087247}, 'joint_2': {'position': -2.756777384992682e-05, 'velocity': -5.4691213110128715e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.3379498821797267}, 'joint_3': {'position': -3.731522590969533e-05, 'velocity': 0.0005296515570600545, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.10761974507722624}, 'joint_4': {'position': 0.00010252440013387563, 'velocity': -0.000300704114668707, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.000766380103237605}, 'joint_5': {'position': 1.566482537729311, 'velocity': 0.1144360459070575, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.030346503788715805}, 'joint_6': {'position': -0.0003752889629464487, 'velocity': 0.00998356686274917, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.7659117703589114e-07}} - client_socket.py - 313 +2024-11-15 15:04:06,638 - logger - INFO - [ 1.09502856e-03 -1.57951709e-03 -2.13800496e-03 5.87421542e-03 + 8.97528381e+01] - client_socket.py - 314 +2024-11-15 15:04:06,819 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 374 +2024-11-15 15:04:06,821 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:04:24,892 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 374 +2024-11-15 15:04:29,195 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 374 +2024-11-15 15:04:29,900 - logger - INFO - {'joint_1': {'position': 2.4160522206176144e-05, 'velocity': 0.0002888198027935404, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.030308009335035503}, 'joint_2': {'position': -8.651932426793131e-06, 'velocity': -0.0001956268049373457, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.16203516585872935}, 'joint_3': {'position': -0.0001412580471958594, 'velocity': 0.0031823028511884285, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.16444875856807747}, 'joint_4': {'position': 1.5129613805152712e-05, 'velocity': -0.0004034563681374059, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.002167059953663578}, 'joint_5': {'position': 0.0038179368228341446, 'velocity': -0.10090195819777648, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.01919815590586417}, 'joint_6': {'position': 0.6699043216601016, 'velocity': -17.875384398684915, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0003070988239030748}} - client_socket.py - 313 +2024-11-15 15:04:29,901 - logger - INFO - [ 0.0013843 -0.00049572 -0.00809349 0.00086686 0.21875167] - client_socket.py - 314 +2024-11-15 15:04:30,105 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 374 +2024-11-15 15:04:30,282 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:04:32,253 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 374 +2024-11-15 15:04:34,203 - logger - INFO - {'joint_1': {'position': 0.9949814462584482, 'velocity': 16.899720154813362, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1000.0000000000001}, 'joint_2': {'position': 0.0002663352632956983, 'velocity': 0.008979623247500568, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 880.8030552408749}, 'joint_3': {'position': -0.004318447262899261, 'velocity': -0.13077726689865934, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 92.80451730491599}, 'joint_4': {'position': 1.653786320293752e-05, 'velocity': 2.4411448464434216e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.27095608174071856}, 'joint_5': {'position': 0.012294993241354114, 'velocity': 0.4183000471288736, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.08986782665993814}, 'joint_6': {'position': -0.08400183430081166, 'velocity': -2.8594344382174697, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -7.659641732252382e-06}} - client_socket.py - 313 +2024-11-15 15:04:34,205 - logger - INFO - [ 5.70082376e+01 1.52598865e-02 -2.47428802e-01 9.47549764e-04 + 7.04451222e-01] - client_socket.py - 314 +2024-11-15 15:04:34,567 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 374 +2024-11-15 15:04:34,570 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:04:37,325 - logger - INFO - {'joint_1': {'position': 1.561048110830871, 'velocity': 0.25900379583974475, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -26.269066525759143}, 'joint_2': {'position': -5.893567765705355e-06, 'velocity': -0.0013250849878141265, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.1254069969022953}, 'joint_3': {'position': -0.0004441288628119719, 'velocity': 0.019153042568016854, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.580908676708014}, 'joint_4': {'position': 1.7427831831785257e-05, 'velocity': 6.789516842128224e-07, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.026759378562245424}, 'joint_5': {'position': 0.0015226143899587934, 'velocity': -0.0642588926967884, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.05757517238555417}, 'joint_6': {'position': -0.00910022280971243, 'velocity': 0.40159128967298147, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.009702584184274e-05}} - client_socket.py - 313 +2024-11-15 15:04:37,327 - logger - INFO - [ 8.94414684e+01 -3.37676559e-04 -2.54467094e-02 9.98541210e-04 + 8.72393784e-02] - client_socket.py - 314 +2024-11-15 15:04:37,511 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 374 +2024-11-15 15:04:37,691 - logger - INFO - Команд в очереди [0.003, 65, -0.001, 0.001, 0, -0.001] - client_socket.py - 374 +2024-11-15 15:08:48,350 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:08:48,350 - logger - INFO - None - robot.py - 52 +2024-11-15 15:08:48,350 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:08:48,350 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:08:48,351 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:08:48,351 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:08:48,351 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:08:48,351 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:08:49,390 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:08:50,201 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:08:50,502 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:08:52,753 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:08:54,159 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 374 +2024-11-15 15:08:54,162 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 374 +2024-11-15 15:08:59,350 - logger - INFO - {'joint_1': {'position': 0.00038170661755035666, 'velocity': 0.00025286897425466794, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.18463688822080634}, 'joint_2': {'position': 0.2702564516065318, 'velocity': -0.021272121938706208, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -14.694557009961626}, 'joint_3': {'position': 1.0972931616981993, 'velocity': 0.15888492387468028, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -9.270324797595702}, 'joint_4': {'position': -0.0003142708325552105, 'velocity': -2.955990527199351e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.1370344035716511}, 'joint_5': {'position': 0.660869596269583, 'velocity': 0.05231499162441861, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.35107599285958163}, 'joint_6': {'position': -0.00010772885660886743, 'velocity': 0.002539169981453577, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -9.095570999919045e-08}} - client_socket.py - 313 +2024-11-15 15:08:59,352 - logger - INFO - [ 2.18701782e-02 1.54845541e+01 6.28702671e+01 -1.80063923e-02 + 3.78650387e+01] - client_socket.py - 314 +2024-11-15 15:08:59,713 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:09:00,816 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 374 +2024-11-15 15:09:00,820 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 374 +2024-11-15 15:09:06,019 - logger - INFO - {'joint_1': {'position': 0.02885809790309809, 'velocity': 0.002575288748926286, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.17950993652892264}, 'joint_2': {'position': -0.10230069513624643, 'velocity': -0.02673062831860905, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 12.738210886342294}, 'joint_3': {'position': 0.03226102566514005, 'velocity': -0.11372751750101953, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 9.932702821174056}, 'joint_4': {'position': 0.41874121012333937, 'velocity': 0.03794712209136678, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.029740764945201104}, 'joint_5': {'position': 1.445750477246285, 'velocity': 0.07086812194539893, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.15370496481243612}, 'joint_6': {'position': -2.2368485649626875, 'velocity': -0.20238142143690455, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 4.465173460926712e-06}} - client_socket.py - 313 +2024-11-15 15:09:06,021 - logger - INFO - [ 1.65344721 -5.86139807 1.84842061 23.99210405 82.83540058] - client_socket.py - 314 +2024-11-15 15:09:06,022 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:09:06,753 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 374 +2024-11-15 15:09:06,756 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 374 +2024-11-15 15:09:10,290 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 374 +2024-11-15 15:09:10,292 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 374 +2024-11-15 15:09:14,247 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 374 +2024-11-15 15:09:14,249 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 374 +2024-11-15 15:09:15,416 - logger - INFO - {'joint_1': {'position': 0.1503225277169371, 'velocity': 1.7911954703283282, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -173.92086132705444}, 'joint_2': {'position': -0.08722958873043321, 'velocity': 0.1886052990033647, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 35.83115611683195}, 'joint_3': {'position': -0.0029025295539005015, 'velocity': -0.3711699447009614, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 23.232996865771934}, 'joint_4': {'position': 0.9660358930767458, 'velocity': 6.572112279322107, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.255904233619851}, 'joint_5': {'position': 1.108344112200647, 'velocity': -4.127515406527728, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.7340483430842784}, 'joint_6': {'position': -1.7572248687069114, 'velocity': 6.013168480541297, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.0001556997410308561}} - client_socket.py - 313 +2024-11-15 15:09:15,419 - logger - INFO - [ 8.6128464 -4.99788728 -0.16630269 55.34977953 63.50343988] - client_socket.py - 314 +2024-11-15 15:09:15,609 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:09:19,139 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 374 +2024-11-15 15:09:19,142 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 374 +2024-11-15 15:09:19,318 - logger - INFO - {'joint_1': {'position': 0.21668842611211594, 'velocity': 0.021444682578097084, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.2803479628342815}, 'joint_2': {'position': -0.08024258615240543, 'velocity': 0.0022549549852021447, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.3707401282182127}, 'joint_3': {'position': -0.016654642475582744, 'velocity': -0.0044469334561014475, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.33992027505130856}, 'joint_4': {'position': 1.209547731899243, 'velocity': 0.07869280088646993, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.02873673656598085}, 'joint_5': {'position': 0.95541769795199, 'velocity': -0.04943739526049622, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.05789331504407903}, 'joint_6': {'position': -1.53443464062422, 'velocity': 0.07201488572539098, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.14085088686431e-06}} - client_socket.py - 313 +2024-11-15 15:09:19,321 - logger - INFO - [12.41533229 -4.59756152 -0.95424072 69.30198016 54.74140176] - client_socket.py - 314 +2024-11-15 15:09:19,324 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 374 +2024-11-15 15:09:49,131 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:09:49,131 - logger - INFO - None - robot.py - 52 +2024-11-15 15:09:49,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:09:49,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:09:49,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:09:49,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:09:49,133 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:09:49,133 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:09:50,206 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:10:01,745 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:10:02,046 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:10:04,577 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:10:35,879 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:10:35,882 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 375 +2024-11-15 15:10:35,882 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 255 +2024-11-15 15:10:40,989 - logger - INFO - {'joint_1': {'position': 0.0003554043525284572, 'velocity': -4.91988368285474e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.08374135133141968}, 'joint_2': {'position': 1.05882386010929, 'velocity': 0.18272206375252656, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -26.63894605197596}, 'joint_3': {'position': 0.004923508489741847, 'velocity': 0.0010779486368064364, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -14.747263420032972}, 'joint_4': {'position': 0.0016592099227653713, 'velocity': 0.0002443313501106504, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.2007419060433294}, 'joint_5': {'position': 1.094265913873094, 'velocity': 0.08664220273637076, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.6693088783117531}, 'joint_6': {'position': 0.0007858019930389709, 'velocity': 0.01706103364318823, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.0872618903982276e-07}} - client_socket.py - 314 +2024-11-15 15:10:40,991 - logger - INFO - [2.03631694e-02 6.06661384e+01 2.82096257e-01 9.50657259e-02 + 6.26968185e+01] - client_socket.py - 315 +2024-11-15 15:10:41,351 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:10:42,454 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:10:42,456 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:10:42,456 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:10:46,123 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 375 +2024-11-15 15:10:46,125 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 375 +2024-11-15 15:10:46,126 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 255 +2024-11-15 15:10:47,563 - logger - INFO - {'joint_1': {'position': 0.022337319327567225, 'velocity': 0.17643752284302752, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 24.843178575121364}, 'joint_2': {'position': 0.4244514730208365, 'velocity': -4.904841942918823, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1000.0000000000001}, 'joint_3': {'position': 0.3129844640824717, 'velocity': -7.603019141609326, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -527.0738310580196}, 'joint_4': {'position': 0.32403217306098653, 'velocity': 2.563375287203886, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.014270355605662}, 'joint_5': {'position': 1.2704342299286446, 'velocity': 4.74623261583865, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -11.750798386760348}, 'joint_6': {'position': -1.7309855515500767, 'velocity': -13.691554674949307, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.00016591610879853838}} - client_socket.py - 314 +2024-11-15 15:10:47,564 - logger - INFO - [ 1.27983412 24.31927801 17.93268885 18.56567594 72.79051952] - client_socket.py - 315 +2024-11-15 15:10:47,748 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:10:50,865 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 375 +2024-11-15 15:10:50,869 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 375 +2024-11-15 15:10:50,869 - logger - INFO - [1439.0, 635.0, 0.004, 0.005, 0.001] - client_socket.py - 255 +2024-11-15 15:10:51,435 - logger - INFO - {'joint_1': {'position': 0.028874623826636563, 'velocity': 0.0021123766179831295, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.18045404259220515}, 'joint_2': {'position': -0.10182259298634531, 'velocity': -0.037064663003512015, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 12.465806020817352}, 'joint_3': {'position': 0.03128476860110549, 'velocity': -0.09102726210622741, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 9.183763198705087}, 'joint_4': {'position': 0.4190074973595416, 'velocity': 0.03070043633037901, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.02706263818178519}, 'joint_5': {'position': 1.4463087712733529, 'velocity': 0.05680292455531713, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.16593706029182237}, 'joint_6': {'position': -2.2382711694900252, 'velocity': -0.163922748366941, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.7209925362984873e-06}} - client_socket.py - 314 +2024-11-15 15:10:51,435 - logger - INFO - [ 1.65439408 -5.83400484 1.7924852 24.00736118 82.86738847] - client_socket.py - 315 +2024-11-15 15:10:51,443 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:10:55,307 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 375 +2024-11-15 15:10:55,310 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 375 +2024-11-15 15:10:55,496 - logger - INFO - [90.002, -90.006, 90.0] - client_socket.py - 255 +2024-11-15 15:10:59,747 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:10:59,750 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:10:59,751 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:11:00,663 - logger - INFO - {'joint_1': {'position': 0.13456867017004154, 'velocity': 2.2113757531600164, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -210.4872131652577}, 'joint_2': {'position': -0.08887898855398925, 'velocity': 0.23283658047015746, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 43.62879851728241}, 'joint_3': {'position': 0.0003534090363484417, 'velocity': -0.4581556324256116, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 25.56829696436175}, 'joint_4': {'position': 0.9082461465218731, 'velocity': 8.11369011932258, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 4.249285267379425}, 'joint_5': {'position': 1.1446465345579597, 'velocity': -5.095753795056681, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 4.283549645989159}, 'joint_6': {'position': -1.8101329164471576, 'velocity': 7.423680366554392, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00018448003753927607}} - client_socket.py - 314 +2024-11-15 15:11:00,665 - logger - INFO - [ 7.71021686e+00 -5.09239093e+00 2.02488462e-02 5.20386710e+01 + 6.55834155e+01] - client_socket.py - 315 +2024-11-15 15:11:00,670 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:11:02,911 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:11:02,914 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:11:02,914 - logger - INFO - [700.0, -179.998, 90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:11:04,854 - logger - INFO - {'joint_1': {'position': 0.2167717541383321, 'velocity': 0.01930071187580379, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.0524611110946287}, 'joint_2': {'position': -0.08022506737122746, 'velocity': 0.002028770236690252, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.33358683362414693}, 'joint_3': {'position': -0.01667736894990321, 'velocity': -0.004001552792234271, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.3059845209381828}, 'joint_4': {'position': 1.2098633905712177, 'velocity': 0.070852889018836, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.025845183281865847}, 'joint_5': {'position': 0.9552262647707135, 'velocity': -0.044474574597051314, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.052115057368787375}, 'joint_6': {'position': -1.5341783533640359, 'velocity': 0.06479627789281164, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.9270421148087653e-06}} - client_socket.py - 314 +2024-11-15 15:11:04,855 - logger - INFO - [12.42010663 -4.59655777 -0.95554285 69.32006607 54.73043345] - client_socket.py - 315 +2024-11-15 15:11:04,861 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:13:24,453 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:13:24,453 - logger - INFO - None - robot.py - 52 +2024-11-15 15:13:24,453 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:13:24,453 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:13:24,453 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:13:24,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:13:24,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:13:24,454 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:13:25,489 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:13:26,037 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:13:26,337 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:13:28,560 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:13:33,063 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:13:33,064 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 375 +2024-11-15 15:13:33,064 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 255 +2024-11-15 15:13:38,076 - logger - INFO - {'joint_1': {'position': 0.0003554536589723906, 'velocity': -7.145778334011459e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.10283577095571553}, 'joint_2': {'position': 1.0572167161407344, 'velocity': 0.22555607999910743, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -32.95033278646147}, 'joint_3': {'position': 0.004914026534140309, 'velocity': 0.0013308007861807733, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -18.264862401745457}, 'joint_4': {'position': 0.0016575881905532292, 'velocity': 0.0001961551058590703, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.2490225903709024}, 'joint_5': {'position': 1.0935040504274918, 'velocity': 0.10691321392613685, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.8274927713435369}, 'joint_6': {'position': 0.0006354969821525044, 'velocity': 0.02110877981247002, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.8191661863741943e-07}} - client_socket.py - 314 +2024-11-15 15:13:38,077 - logger - INFO - [2.03659945e-02 6.05740559e+01 2.81552981e-01 9.49728075e-02 + 6.26531670e+01] - client_socket.py - 315 +2024-11-15 15:13:38,081 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:13:38,616 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:13:38,619 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:13:38,620 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:13:42,542 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 375 +2024-11-15 15:13:42,546 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 375 +2024-11-15 15:13:42,546 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 255 +2024-11-15 15:13:43,796 - logger - INFO - {'joint_1': {'position': 0.022353084369192908, 'velocity': 0.17601894783436017, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 24.822448232696548}, 'joint_2': {'position': 0.42465659969154035, 'velocity': -4.886876152259036, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1000.0000000000001}, 'joint_3': {'position': 0.31322833014529394, 'velocity': -7.609247403251884, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -526.6325575495555}, 'joint_4': {'position': 0.3240207877973506, 'velocity': 2.56368922336585, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.012844837638242}, 'joint_5': {'position': 1.2702894745640692, 'velocity': 4.750021072681983, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -11.775905062631054}, 'joint_6': {'position': -1.7309917041532437, 'velocity': -13.691433020930617, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0001659517698512278}} - client_socket.py - 314 +2024-11-15 15:13:43,798 - logger - INFO - [ 1.28073739 24.3310309 17.94666134 18.56502362 72.78222565] - client_socket.py - 315 +2024-11-15 15:13:43,979 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:13:46,704 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 375 +2024-11-15 15:13:46,708 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 375 +2024-11-15 15:13:46,708 - logger - INFO - [1439.0, 635.0, 0.004, 0.005, 0.001] - client_socket.py - 255 +2024-11-15 15:13:47,612 - logger - INFO - {'joint_1': {'position': 0.028882795142145548, 'velocity': 0.0018973997891683966, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.15927972932047094}, 'joint_2': {'position': -0.1020172959174428, 'velocity': -0.03212227891452848, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 11.045915487705845}, 'joint_3': {'position': 0.03095623928798478, 'velocity': -0.08199164705697354, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 8.176425242701889}, 'joint_4': {'position': 0.4191238692461766, 'velocity': 0.02767053158874375, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.024212329973018434}, 'joint_5': {'position': 1.446519893538755, 'velocity': 0.0513190649986579, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.145741584385689}, 'joint_6': {'position': -2.2388878519015907, 'velocity': -0.14754455103981637, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.342381776142664e-06}} - client_socket.py - 314 +2024-11-15 15:13:47,614 - logger - INFO - [ 1.65486226 -5.84516049 1.77366186 24.0140288 82.87948488] - client_socket.py - 315 +2024-11-15 15:13:47,806 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:13:50,041 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 375 +2024-11-15 15:13:50,044 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 375 +2024-11-15 15:13:50,044 - logger - INFO - [90.002, -90.006, 90.0] - client_socket.py - 255 +2024-11-15 15:13:55,171 - logger - INFO - {'joint_1': {'position': 0.029351775229654247, 'velocity': 3.1685465109168836e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.0012003175658693536}, 'joint_2': {'position': -0.10268470700067174, 'velocity': 3.805326263616401e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.0015035608303213203}, 'joint_3': {'position': 0.02752342842088152, 'velocity': -4.233277675769199e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.00024422237692160433}, 'joint_4': {'position': 0.4271690203135848, 'velocity': 0.0006210634817006824, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -5.1212132120144994e-05}, 'joint_5': {'position': 1.4467728511427251, 'velocity': -0.0001599248459851181, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.3887411259542077e-05}, 'joint_6': {'position': -2.2503319569113405, 'velocity': -0.0005110478540436143, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 7.204979255441481e-09}} - client_socket.py - 314 +2024-11-15 15:13:55,173 - logger - INFO - [ 1.68173284 -5.88340033 1.57697629 24.474982 82.89397828] - client_socket.py - 315 +2024-11-15 15:13:55,372 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:13:56,305 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:13:56,309 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:13:56,309 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:14:01,351 - logger - INFO - {'joint_1': {'position': 0.2168462736755209, 'velocity': 0.017385895443478346, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.841095786290412}, 'joint_2': {'position': -0.08021398948738177, 'velocity': 0.0018130518783507669, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.29824078450562597}, 'joint_3': {'position': -0.016680740445061425, 'velocity': -0.0035801793692470736, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.2770986879080926}, 'joint_4': {'position': 1.2101845018016832, 'velocity': 0.0640327197979733, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.023245226114423968}, 'joint_5': {'position': 0.9550388479667313, 'velocity': -0.039806181713719274, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.04697886932525891}, 'joint_6': {'position': -1.5339800073976027, 'velocity': 0.057948127386253455, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.7674806756381314e-06}} - client_socket.py - 314 +2024-11-15 15:14:01,352 - logger - INFO - [12.42437628 -4.59592306 -0.95573603 69.33846439 54.71969526] - client_socket.py - 315 +2024-11-15 15:14:01,356 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:14:01,555 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:14:01,557 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.0, 700.0, -89.998, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:14:01,557 - logger - INFO - [700.0, -179.998, 90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:14:45,565 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:14:45,566 - logger - INFO - None - robot.py - 52 +2024-11-15 15:14:45,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:14:45,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:14:45,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:14:45,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:14:45,566 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:14:45,567 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:14:46,617 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:14:46,758 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:14:47,058 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:14:49,340 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:14:50,652 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:14:50,655 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:14:50,656 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:14:55,824 - logger - INFO - {'joint_1': {'position': 2.6175064344282567e-05, 'velocity': 2.0943766205552107e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00022291951723204623}, 'joint_2': {'position': -1.896549099832042e-05, 'velocity': -5.0263471790878735e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00032938772366906683}, 'joint_3': {'position': -8.97484916862012e-06, 'velocity': 2.588369145011388e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.00017467020674555227}, 'joint_4': {'position': -0.0008001047810044985, 'velocity': -0.0006772819044804364, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.2690591617254434e-07}, 'joint_5': {'position': 2.004578702531294e-05, 'velocity': -0.0002720014676328364, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -8.371054341552693e-06}, 'joint_6': {'position': -0.0008162305287373812, 'velocity': 0.0008953999557839957, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 4.9801918568027936e-08}} - client_socket.py - 314 +2024-11-15 15:14:55,826 - logger - INFO - [ 0.00149972 -0.00108664 -0.00051422 -0.04584263 0.00114854] - client_socket.py - 315 +2024-11-15 15:14:56,001 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:14:57,663 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:14:57,666 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:14:57,667 - logger - INFO - [-89.998, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:15:02,757 - logger - INFO - {'joint_1': {'position': 1.6438214784590994, 'velocity': 0.2175545158946834, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -24.81932183382976}, 'joint_2': {'position': -0.15881852402947622, 'velocity': -0.013798339967234983, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.3501275191735929}, 'joint_3': {'position': 0.165959286396842, 'velocity': 0.013560023138541986, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.11129362029891805}, 'joint_4': {'position': -1.5666065638803448, 'velocity': -0.12750627047226332, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.27020310208108517}, 'joint_5': {'position': -1.6467551648768577, 'velocity': -0.1346274252809851, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.008593469888218814}, 'joint_6': {'position': -0.46815752334180655, 'velocity': -0.036626484495034084, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 5.460981422984124e-07}} - client_socket.py - 314 +2024-11-15 15:15:02,758 - logger - INFO - [ 94.18403299 -9.09963114 9.50876668 -89.75994427 -94.35212084] - client_socket.py - 315 +2024-11-15 15:15:02,936 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:15:03,326 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:15:03,328 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 375 +2024-11-15 15:15:03,329 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 255 +2024-11-15 15:15:08,474 - logger - INFO - {'joint_1': {'position': 2.7009648647807434, 'velocity': 0.1074442154895506, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.4441014201729406}, 'joint_2': {'position': 1.0255489206371444, 'velocity': 0.38137586711314253, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -51.10586112114911}, 'joint_3': {'position': 0.0014873075376877656, 'velocity': -0.034900013381042476, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -27.88564488167368}, 'joint_4': {'position': -2.735994221569948, 'velocity': -0.09498698860836541, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.31652272000509}, 'joint_5': {'position': 0.07087358543570937, 'velocity': 0.08416013915364678, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.9403052727297714}, 'joint_6': {'position': -0.3691155624914071, 'velocity': 0.4050453711928196, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -6.4787644788330804e-06}} - client_socket.py - 314 +2024-11-15 15:15:08,475 - logger - INFO - [ 1.54753887e+02 5.87596248e+01 8.52164447e-02 -1.56760922e+02 + 4.06075732e+00] - client_socket.py - 315 +2024-11-15 15:15:08,479 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:15:09,400 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:15:09,402 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:15:09,403 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:15:13,338 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 375 +2024-11-15 15:15:13,341 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 375 +2024-11-15 15:15:13,341 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 255 +2024-11-15 15:15:14,430 - logger - INFO - {'joint_1': {'position': 2.704678578612137, 'velocity': 0.004369138765084837, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 15.955396495925893}, 'joint_2': {'position': 0.8272416662287901, 'velocity': 8.189992240220372, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -582.9907854602131}, 'joint_3': {'position': 0.4995833483716556, 'velocity': -6.7396698270045725, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -191.66137895113215}, 'joint_4': {'position': -3.0069231467030164, 'velocity': -3.602049421252893, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.3085507995982102}, 'joint_5': {'position': -0.16079990172968223, 'velocity': -4.922169379893706, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 9.043227537157472}, 'joint_6': {'position': -0.3108843378992115, 'velocity': -11.687716852488554, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.0014850039389565565}} - client_socket.py - 314 +2024-11-15 15:15:14,433 - logger - INFO - [ 154.96666749 47.39745611 28.62401738 -172.28400563 -9.21315572] - client_socket.py - 315 +2024-11-15 15:15:14,618 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:15:16,645 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 375 +2024-11-15 15:15:16,648 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 375 +2024-11-15 15:15:16,649 - logger - INFO - [1439.0, 635.0, 0.004, 0.005, 0.001] - client_socket.py - 255 +2024-11-15 15:15:18,347 - logger - INFO - {'joint_1': {'position': 2.7049883341557392, 'velocity': 0.00029886098111615297, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.10720427124646498}, 'joint_2': {'position': 1.1320129395639495, 'velocity': 0.0796572950773688, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -7.155798558683883}, 'joint_3': {'position': 0.23870065221701892, 'velocity': -0.07033648705686323, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.39394082633877}, 'joint_4': {'position': -3.140690060161702, 'velocity': -0.03493172902127383, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.026643130919699172}, 'joint_5': {'position': -0.3744944375990753, 'velocity': -0.062267423021198844, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.13492049561400024}, 'joint_6': {'position': -0.5437376041269996, 'velocity': -0.021628280739222846, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 9.701282882293267e-07}} - client_socket.py - 314 +2024-11-15 15:15:18,348 - logger - INFO - [ 154.98441518 64.85956379 13.67653994 -179.94828521 -21.45695073] - client_socket.py - 315 +2024-11-15 15:15:18,571 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:15:56,449 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:15:56,449 - logger - INFO - None - robot.py - 52 +2024-11-15 15:15:56,449 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:15:56,449 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:15:56,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:15:56,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:15:56,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:15:56,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:15:57,495 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:16:00,113 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:16:00,415 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:16:02,836 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:16:04,704 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 375 +2024-11-15 15:16:04,705 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 375 +2024-11-15 15:16:04,705 - logger - INFO - [90.002, -90.006, 90.0] - client_socket.py - 255 +2024-11-15 15:16:09,743 - logger - INFO - {'joint_1': {'position': -0.43867548379861243, 'velocity': -0.058463844239991514, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 5.777423431252226}, 'joint_2': {'position': 0.012145331450915295, 'velocity': 0.001040595281906261, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.5639550671050535}, 'joint_3': {'position': 0.032244922470989375, 'velocity': 0.005457786923266795, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.4018024707380505}, 'joint_4': {'position': -0.5988431330034705, 'velocity': -0.05418116314442933, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.001856693377805492}, 'joint_5': {'position': 0.19966120937986886, 'velocity': 0.010333445826485455, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.09732574162692205}, 'joint_6': {'position': -0.601517138038102, 'velocity': -0.004544967492674436, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.4264417040856804e-06}} - client_socket.py - 314 +2024-11-15 15:16:09,745 - logger - INFO - [-25.1342538 0.69587623 1.84749797 -34.31118411 11.43974463] - client_socket.py - 315 +2024-11-15 15:16:09,747 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:12,320 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:16:12,324 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:16:12,325 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:16:16,653 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:16:16,656 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:16:16,656 - logger - INFO - [-89.998, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:16:17,430 - logger - INFO - {'joint_1': {'position': 0.1388090161867403, 'velocity': 7.998841221006502, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_2': {'position': -0.0761134312951629, 'velocity': -2.2196292024412587, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 390.43025658573794}, 'joint_3': {'position': 0.08641284891855797, 'velocity': 2.135337044169937, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 177.69643123991594}, 'joint_4': {'position': -0.8325676265222935, 'velocity': -19.703383734284145, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 21.44371477546209}, 'joint_5': {'position': -0.856726451450784, 'velocity': -21.20277848993171, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 17.832508827207967}, 'joint_6': {'position': -0.25019369008512743, 'velocity': -5.849223784221241, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0004877257034393327}} - client_socket.py - 314 +2024-11-15 15:16:17,431 - logger - INFO - [ 7.95317079 -4.36097838 4.95109154 -47.70261116 -49.08680987] - client_socket.py - 315 +2024-11-15 15:16:17,436 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:21,481 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:16:21,484 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 375 +2024-11-15 15:16:21,484 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 255 +2024-11-15 15:16:21,669 - logger - INFO - {'joint_1': {'position': 1.648415871454358, 'velocity': 1.6912424307794502, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_2': {'position': -0.14667187195443127, 'velocity': 2.8898968780184564, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_3': {'position': 0.1493052105870616, 'velocity': -3.972892973671159, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 311.3773869652927}, 'joint_4': {'position': -1.68228636364586, 'velocity': -28.00858090485928, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -37.21969139832984}, 'joint_5': {'position': -1.4735632136108925, 'velocity': 41.27924174185366, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 49.805762140651815}, 'joint_6': {'position': -0.45693200028062864, 'velocity': 2.612263638535865, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0005841858773936556}} - client_socket.py - 314 +2024-11-15 15:16:21,671 - logger - INFO - [ 94.44727232 -8.40367924 8.55455843 -96.38790857 -84.42895299] - client_socket.py - 315 +2024-11-15 15:16:21,848 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:26,537 - logger - INFO - {'joint_1': {'position': 2.7008813444258615, 'velocity': 0.1096827426398285, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.46726811689294706}, 'joint_2': {'position': 1.0254135004134748, 'velocity': 0.3831997741594744, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -51.4270376689358}, 'joint_3': {'position': 0.001633670192628016, 'velocity': -0.033892649202066194, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -28.093150817398417}, 'joint_4': {'position': -2.729010434683883, 'velocity': -0.09470466127111266, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.31706617203947385}, 'joint_5': {'position': 0.07121631902680482, 'velocity': 0.0867731067640604, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.943592067245962}, 'joint_6': {'position': -0.3741231129331989, 'velocity': 0.3855512426058622, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -6.199359065545094e-06}} - client_socket.py - 314 +2024-11-15 15:16:26,538 - logger - INFO - [ 1.54749102e+02 5.87518658e+01 9.36024072e-02 -1.56360780e+02 + 4.08039451e+00] - client_socket.py - 315 +2024-11-15 15:16:26,542 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:26,730 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:16:26,733 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:16:26,734 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:16:31,875 - logger - INFO - {'joint_1': {'position': 2.704993676110962, 'velocity': 0.00022312982785430786, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.1095779492130553}, 'joint_2': {'position': 0.3757410986113741, 'velocity': -0.0617935989489843, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.284489108385695}, 'joint_3': {'position': 1.0966576336275349, 'velocity': 0.10512772807098968, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.24019717842328447}, 'joint_4': {'position': -2.702521283938296, 'velocity': 0.0021816716657897532, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.00199954468342586}, 'joint_5': {'position': 0.36436780334473406, 'velocity': 0.023556094128149803, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.03632412426222274}, 'joint_6': {'position': -0.12938010747684717, 'velocity': 0.020287814685126457, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.837863141912902e-07}} - client_socket.py - 314 +2024-11-15 15:16:31,875 - logger - INFO - [ 154.98472125 21.52837914 62.83385398 -154.84306361 20.87673732] - client_socket.py - 315 +2024-11-15 15:16:31,879 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:32,818 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 375 +2024-11-15 15:16:32,822 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 375 +2024-11-15 15:16:32,822 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 255 +2024-11-15 15:16:38,009 - logger - INFO - {'joint_1': {'position': 2.704987816707151, 'velocity': 0.0003118940002516503, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.10240049554739529}, 'joint_2': {'position': 1.1320227095283564, 'velocity': 0.07939654950066798, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -6.776799996192123}, 'joint_3': {'position': 0.2255380905943487, 'velocity': -0.07348488161302044, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.096996554193092}, 'joint_4': {'position': -3.1406623853176074, 'velocity': -0.03566972486380138, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.02210515738284742}, 'joint_5': {'position': -0.3536365140464972, 'velocity': -0.064612442537348, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.1206674256578224}, 'joint_6': {'position': -0.616220677896683, 'velocity': -0.0021510422409763133, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 6.434079693736193e-07}} - client_socket.py - 314 +2024-11-15 15:16:38,010 - logger - INFO - [ 154.98438553 64.86012357 12.92238071 -179.94669955 -20.26187974] - client_socket.py - 315 +2024-11-15 15:16:38,197 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:16:43,137 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 375 +2024-11-15 15:16:43,141 - logger - INFO - Мировые координаты [1279.0, 539.0, 1.716, 1439.0, 725.0, 0.004, 0.005, 0.001] - client_socket.py - 375 +2024-11-15 15:16:43,141 - logger - INFO - [1439.0, 635.0, 0.004, 0.005, 0.001] - client_socket.py - 255 +2024-11-15 15:16:58,177 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:16:58,178 - logger - INFO - None - robot.py - 52 +2024-11-15 15:16:58,178 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:16:58,178 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:16:58,178 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:16:58,178 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:16:58,178 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:16:58,179 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:16:59,221 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:16:59,946 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:17:00,246 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:17:02,509 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:17:03,386 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:03,388 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:03,389 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:17:08,411 - logger - INFO - {'joint_1': {'position': 2.6145525009441237e-05, 'velocity': 2.9213665406584104e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00029709937151054774}, 'joint_2': {'position': -1.8927903627447564e-05, 'velocity': -2.2997641272933194e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.001050590027078399}, 'joint_3': {'position': -9.099716008008047e-06, 'velocity': 2.2104239101728987e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0008811495397418672}, 'joint_4': {'position': -0.0007966507209515696, 'velocity': -8.87090691359645e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.972460314992623e-05}, 'joint_5': {'position': 2.1251094558412333e-05, 'velocity': -9.842530990789929e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.096020386635368e-05}, 'joint_6': {'position': -0.0008197627016794751, 'velocity': -3.810184176055954e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 7.396341381267938e-09}} - client_socket.py - 314 +2024-11-15 15:17:08,411 - logger - INFO - [ 0.00149803 -0.00108449 -0.00052138 -0.04564472 0.0012176 ] - client_socket.py - 315 +2024-11-15 15:17:08,414 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:09,869 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:17:09,873 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:09,873 - logger - INFO - [-89.998, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:17:14,908 - logger - INFO - {'joint_1': {'position': 1.6429150035639062, 'velocity': 0.2417247105982974, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -27.571844337961906}, 'joint_2': {'position': -0.15876102614842816, 'velocity': -0.015346866214332762, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.5185002262399347}, 'joint_3': {'position': 0.1659027787019942, 'velocity': 0.015066711297576422, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.12296305505192255}, 'joint_4': {'position': -1.5660752873947514, 'velocity': -0.14149362522833908, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.30060363684733227}, 'joint_5': {'position': -1.6461942113157242, 'velocity': -0.1496861446662231, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.007995258932675513}, 'joint_6': {'position': -0.4680049316819721, 'velocity': -0.04070117646274433, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 6.148655570192669e-07}} - client_socket.py - 314 +2024-11-15 15:17:14,910 - logger - INFO - [ 94.1320958 -9.09633675 9.50552903 -89.72950437 -94.31998057] - client_socket.py - 315 +2024-11-15 15:17:15,090 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:17,107 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:17:17,110 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 375 +2024-11-15 15:17:17,110 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 255 +2024-11-15 15:17:22,273 - logger - INFO - {'joint_1': {'position': 2.7010057574642246, 'velocity': 0.10634760208798263, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.4327505118356207}, 'joint_2': {'position': 1.025616208489875, 'velocity': 0.3804717167293202, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -50.94368769393094}, 'joint_3': {'position': 0.0014167824571513538, 'velocity': -0.035447834570588685, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -27.779991405387353}, 'joint_4': {'position': -2.7396148651448913, 'velocity': -0.09512695073025768, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.31622870047855145}, 'joint_5': {'position': 0.07070687097979494, 'velocity': 0.08273792388675517, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.9386086410907711}, 'joint_6': {'position': -0.3665294533077672, 'velocity': 0.41567197483826523, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -6.632772490404383e-06}} - client_socket.py - 314 +2024-11-15 15:17:22,273 - logger - INFO - [ 1.54756230e+02 5.87634801e+01 8.11756553e-02 -1.56968369e+02 + 4.05120529e+00] - client_socket.py - 315 +2024-11-15 15:17:22,456 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:24,659 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 375 +2024-11-15 15:17:24,662 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:24,663 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 255 +2024-11-15 15:17:29,770 - logger - INFO - {'joint_1': {'position': 2.705001471659407, 'velocity': 2.4182321815549733e-05, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.07682540421822948}, 'joint_2': {'position': 0.37407146066471736, 'velocity': -0.05634688255173135, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.2483034465824014}, 'joint_3': {'position': 1.0999796592000668, 'velocity': 0.09506079847073678, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.16775039635043504}, 'joint_4': {'position': -2.7167853387812406, 'velocity': 0.0018417271764194793, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0016170140610100628}, 'joint_5': {'position': 0.3656253225882655, 'velocity': 0.021155231270847816, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.031422747131115716}, 'joint_6': {'position': -0.12382031526796024, 'velocity': 0.01733758315850554, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.376969097198743e-07}} - client_socket.py - 314 +2024-11-15 15:17:29,772 - logger - INFO - [ 154.9851679 21.43271593 63.02419202 -155.66033376 20.94878787] - client_socket.py - 315 +2024-11-15 15:17:29,949 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:30,686 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 375 +2024-11-15 15:17:30,689 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 375 +2024-11-15 15:17:30,690 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 255 +2024-11-15 15:17:35,887 - logger - INFO - {'joint_1': {'position': 2.7049866281739563, 'velocity': 0.0003425481983860584, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.1161644806653807}, 'joint_2': {'position': 1.1316745536269182, 'velocity': 0.08868105836551428, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -7.731912741933132}, 'joint_3': {'position': 0.23177931648980601, 'velocity': -0.08054749542179646, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.4756935451971445}, 'joint_4': {'position': -3.1405620167831967, 'velocity': -0.03834621911475721, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.026721047428306048}, 'joint_5': {'position': -0.36322854472989646, 'velocity': -0.07034983931962652, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.14123017069346624}, 'joint_6': {'position': -0.5819625582446385, 'velocity': -0.015561701086312201, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 9.239488530193265e-07}} - client_socket.py - 314 +2024-11-15 15:17:35,889 - logger - INFO - [ 154.98431743 64.84017571 13.27997661 -179.94094886 -20.81146261] - client_socket.py - 315 +2024-11-15 15:17:36,071 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:37,359 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 375 +2024-11-15 15:17:37,362 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 375 +2024-11-15 15:17:37,363 - logger - INFO - [0.004, -89.995, 0.001] - client_socket.py - 255 +2024-11-15 15:17:42,427 - logger - INFO - {'joint_1': {'position': 2.7049995748095212, 'velocity': -7.103367054626937e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.05038994819073651}, 'joint_2': {'position': 1.1348856163291672, 'velocity': 0.003217834399140576, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -5.125221526448056}, 'joint_3': {'position': 0.6565288265368389, 'velocity': 0.04457052368028869, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.2622539900574967}, 'joint_4': {'position': -3.1419648027776463, 'velocity': -0.00016538228458139875, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.0533240797072532}, 'joint_5': {'position': 1.0927548981452115, 'velocity': 0.13559686533835105, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.02852837341489867}, 'joint_6': {'position': 0.002376392861356569, 'velocity': 0.03060339345876113, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -5.41902200443011e-07}} - client_socket.py - 314 +2024-11-15 15:17:42,429 - logger - INFO - [ 154.98505922 65.02415605 37.61633089 -180.02132258 62.61024371] - client_socket.py - 315 +2024-11-15 15:17:42,629 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:42,988 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 375 +2024-11-15 15:17:42,990 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 375 +2024-11-15 15:17:42,991 - logger - INFO - [90.002, -90.006, 90.0] - client_socket.py - 255 +2024-11-15 15:17:48,172 - logger - INFO - {'joint_1': {'position': 2.705000008954634, 'velocity': -5.372780407242325e-07, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.5511221540570755}, 'joint_2': {'position': 1.1350000728661718, 'velocity': -4.460354561163813e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.724323251491135}, 'joint_3': {'position': 0.2832725761248188, 'velocity': -0.03615103525976035, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.173839831649912}, 'joint_4': {'position': -3.1407536105911906, 'velocity': -0.03315900805672623, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.03679256625262669}, 'joint_5': {'position': -0.42990333332133746, 'velocity': -0.1464879739787486, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.07089199185958067}, 'joint_6': {'position': -0.36303948051089785, 'velocity': -0.08460538333144477, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.0440231225343245e-06}} - client_socket.py - 314 +2024-11-15 15:17:48,174 - logger - INFO - [ 154.9850841 65.03071392 16.23032306 -179.95192638 -24.6316466 ] - client_socket.py - 315 +2024-11-15 15:17:48,531 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:17:50,347 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:50,350 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 375 +2024-11-15 15:17:50,351 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 255 +2024-11-15 15:17:55,507 - logger - INFO - {'joint_1': {'position': 2.7050001131295023, 'velocity': 9.129283433411944e-06, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.021712646311909403}, 'joint_2': {'position': 1.1349333000932795, 'velocity': 0.0018590507568632896, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.362733323256842}, 'joint_3': {'position': 0.5804439073963829, 'velocity': 0.0179297499939004, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.544626345945899}, 'joint_4': {'position': -3.1420124585058917, 'velocity': -0.0001934136915688484, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.017229147310574084}, 'joint_5': {'position': -0.9519569501896598, 'velocity': -0.02763015360767468, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.053443966655413906}, 'joint_6': {'position': -0.0015541368227684465, 'velocity': 0.019617947957950525, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.4595710441054166e-07}} - client_socket.py - 314 +2024-11-15 15:17:55,507 - logger - INFO - [ 154.98509006 65.02688812 33.25698614 -180.02405305 -54.54311552] - client_socket.py - 315 +2024-11-15 15:17:55,511 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 375 +2024-11-15 15:19:37,788 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:19:37,788 - logger - INFO - None - robot.py - 52 +2024-11-15 15:19:37,788 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:19:37,788 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:19:37,789 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:19:37,789 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:19:37,789 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:19:37,790 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:19:38,854 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:19:39,318 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:19:39,618 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:19:42,341 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:19:43,906 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 375 +2024-11-15 15:19:49,733 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 375 +2024-11-15 15:21:43,514 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:21:43,515 - logger - INFO - None - robot.py - 52 +2024-11-15 15:21:43,515 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:21:43,515 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:21:43,515 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:21:43,516 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:21:43,516 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:21:43,516 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:21:44,593 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:21:45,837 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:21:46,138 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:21:48,878 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:21:49,905 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 377 +2024-11-15 15:21:54,954 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 377 +2024-11-15 15:21:54,955 - logger - INFO - [0.0, -65.0, 0.003] - client_socket.py - 254 +2024-11-15 15:21:54,955 - logger - INFO - [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 272 +2024-11-15 15:21:54,956 - logger - INFO - ['-46.34882172808573 -- -61.982 -- delta -15.633178271914268', '1.6856049222090803 -- 1.689 -- delta 0.0033950777909197427', '1949.370356496182 -- 1955.771 -- delta 6.400643503817946'] - client_socket.py - 273 +2024-11-15 15:21:54,956 - logger - INFO - ['8.545313914674397 -- 0.0 -- delta -8.545313914674397', '-63.590599181717394 -- 25.0 -- delta 88.5905991817174', '0.007459951409127069 -- 0.003 -- delta -0.004459951409127069'] - client_socket.py - 277 +2024-11-15 15:21:55,160 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:21:55,956 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 377 +2024-11-15 15:22:00,975 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 377 +2024-11-15 15:22:00,975 - logger - INFO - [0.0, -90.0, 0.0] - client_socket.py - 254 +2024-11-15 15:22:00,976 - logger - INFO - [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 272 +2024-11-15 15:22:00,977 - logger - INFO - ['93.72572441722865 -- 72.252 -- delta -21.473724417228652', '1.731130553041589 -- 1.696 -- delta -0.035130553041589074', '2432.4196831914196 -- 2450.564 -- delta 18.144316808580243'] - client_socket.py - 273 +2024-11-15 15:22:00,977 - logger - INFO - ['0.0 -- 0.0 -- delta 0.0', '-90.0 -- 0.0 -- delta 90.0', '-2.5301249318771233 -- 0.0 -- delta 2.5301249318771233'] - client_socket.py - 277 +2024-11-15 15:22:01,176 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:22:04,125 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 377 +2024-11-15 15:22:09,265 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 377 +2024-11-15 15:22:09,266 - logger - INFO - [90.004, -89.999, 90.003] - client_socket.py - 254 +2024-11-15 15:22:09,266 - logger - INFO - [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 272 +2024-11-15 15:22:09,266 - logger - INFO - ['1394.7750469448831 -- 1396.542 -- delta 1.766953055116801', '3.066431351567007 -- 1.748 -- delta -1.3184313515670072', '1333.0224485534704 -- 1322.702 -- delta -10.320448553470442'] - client_socket.py - 273 +2024-11-15 15:22:09,267 - logger - INFO - ['89.48984478771315 -- 90.004 -- delta 0.5141552122868518', '-0.527477618876617 -- 0.001 -- delta 0.528477618876617', '-0.014991905380847848 -- 90.003 -- delta 90.01799190538085'] - client_socket.py - 277 +2024-11-15 15:22:09,497 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:22:25,972 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 377 +2024-11-15 15:22:29,811 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 377 +2024-11-15 15:22:31,026 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 377 +2024-11-15 15:22:31,026 - logger - INFO - [90.002, -90.006, 90.0] - client_socket.py - 254 +2024-11-15 15:22:31,027 - logger - INFO - [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 272 +2024-11-15 15:22:31,027 - logger - INFO - ['1387.3451101445708 -- 1396.518 -- delta 9.172889855429275', '1.48081541506076 -- 1.704 -- delta 0.22318458493923998', '1364.7282712925617 -- 1322.743 -- delta -41.98527129256172'] - client_socket.py - 273 +2024-11-15 15:22:31,027 - logger - INFO - ['64.91574404857113 -- 90.002 -- delta 25.086255951428868', '-25.112748319191528 -- -0.006 -- delta 25.106748319191528', '-0.1430968556597726 -- 90.0 -- delta 90.14309685565978'] - client_socket.py - 277 +2024-11-15 15:22:31,029 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:22:33,147 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 377 +2024-11-15 15:22:34,915 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 377 +2024-11-15 15:22:34,916 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 254 +2024-11-15 15:22:34,916 - logger - INFO - [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 272 +2024-11-15 15:22:34,917 - logger - INFO - ['1396.5142978658123 -- 1396.513 -- delta -0.0012978658123756759', '1.7435549473552512 -- 1.758 -- delta 0.014445052644748824', '1323.149328734074 -- 1322.749 -- delta -0.40032873407403713'] - client_socket.py - 273 +2024-11-15 15:22:34,917 - logger - INFO - ['14.425243573872605 -- -0.002 -- delta -14.427243573872605', '-0.35196053562145063 -- 90.0 -- delta 90.35196053562144', '0.0020519218358877028 -- 0.0 -- delta -0.0020519218358877028'] - client_socket.py - 277 +2024-11-15 15:22:35,109 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:22:38,173 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 377 +2024-11-15 15:22:38,174 - logger - INFO - [-0.002, 0.0, 0.0] - client_socket.py - 254 +2024-11-15 15:22:38,174 - logger - INFO - [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 272 +2024-11-15 15:22:38,175 - logger - INFO - ['1396.5036558984898 -- 1396.513 -- delta 0.009344101510123437', '1.7417010689089323 -- 1.758 -- delta 0.016298931091067725', '1322.7745399847677 -- 1322.749 -- delta -0.025539984767647184'] - client_socket.py - 273 +2024-11-15 15:22:38,176 - logger - INFO - ['0.2637975719812519 -- -0.002 -- delta -0.2657975719812519', '-0.005230107490355371 -- 90.0 -- delta 90.00523010749036', '0.0020014625739549806 -- 0.0 -- delta -0.0020014625739549806'] - client_socket.py - 277 +2024-11-15 15:22:38,390 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 377 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:27:55,144 - logger - INFO - None - robot.py - 52 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:27:55,144 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:27:55,145 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:27:56,182 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:27:56,392 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:27:56,693 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:27:59,006 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:28:20,524 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 385 +2024-11-15 15:28:20,525 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:28:20,525 - logger - INFO - [-89.998, 90.0, 0.0] - client_socket.py - 260 +2024-11-15 15:28:25,358 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:28:25,361 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 385 +2024-11-15 15:28:25,362 - logger - INFO - [0.0, 25.0, 0.003] - client_socket.py - 260 +2024-11-15 15:28:25,575 - logger - INFO - {'joint_1': {'position': 1.5445162644969348, 'velocity': -0.15519742944291293, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1000.0000000000001}, 'joint_2': {'position': -0.1588882189598831, 'velocity': 2.6423166403644798, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_3': {'position': 0.24931719166733826, 'velocity': -2.413435114682859, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -79.20600320322524}, 'joint_4': {'position': 0.3452349013646809, 'velocity': -28.706489155378208, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -69.71340857604854}, 'joint_5': {'position': -1.602187551355586, 'velocity': 12.269093808671853, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -16.615168007990768}, 'joint_6': {'position': -0.3701374986334228, 'velocity': 16.679888464745524, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.003078533159430439}} - client_socket.py - 324 +2024-11-15 15:28:25,576 - logger - INFO - [ 88.49426334 -9.10362436 14.28482284 19.78050279 -91.79858468] - client_socket.py - 325 +2024-11-15 15:28:25,580 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:30,550 - logger - INFO - {'joint_1': {'position': 0.6686706394110306, 'velocity': -0.16435470728820567, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.8099489037703944}, 'joint_2': {'position': 1.0160498703226502, 'velocity': 0.4079613215859829, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -60.901252046035815}, 'joint_3': {'position': 0.15923316756120645, 'velocity': -0.01119447185267619, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -33.22845908579134}, 'joint_4': {'position': -0.7262996913100349, 'velocity': -0.1332453173016587, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.5029872166575348}, 'joint_5': {'position': -1.1441959962700028, 'velocity': 0.057243026341604976, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.2873759404827089}, 'joint_6': {'position': 0.252465647708803, 'velocity': 0.07742328533931168, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -4.34150063960974e-06}} - client_socket.py - 324 +2024-11-15 15:28:30,552 - logger - INFO - [ 38.31200552 58.21536934 9.12338846 -41.61390697 -65.55760152] - client_socket.py - 325 +2024-11-15 15:28:30,556 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:32,159 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:28:32,162 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:28:32,163 - logger - INFO - [0.0, 0.0, 0.0] - client_socket.py - 260 +2024-11-15 15:28:37,287 - logger - INFO - {'joint_1': {'position': 0.6762037858442033, 'velocity': 0.0012681043137559467, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.2134343397394904}, 'joint_2': {'position': 0.2176308639320778, 'velocity': -0.0976637594630928, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 6.169834830722238}, 'joint_3': {'position': 1.2989833940340092, 'velocity': 0.1321681771283275, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.272070604746804}, 'joint_4': {'position': -0.6767752053812702, 'velocity': 0.005421792935712766, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.02824873365430019}, 'joint_5': {'position': -1.5132713438020913, 'velocity': -0.03731540876315387, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.03465334216915408}, 'joint_6': {'position': 0.035658854501921855, 'velocity': -0.022088570583088, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.507020164837982e-09}} - client_socket.py - 324 +2024-11-15 15:28:37,290 - logger - INFO - [ 38.74362302 12.46933 74.42626614 -38.77636295 -86.70406126] - client_socket.py - 325 +2024-11-15 15:28:37,291 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:38,309 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 385 +2024-11-15 15:28:38,312 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 385 +2024-11-15 15:28:38,313 - logger - INFO - [90.004, 0.001, 90.003] - client_socket.py - 260 +2024-11-15 15:28:43,336 - logger - INFO - {'joint_1': {'position': -0.05843187615942831, 'velocity': -0.10149709752279831, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 12.624746378834129}, 'joint_2': {'position': -0.20911852415171617, 'velocity': 0.038510829361674895, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 7.636146609898138}, 'joint_3': {'position': 0.23170890932329252, 'velocity': -0.176613187717821, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 7.5968429413882745}, 'joint_4': {'position': 1.5685547439058856, 'velocity': 0.3100350268304958, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.11547026892487577}, 'joint_5': {'position': -2.0044687895468822, 'velocity': -0.06772259653423085, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.18195159422762966}, 'joint_6': {'position': 0.4864176412534294, 'velocity': 0.06220367820866568, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.089494470932225e-06}} - client_socket.py - 324 +2024-11-15 15:28:43,337 - logger - INFO - [ -3.34789989 -11.98160885 13.27594258 89.87156676 -114.84760181] - client_socket.py - 325 +2024-11-15 15:28:43,537 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:44,909 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 385 +2024-11-15 15:28:44,912 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 385 +2024-11-15 15:28:44,912 - logger - INFO - [0.004, 0.005, 0.001] - client_socket.py - 260 +2024-11-15 15:28:49,917 - logger - INFO - {'joint_1': {'position': -0.015249460185193929, 'velocity': 0.009945832192678632, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.31528522572513457}, 'joint_2': {'position': 0.1332452841441314, 'velocity': 0.07242547737056446, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -7.056201822778089}, 'joint_3': {'position': -0.026558590531183306, 'velocity': -0.051310440079224244, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.978906081622431}, 'joint_4': {'position': 0.32919114594850657, 'velocity': -0.23710949462247077, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.01734234322299225}, 'joint_5': {'position': -0.12577257806893705, 'velocity': 0.36467746930830186, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.13679139211500493}, 'joint_6': {'position': -0.3049827953898532, 'velocity': -0.1961095722308662, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 6.421251739456601e-06}} - client_socket.py - 324 +2024-11-15 15:28:49,919 - logger - INFO - [-0.87372971 7.63439242 -1.52169515 18.86126332 -7.2062379 ] - client_socket.py - 325 +2024-11-15 15:28:50,162 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:51,436 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 385 +2024-11-15 15:28:51,438 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 385 +2024-11-15 15:28:51,439 - logger - INFO - [90.002, -0.006, 90.0] - client_socket.py - 260 +2024-11-15 15:28:56,647 - logger - INFO - {'joint_1': {'position': -0.06217988380969267, 'velocity': -0.004802703900943881, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.9864392823321791}, 'joint_2': {'position': -0.2010362036472908, 'velocity': -0.04027839209383209, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.455813153070746}, 'joint_3': {'position': 0.21597320947723594, 'velocity': 0.022491724487343046, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.183259802294654}, 'joint_4': {'position': 1.5815219506056097, 'velocity': 0.11402908964787258, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.014125740019920053}, 'joint_5': {'position': -2.000560455193641, 'velocity': -0.17195510327765312, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.01439215884425017}, 'joint_6': {'position': 0.4832762162695688, 'velocity': 0.08010887639500305, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -8.191610519439153e-07}} - client_socket.py - 324 +2024-11-15 15:28:56,648 - logger - INFO - [ -3.56264491 -11.518526 12.37435339 90.61453298 -114.62367074] - client_socket.py - 325 +2024-11-15 15:28:56,884 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:28:57,369 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:28:57,372 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:28:57,372 - logger - INFO - [-0.002, 90.0, 0.0] - client_socket.py - 260 +2024-11-15 15:29:02,389 - logger - INFO - {'joint_1': {'position': -0.00037279348452395623, 'velocity': 0.011383684014403952, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.4766567085951418}, 'joint_2': {'position': -0.21970416257959888, 'velocity': -0.003032667181776692, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.5411726584182018}, 'joint_3': {'position': 0.316489809000051, 'velocity': 0.017088908251227327, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.5374553733516072}, 'joint_4': {'position': 0.010148331830435352, 'velocity': -0.2686578326709022, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.01527115199539159}, 'joint_5': {'position': -2.0069754370867616, 'velocity': -0.0005092397720134003, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.010875253115056844}, 'joint_6': {'position': 0.0011911260626114072, 'velocity': -0.08256835907070575, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.539087969037589e-07}} - client_socket.py - 324 +2024-11-15 15:29:02,389 - logger - INFO - [-2.13594933e-02 -1.25881213e+01 1.81335303e+01 5.81456583e-01 + -1.14991222e+02] - client_socket.py - 325 +2024-11-15 15:29:02,393 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:22,355 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:29:22,355 - logger - INFO - None - robot.py - 52 +2024-11-15 15:29:22,355 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:29:22,355 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:29:22,356 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:29:22,356 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:29:22,356 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:29:22,356 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:29:23,400 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:29:24,033 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:29:24,334 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:29:26,636 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:29:27,579 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 385 +2024-11-15 15:29:27,583 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:29:32,700 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:33,271 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:29:33,274 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 385 +2024-11-15 15:29:38,366 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:40,450 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:29:40,453 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:29:43,924 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 385 +2024-11-15 15:29:43,928 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 385 +2024-11-15 15:29:45,646 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:48,524 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 385 +2024-11-15 15:29:48,527 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 385 +2024-11-15 15:29:49,115 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:53,687 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 385 +2024-11-15 15:29:53,689 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:29:53,690 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 385 +2024-11-15 15:29:58,561 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:29:58,564 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:29:58,969 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:02,436 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 385 +2024-11-15 15:30:02,439 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:30:03,611 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:12,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:30:12,621 - logger - INFO - None - robot.py - 52 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:30:12,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:30:13,671 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:30:14,161 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:30:14,462 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:30:16,754 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:30:26,247 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:30:26,250 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 385 +2024-11-15 15:30:26,250 - logger - INFO - [0.0, 25.0, 0.003] - client_socket.py - 260 +2024-11-15 15:30:30,940 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:30:30,942 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:30:30,942 - logger - INFO - [0.0, 0.0, 0.0] - client_socket.py - 260 +2024-11-15 15:30:31,316 - logger - INFO - {'joint_1': {'position': 0.002249762059480607, 'velocity': -0.020568177117154904, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 63.621283916405005}, 'joint_2': {'position': 0.9211618766845105, 'velocity': -13.972460768361252, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1000.0000000000001}, 'joint_3': {'position': 0.3621077619322448, 'velocity': 22.467780064877484, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_4': {'position': -2.7855515622518935e-05, 'velocity': -0.03896999069281995, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 18.46031379378457}, 'joint_5': {'position': -1.1992857171311164, 'velocity': -8.242279390368461, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 92.55210141464289}, 'joint_6': {'position': -0.0019874208630552095, 'velocity': 0.054946110304838924, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.753953505651354e-07}} - client_socket.py - 324 +2024-11-15 15:30:31,316 - logger - INFO - [ 1.28901871e-01 5.27786878e+01 2.07472465e+01 -1.59600348e-03 + -6.87140100e+01] - client_socket.py - 325 +2024-11-15 15:30:31,320 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:32,858 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 385 +2024-11-15 15:30:32,861 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 385 +2024-11-15 15:30:32,861 - logger - INFO - [90.004, 0.001, 90.003] - client_socket.py - 260 +2024-11-15 15:30:36,060 - logger - INFO - {'joint_1': {'position': -0.0602523860297711, 'velocity': -0.052584101643400286, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 10.354513769760965}, 'joint_2': {'position': -0.19306723434378614, 'velocity': -2.410615609430555, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_3': {'position': 0.2558051314270967, 'velocity': -0.948384187150052, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 525.1869182361455}, 'joint_4': {'position': 1.529984589656742, 'velocity': 1.3021060639160362, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 18.961189256125476}, 'joint_5': {'position': -1.9903016970693763, 'velocity': -0.44532275494629536, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -13.085396651905945}, 'joint_6': {'position': 0.47117229616521056, 'velocity': 0.4008033096920741, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00010700279544373835}} - client_socket.py - 324 +2024-11-15 15:30:36,062 - logger - INFO - [ -3.45220743 -11.06193769 14.65655441 87.66165971 -114.0358872 ] - client_socket.py - 325 +2024-11-15 15:30:36,243 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:36,606 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 385 +2024-11-15 15:30:36,609 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 385 +2024-11-15 15:30:36,609 - logger - INFO - [0.004, 0.005, 0.001] - client_socket.py - 260 +2024-11-15 15:30:37,953 - logger - INFO - {'joint_1': {'position': -0.027728460310580214, 'velocity': 0.34900495761694034, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.6296120878380884}, 'joint_2': {'position': 0.039062437396367305, 'velocity': 2.5832018655271503, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -190.5329923869129}, 'joint_3': {'position': 0.03909748481735863, 'velocity': -1.799454688387279, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -67.35454414811707}, 'joint_4': {'position': 0.6302254720560782, 'velocity': -8.408817928378058, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.045059996188762524}, 'joint_5': {'position': -0.5915778503911033, 'velocity': 12.789497455493638, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.2781879665234428}, 'joint_6': {'position': -0.10931679863546209, 'velocity': -5.338333713248108, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.00016981370134692725}} - client_socket.py - 324 +2024-11-15 15:30:37,953 - logger - INFO - [ -1.58872375 2.2381128 2.24012087 36.10925969 -33.89491408] - client_socket.py - 325 +2024-11-15 15:30:38,138 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:41,113 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 385 +2024-11-15 15:30:41,116 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 385 +2024-11-15 15:30:41,116 - logger - INFO - [90.002, -0.006, 90.0] - client_socket.py - 260 +2024-11-15 15:30:41,675 - logger - INFO - {'joint_1': {'position': -0.03695527154502207, 'velocity': -0.6774169953431776, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -58.789091022658894}, 'joint_2': {'position': 0.01003492900463885, 'velocity': -5.668666536515393, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 523.7234647666329}, 'joint_3': {'position': 0.08550955687833192, 'velocity': 3.4988029382693813, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 213.0149751704764}, 'joint_4': {'position': 0.9145975535485391, 'velocity': 17.89952326208458, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 5.2723915112991335}, 'joint_5': {'position': -0.9995533657157553, 'velocity': -26.862130533356115, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.325315293827566}, 'joint_6': {'position': 0.026377761411699868, 'velocity': 12.252616954548595, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.0006748363770034038}} - client_socket.py - 324 +2024-11-15 15:30:41,675 - logger - INFO - [ -2.11738109 0.57495908 4.89933672 52.40257977 -57.27018925] - client_socket.py - 325 +2024-11-15 15:30:41,860 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:45,246 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:30:45,249 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:30:45,250 - logger - INFO - [-0.002, 90.0, 0.0] - client_socket.py - 260 +2024-11-15 15:30:46,235 - logger - INFO - {'joint_1': {'position': -0.025808448589205567, 'velocity': 0.6896629736928903, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -92.14301884485899}, 'joint_2': {'position': -0.2118720529115681, 'velocity': -0.2100882902882865, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 11.463863489414134}, 'joint_3': {'position': 0.27745736200959736, 'velocity': 1.0551982557665769, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.9665483872668177}, 'joint_4': {'position': 0.6105681323499939, 'velocity': -16.279915923511453, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.9782909720411929}, 'joint_5': {'position': -2.0012319816666695, 'velocity': -0.1536566767797211, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.090745029985405}, 'joint_6': {'position': 0.18459494326858977, 'velocity': -4.973398140202062, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -9.695840925177807e-06}} - client_socket.py - 324 +2024-11-15 15:30:46,236 - logger - INFO - [ -1.47871518 -12.13937443 15.89713584 34.98297709 -114.66214638] - client_socket.py - 325 +2024-11-15 15:30:46,242 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:30:50,374 - logger - INFO - {'joint_1': {'position': -0.00017180837393272958, 'velocity': 0.006020671914614561, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.25185524314839075}, 'joint_2': {'position': -0.21968078550515702, 'velocity': -0.0018420353241604768, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.29499231486944794}, 'joint_3': {'position': 0.3166819316533399, 'velocity': 0.009209731933442098, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.29397990967318843}, 'joint_4': {'position': 0.005399129995308304, 'velocity': -0.14217056399319355, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.007819464512747062}, 'joint_5': {'position': -2.006944789223142, 'velocity': -0.001357747950307886, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.006011132551574406}, 'joint_6': {'position': -0.00027904308807516574, 'velocity': -0.043436418579605764, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.9219244449991914e-07}} - client_socket.py - 324 +2024-11-15 15:30:50,374 - logger - INFO - [-9.84389471e-03 -1.25867818e+01 1.81445381e+01 3.09347362e-01 + -1.14989466e+02] - client_socket.py - 325 +2024-11-15 15:30:50,579 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:00,297 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 385 +2024-11-15 15:31:00,301 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:31:00,301 - logger - INFO - [-89.998, 90.0, 0.0] - client_socket.py - 260 +2024-11-15 15:31:05,453 - logger - INFO - {'joint_1': {'position': 1.5424453217691072, 'velocity': 0.21576642971090537, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -24.82781298678316}, 'joint_2': {'position': -0.17155000788961092, 'velocity': 0.00476143002464994, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.2036239515625369}, 'joint_3': {'position': 0.2618084776548325, 'velocity': -0.004992904305658018, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.20655353987348934}, 'joint_4': {'position': 0.4650267926651354, 'velocity': 0.04215062164514181, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.5845394880657376}, 'joint_5': {'position': -1.6613779609988542, 'velocity': 0.03129592581498576, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.015875525295922354}, 'joint_6': {'position': -0.43876355685980967, 'velocity': -0.03952681991002272, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 4.199002317248799e-06}} - client_socket.py - 324 +2024-11-15 15:31:05,453 - logger - INFO - [ 88.37560707 -9.82909143 15.00052081 26.64407258 -95.18994534] - client_socket.py - 325 +2024-11-15 15:31:05,460 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:05,649 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:31:05,653 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 385 +2024-11-15 15:31:05,653 - logger - INFO - [0.0, 25.0, 0.003] - client_socket.py - 260 +2024-11-15 15:31:10,649 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 385 +2024-11-15 15:31:10,652 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:31:10,653 - logger - INFO - [0.0, 0.0, 0.0] - client_socket.py - 260 +2024-11-15 15:31:10,655 - logger - INFO - {'joint_1': {'position': 0.6698216626621639, 'velocity': -0.1336023387958815, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 2.2959586601302755}, 'joint_2': {'position': 1.0191008837169255, 'velocity': 0.32358327105908974, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -48.22102171545482}, 'joint_3': {'position': 0.15907267248370235, 'velocity': -0.009288227282046478, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -26.2403261168186}, 'joint_4': {'position': -0.7297285343796825, 'velocity': -0.10826271054904789, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.39636243366643087}, 'joint_5': {'position': -1.1442284140077594, 'velocity': 0.04712663483711076, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.23293885310391663}, 'joint_6': {'position': 0.2538638073032553, 'velocity': 0.062785631279, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -3.430333020927431e-06}} - client_socket.py - 324 +2024-11-15 15:31:10,838 - logger - INFO - [ 38.3779543 58.39017954 9.11419277 -41.81036521 -65.55945892] - client_socket.py - 325 +2024-11-15 15:31:10,845 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:13,215 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 385 +2024-11-15 15:31:13,218 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 385 +2024-11-15 15:31:13,218 - logger - INFO - [90.004, 0.001, 90.003] - client_socket.py - 260 +2024-11-15 15:31:15,705 - logger - INFO - {'joint_1': {'position': -0.014370385521623941, 'velocity': -1.2762776356149534, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 45.021319304670534}, 'joint_2': {'position': -0.05163789771940333, 'velocity': -7.032975426475166, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1000.0000000000001}, 'joint_3': {'position': 0.3025560627331584, 'velocity': -2.1301245338735795, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 440.35834330994066}, 'joint_4': {'position': 1.4334091267319773, 'velocity': 3.896250185411853, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 15.4891556919646}, 'joint_5': {'position': -1.9739482308229257, 'velocity': -0.8814324612937074, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -20.09125040150863}, 'joint_6': {'position': 0.4589946794278668, 'velocity': 0.760045631884244, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00010948578754849379}} - client_socket.py - 324 +2024-11-15 15:31:15,705 - logger - INFO - [ -0.82336244 -2.9586336 17.33518546 82.12829328 -113.0989026 ] - client_socket.py - 325 +2024-11-15 15:31:15,904 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:18,213 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 385 +2024-11-15 15:31:18,217 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 385 +2024-11-15 15:31:18,403 - logger - INFO - {'joint_1': {'position': -0.059976576133420216, 'velocity': -0.0601164903871623, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 7.459396264582377}, 'joint_2': {'position': -0.20651779486741956, 'velocity': 0.011032738962207024, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 5.964422126823723}, 'joint_3': {'position': 0.2264382441934828, 'velocity': -0.10031603948223, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 5.187359176179542}, 'joint_4': {'position': 1.5726171727113039, 'velocity': 0.18338886214483996, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.09049901060910019}, 'joint_5': {'position': -2.0054514267058616, 'velocity': -0.04154935808024992, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.08779526959990647}, 'joint_6': {'position': 0.48614882421871375, 'velocity': 0.03571839117640993, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -7.231477722028791e-07}} - client_socket.py - 324 +2024-11-15 15:31:18,403 - logger - INFO - [0.004, 0.005, 0.001] - client_socket.py - 260 +2024-11-15 15:31:18,403 - logger - INFO - [ -3.43640468 -11.83259804 12.97395571 90.10432679 -114.90390277] - client_socket.py - 325 +2024-11-15 15:31:18,614 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:22,221 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 385 +2024-11-15 15:31:22,225 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 385 +2024-11-15 15:31:22,225 - logger - INFO - [90.002, -0.006, 90.0] - client_socket.py - 260 +2024-11-15 15:31:23,533 - logger - INFO - {'joint_1': {'position': -0.05038510352848161, 'velocity': -0.3193264234288306, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -12.686959022234243}, 'joint_2': {'position': -0.1017464744902524, 'velocity': -2.6885481274900735, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 218.43722370805565}, 'joint_3': {'position': 0.15472745503559265, 'velocity': 1.6563558739616338, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 75.94923561978545}, 'joint_4': {'position': 1.2685922297563164, 'velocity': 8.459820708119883, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.4062824376573204}, 'joint_5': {'position': -1.5299156746894234, 'velocity': -12.722191031353027, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -1.9680915929673275}, 'joint_6': {'position': 0.27140178578359697, 'velocity': 5.730602232594568, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.00021718294761649586}} - client_socket.py - 324 +2024-11-15 15:31:23,534 - logger - INFO - [ -2.88685378 -5.82964357 8.86523015 72.68498069 -87.65771117] - client_socket.py - 325 +2024-11-15 15:31:23,723 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:27,329 - logger - INFO - {'joint_1': {'position': -0.0621830867263933, 'velocity': -0.004719891474051862, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.9709146310162817}, 'joint_2': {'position': -0.2010798188056226, 'velocity': -0.03973677323305556, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 3.423871853501191}, 'joint_3': {'position': 0.21593423687834956, 'velocity': 0.024487013754279863, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.2918780949826687}, 'joint_4': {'position': 1.5811159708907288, 'velocity': 0.12506413332342142, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.01510353559744581}, 'joint_5': {'position': -1.9999588552180052, 'velocity': -0.18801960050658217, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.015913732059589285}, 'joint_6': {'position': 0.48312276798077536, 'velocity': 0.08468729075901761, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -8.4273380527595e-07}} - client_socket.py - 324 +2024-11-15 15:31:27,330 - logger - INFO - [ -3.56282843 -11.52102496 12.37212043 90.59127205 -114.5892016 ] - client_socket.py - 325 +2024-11-15 15:31:27,531 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:28,116 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 385 +2024-11-15 15:31:28,119 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 385 +2024-11-15 15:31:28,120 - logger - INFO - [-0.002, 90.0, 0.0] - client_socket.py - 260 +2024-11-15 15:31:33,278 - logger - INFO - {'joint_1': {'position': -0.0001979919518809973, 'velocity': 0.0067235641343940345, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.2812028574125186}, 'joint_2': {'position': -0.21975372690946893, 'velocity': -0.0017858681008411821, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.34569185600052466}, 'joint_3': {'position': 0.3167562756322052, 'velocity': 0.010082836777498994, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.3328308377815921}, 'joint_4': {'position': 0.006022280542964908, 'velocity': -0.15869719496943324, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.008663583087167295}, 'joint_5': {'position': -2.0069848592484902, 'velocity': -0.00027374409568907014, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.006884891365087273}, 'joint_6': {'position': -7.64508580637718e-05, 'velocity': -0.048790885830705615, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -2.0928214279550634e-07}} - client_socket.py - 324 +2024-11-15 15:31:33,281 - logger - INFO - [-1.13441032e-02 -1.25909611e+01 1.81487977e+01 3.45051258e-01 + -1.14991762e+02] - client_socket.py - 325 +2024-11-15 15:31:33,464 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 385 +2024-11-15 15:31:57,623 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - None - robot.py - 52 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:31:57,624 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:31:58,661 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:32:01,391 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:32:01,692 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:32:04,222 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:32:43,503 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 384 +2024-11-15 15:32:43,506 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 384 +2024-11-15 15:32:48,606 - logger - INFO - {'joint_1': {'position': 1.6419091983008225, 'velocity': 0.2685438106170778, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -30.6239816250387}, 'joint_2': {'position': -0.15869653964706, 'velocity': -0.017068143638924945, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 1.654279079535411}, 'joint_3': {'position': 0.16583938858838373, 'velocity': 0.016739128740759, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.17175386164880233}, 'joint_4': {'position': -1.5654826991674902, 'velocity': -0.15713206664943255, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': -0.33234020933823705}, 'joint_5': {'position': -1.645570645716124, 'velocity': -0.16640415447889328, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 0.007108327523986821}, 'joint_6': {'position': -0.46783136071341147, 'velocity': -0.045328506237717336, 'reaction force': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'torque': 6.825929031506652e-07}} - client_socket.py - 323 +2024-11-15 15:32:48,609 - logger - INFO - [ 94.07446741 -9.09264195 9.50189704 -89.69555156 -94.28425289] - client_socket.py - 324 +2024-11-15 15:32:48,795 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 384 +2024-11-15 15:35:19,085 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:19,086 - logger - INFO - None - robot.py - 52 +2024-11-15 15:35:19,086 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:19,086 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:19,086 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:19,086 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:35:19,087 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:35:19,087 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:35:20,126 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:35:20,387 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:35:20,688 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:35:22,923 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:35:23,922 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:35:23,925 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:35:52,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:52,751 - logger - INFO - None - robot.py - 52 +2024-11-15 15:35:52,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:52,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:52,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:35:52,751 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:35:52,752 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:35:52,752 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:35:53,798 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:35:55,640 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:35:55,941 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:35:58,308 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:35:59,570 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:35:59,574 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:36:04,353 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:36:04,357 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:36:04,786 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:09,469 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:10,564 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:36:10,566 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:36:13,395 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:36:13,397 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:36:15,917 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:16,307 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:36:16,309 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:36:18,526 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:18,890 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:36:18,894 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:36:21,410 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:24,040 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:25,627 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:36:25,630 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:36:30,110 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:36:30,114 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:36:30,842 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:33,208 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:36:33,212 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:36:35,437 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:38,297 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:36:38,302 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:36:38,479 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:36:41,898 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:36:41,902 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:36:43,774 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:37:45,973 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:37:45,973 - logger - INFO - None - robot.py - 52 +2024-11-15 15:37:45,973 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:37:45,973 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:37:45,973 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:37:45,974 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:37:45,974 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:37:45,974 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:37:47,024 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:37:47,891 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:37:48,192 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:37:50,483 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:37:51,323 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:37:51,326 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:37:56,366 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:37:56,369 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:37:56,369 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:01,211 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:38:01,214 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:38:01,379 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:06,113 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:38:06,116 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:06,300 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:08,761 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:38:08,765 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:38:11,240 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:14,029 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:16,673 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:38:16,869 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:38:21,324 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:38:21,327 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:38:22,198 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:26,277 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:26,281 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:26,465 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:30,099 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:38:30,102 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:31,512 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:33,189 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:38:33,192 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:38:35,390 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:36,415 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:38:36,418 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:38,500 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:39,567 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:38:39,571 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:38:41,656 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:44,704 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:38:44,706 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:38:44,891 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:46,829 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:38:46,832 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:38:49,232 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:49,235 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:49,954 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:52,125 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:38:52,857 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:38:52,861 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:38:54,449 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:09,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:39:09,430 - logger - INFO - None - robot.py - 52 +2024-11-15 15:39:09,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:39:09,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:39:09,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:39:09,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:39:09,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:39:09,431 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:39:10,486 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:39:11,151 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:39:11,451 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:39:13,729 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:39:15,334 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:39:15,336 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:39:20,505 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:20,507 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:39:20,684 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:39:23,815 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:39:23,818 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:39:25,716 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:27,985 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:39:27,988 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:39:28,881 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:30,505 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:39:30,508 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:39:33,082 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:33,265 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:39:33,268 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:39:35,855 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:36,032 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:39:36,035 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:39:38,296 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:39:41,124 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:02,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - None - robot.py - 52 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:40:02,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:40:04,021 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:40:04,964 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:40:05,265 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:40:07,539 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:40:08,535 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:40:08,538 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:40:13,571 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:14,485 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:40:14,488 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:40:19,496 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:21,823 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 373 +2024-11-15 15:40:21,826 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 373 +2024-11-15 15:40:26,893 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:27,987 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 373 +2024-11-15 15:40:27,991 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 373 +2024-11-15 15:40:33,053 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:34,179 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 373 +2024-11-15 15:40:34,182 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 373 +2024-11-15 15:40:39,194 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:40,293 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 373 +2024-11-15 15:40:40,295 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:40:43,900 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 373 +2024-11-15 15:40:43,904 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 373 +2024-11-15 15:40:45,335 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:40:49,045 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:41:42,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:41:42,300 - logger - INFO - None - robot.py - 52 +2024-11-15 15:41:42,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:41:42,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:41:42,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:41:42,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:41:42,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:41:42,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:41:43,360 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:41:43,907 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:41:44,207 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:41:46,527 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:41:47,528 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 373 +2024-11-15 15:41:47,531 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 373 +2024-11-15 15:41:52,610 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 373 +2024-11-15 15:42:37,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:42:37,099 - logger - INFO - None - robot.py - 52 +2024-11-15 15:42:37,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:42:37,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:42:37,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:42:37,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:42:37,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:42:37,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:42:38,136 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:42:38,784 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:42:39,085 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:42:41,421 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:42:44,204 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:42:44,208 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:42:49,320 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:04,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:43:04,756 - logger - INFO - None - robot.py - 52 +2024-11-15 15:43:04,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:43:04,756 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:43:04,757 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:43:04,757 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:43:04,757 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:43:04,757 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:43:05,807 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:43:07,481 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:43:07,782 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:43:10,271 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:43:15,875 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:43:15,879 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:43:19,163 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:43:19,166 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:43:21,005 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:21,198 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:21,758 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:43:21,761 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:43:24,404 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:24,407 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:24,964 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:43:24,967 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:43:26,857 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:27,045 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:28,939 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:43:28,942 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:43:30,097 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:30,281 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:34,031 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:34,032 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:35,555 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:43:35,558 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:43:40,714 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:40,898 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:42,211 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:43:42,215 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:43:47,328 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:47,517 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:49,436 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:43:49,439 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:43:54,578 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:43:54,790 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:43:56,692 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:43:56,694 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:44:01,422 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:44:01,425 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:44:01,999 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:44:02,000 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:44:06,440 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:44:06,624 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:44:53,482 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - None - robot.py - 52 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:44:53,483 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:44:54,523 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:44:54,737 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:44:55,037 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:44:57,301 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:45:00,104 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:00,107 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:03,463 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:45:03,466 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:05,173 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:05,360 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:07,780 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:45:07,784 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:45:08,546 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:08,723 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:12,805 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:12,988 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:13,194 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:45:13,198 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:18,261 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:18,440 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:18,999 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:45:19,003 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:45:24,138 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:24,139 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:29,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:45:29,931 - logger - INFO - None - robot.py - 52 +2024-11-15 15:45:29,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:45:29,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:45:29,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:45:29,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:45:29,932 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:45:29,932 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:45:30,983 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:45:31,524 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:45:31,824 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:45:34,180 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:45:34,903 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:45:34,907 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:45:38,227 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:45:38,230 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:45:39,919 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:40,103 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:41,060 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:41,063 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:43,380 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:43,581 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:44,695 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:45:44,699 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:45:46,081 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:46,269 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:49,781 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:49,983 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:51,718 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:45:51,722 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:45:57,026 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:45:57,029 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:45:58,975 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:45:58,977 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:46:04,092 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:46:04,277 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:46:05,955 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:46:05,959 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:46:11,073 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:46:11,256 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:46:12,630 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:46:12,633 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:46:17,930 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:46:17,932 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:46:18,718 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:46:18,720 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:46:23,834 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:46:24,017 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:46:24,788 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:46:24,792 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:46:59,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:46:59,428 - logger - INFO - None - robot.py - 52 +2024-11-15 15:46:59,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:46:59,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:46:59,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:46:59,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:46:59,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:46:59,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:47:00,472 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:47:01,863 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:47:02,163 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:47:04,416 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:47:28,345 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:28,345 - logger - INFO - None - robot.py - 52 +2024-11-15 15:47:28,345 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:28,346 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:28,346 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:28,346 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:47:28,346 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:47:28,346 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:47:29,388 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:47:29,811 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:47:30,112 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:47:32,426 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:47:50,934 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:50,934 - logger - INFO - None - robot.py - 52 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:47:50,935 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:47:51,982 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:47:52,310 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:47:52,611 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:47:54,852 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:47:54,856 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:47:57,318 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:47:57,511 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:48:01,610 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:48:01,613 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:48:02,000 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:48:02,580 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:48:02,582 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:48:06,654 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:48:06,838 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:48:07,573 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:48:07,576 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:48:12,651 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:48:12,837 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:48:21,877 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:21,877 - logger - INFO - None - robot.py - 52 +2024-11-15 15:48:21,877 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:21,877 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:21,878 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:21,878 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:48:21,878 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:48:21,878 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:48:22,930 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:48:23,199 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:48:23,500 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:48:25,728 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:48:33,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:33,953 - logger - INFO - None - robot.py - 52 +2024-11-15 15:48:33,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:33,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:33,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:33,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:48:33,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:48:33,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:48:34,994 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:48:35,290 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:48:35,590 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:48:37,885 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:48:38,960 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:48:38,963 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:48:44,149 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:48:44,366 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:48:55,064 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:55,065 - logger - INFO - None - robot.py - 52 +2024-11-15 15:48:55,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:55,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:55,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:48:55,066 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:48:55,066 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:48:55,066 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:48:56,108 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:48:58,054 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:48:58,355 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:49:00,664 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:49:02,499 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:49:02,502 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:49:07,399 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:49:07,402 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:49:07,587 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:07,588 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:49:11,332 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:49:11,334 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:49:12,466 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:12,467 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:49:14,196 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:49:14,200 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:49:16,458 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:16,459 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:49:18,824 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:49:18,827 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:49:19,434 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:19,435 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:49:23,889 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:23,890 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:49:42,588 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:49:42,588 - logger - INFO - None - robot.py - 52 +2024-11-15 15:49:42,588 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:49:42,588 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:49:42,588 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:49:42,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:49:42,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:49:42,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:49:43,638 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:49:44,849 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:49:45,150 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:49:47,451 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:49:53,820 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:49:53,822 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:49:57,787 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:49:57,790 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:49:58,969 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:49:58,970 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:01,499 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:50:01,502 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:50:03,129 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:03,132 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:04,199 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:50:04,202 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:50:06,624 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:06,824 - logger - INFO - Команд в очереди [0.002, -0.001, 0, 0, 0, 0] - client_socket.py - 376 +2024-11-15 15:50:09,313 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:09,314 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:15,034 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:50:15,037 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:50:19,326 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:50:19,328 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:50:20,086 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:20,279 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:30,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:50:30,193 - logger - INFO - None - robot.py - 52 +2024-11-15 15:50:30,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:50:30,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:50:30,194 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:50:30,194 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:50:30,194 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:50:30,194 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:50:31,234 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:50:31,927 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:50:32,227 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:50:34,575 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:50:37,533 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:50:37,536 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:50:41,844 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:50:41,847 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:50:42,576 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:42,771 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:46,707 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:50:46,711 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:50:46,900 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:46,900 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:49,566 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:50:49,570 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:50:51,788 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:51,789 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:53,793 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:50:53,795 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:50:54,696 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:54,697 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:50:56,758 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:50:56,761 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:50:58,976 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:50:59,160 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:01,789 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:01,986 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:02,190 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:51:02,193 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:51:14,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:14,038 - logger - INFO - None - robot.py - 52 +2024-11-15 15:51:14,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:14,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:14,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:14,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:51:14,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:51:14,039 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:51:15,083 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:51:15,384 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:51:15,684 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:51:17,939 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:51:19,854 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:51:19,858 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:51:20,050 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:51:20,051 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:51:22,538 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:51:22,541 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:51:24,952 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:24,953 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:25,132 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:25,133 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:26,796 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:51:26,798 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:51:27,557 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:27,558 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:30,293 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:51:30,297 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:51:31,971 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:32,164 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:33,640 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:51:33,642 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:51:35,460 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:35,643 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:38,418 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:51:38,420 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:51:38,804 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:38,805 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:43,512 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:43,693 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:45,003 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:51:45,004 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:51:50,267 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:51:50,463 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:51:56,230 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:56,230 - logger - INFO - None - robot.py - 52 +2024-11-15 15:51:56,230 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:56,231 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:56,231 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:51:56,231 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:51:56,231 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:51:56,231 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:51:57,277 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:51:58,186 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:51:58,486 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:52:01,018 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:53:15,031 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:53:15,034 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:53:18,146 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:53:18,149 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:53:20,375 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:20,553 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:21,146 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:53:21,148 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:53:23,358 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:23,553 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:26,243 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:26,430 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:42,839 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:53:42,842 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:53:45,523 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:53:45,525 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:53:48,002 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:48,177 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:50,243 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:53:50,246 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:53:50,624 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:50,626 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:54,927 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:53:54,930 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:53:55,311 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:53:55,509 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:53:57,793 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:53:57,796 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:54:00,069 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:54:00,070 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:54:02,837 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:54:03,023 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:54:04,909 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:54:41,984 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:54:41,985 - logger - INFO - None - robot.py - 52 +2024-11-15 15:54:41,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:54:41,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:54:41,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:54:41,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:54:41,985 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:54:41,986 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:54:43,023 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:54:43,194 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:54:43,495 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:54:45,922 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:54:49,457 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:54:49,460 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:54:54,543 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:54:54,725 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:54:55,846 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:54:55,850 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:55:01,015 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:01,191 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:55:03,564 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:55:03,568 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:55:08,671 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:08,854 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:55:09,434 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:55:09,438 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:55:14,614 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:14,807 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:55:17,295 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:55:17,298 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:55:22,370 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:22,547 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:55:24,900 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:55:24,903 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:55:29,962 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:30,139 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:55:31,074 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:55:31,076 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:55:36,274 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:55:36,278 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:05,580 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:05,580 - logger - INFO - None - robot.py - 52 +2024-11-15 15:57:05,580 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:05,580 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:05,580 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:05,580 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:57:05,581 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:57:05,581 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:57:06,637 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:57:08,310 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:57:08,610 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:57:10,926 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:57:12,326 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:57:12,330 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:57:14,997 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:57:15,001 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:57:17,379 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:17,596 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:19,951 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:19,952 - logger - INFO - None - robot.py - 52 +2024-11-15 15:57:19,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:19,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:19,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105 +2024-11-15 15:57:19,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105 +2024-11-15 15:57:19,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105 +2024-11-15 15:57:19,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105 +2024-11-15 15:57:21,014 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133 +2024-11-15 15:57:21,680 - logger - INFO - not_connected - robot.py - 52 +2024-11-15 15:57:21,981 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83 +2024-11-15 15:57:24,309 - logger - INFO - connected - robot.py - 52 +2024-11-15 15:57:26,726 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:57:26,729 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:57:31,762 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:31,950 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:33,820 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:57:33,822 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:57:38,933 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:39,115 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:40,584 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:57:40,587 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 376 +2024-11-15 15:57:45,642 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:45,823 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:47,036 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 376 +2024-11-15 15:57:47,039 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:57:52,156 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:52,342 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:57:54,559 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 376 +2024-11-15 15:57:54,563 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 376 +2024-11-15 15:57:59,666 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:57:59,852 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:58:00,973 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 376 +2024-11-15 15:58:00,976 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 376 +2024-11-15 15:58:06,309 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:58:06,312 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:58:07,058 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 376 +2024-11-15 15:58:07,061 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 376 +2024-11-15 15:58:12,102 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:58:12,282 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:58:13,040 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 376 +2024-11-15 15:58:13,042 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 376 +2024-11-15 15:58:18,202 - logger - INFO - write log - client_socket.py - 306 +2024-11-15 15:58:18,203 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 376 +2024-11-15 15:58:19,497 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 376 +2024-11-15 15:58:19,500 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 376 diff --git a/delta.json b/delta.json new file mode 100644 index 0000000..57cc71b --- /dev/null +++ b/delta.json @@ -0,0 +1,290 @@ +[ + { + "position": [ + { + "point": 1396.513, + "calc": 1396.5033449596588, + "delta": 0.009655040341158383 + }, + { + "point": 1.758, + "calc": 1.7414073758299926, + "delta": 0.016592624170007397 + }, + { + "point": 1322.749, + "calc": 1322.768036512948, + "delta": -0.01903651294787778 + } + ], + "orientation": [ + { + "point": -0.002, + "calc": -0.00046227946559921414, + "delta": -0.001537720534400786 + }, + { + "point": 90.0, + "calc": 0.0012258600963992801, + "delta": 89.9987741399036 + }, + { + "point": 0.0, + "calc": 0.0019896756606109637, + "delta": -0.0019896756606109637 + } + ] + }, + { + "position": [ + { + "point": -1.645, + "calc": 29.354975856798607, + "delta": -30.999975856798606 + }, + { + "point": 1396.533, + "calc": 1383.8229716462674, + "delta": 12.710028353732469 + }, + { + "point": 1322.7, + "calc": 1322.3343071885358, + "delta": 0.3656928114642142 + } + ], + "orientation": [ + { + "point": -89.998, + "calc": -0.6236563522406797, + "delta": -89.37434364775933 + }, + { + "point": 90.0, + "calc": -0.07248312898598147, + "delta": 90.07248312898598 + }, + { + "point": 0.0, + "calc": 89.37963743161471, + "delta": -89.37963743161471 + } + ] + }, + { + "position": [ + { + "point": -61.982, + "calc": -34.61074827998304, + "delta": -27.371251720016957 + }, + { + "point": 1.689, + "calc": 1.4271628423169411, + "delta": 0.26183715768305893 + }, + { + "point": 1955.771, + "calc": 1953.7999944946446, + "delta": 1.9710055053553788 + } + ], + "orientation": [ + { + "point": 0.0, + "calc": 14.123199109608166, + "delta": -14.123199109608166 + }, + { + "point": 25.0, + "calc": -62.538975654348604, + "delta": 87.5389756543486 + }, + { + "point": 0.003, + "calc": 0.311660007824218, + "delta": -0.308660007824218 + } + ] + }, + { + "position": [ + { + "point": 72.252, + "calc": 93.33332435556116, + "delta": -21.081324355561165 + }, + { + "point": 1.696, + "calc": 1.7236742678899477, + "delta": -0.027674267889947757 + }, + { + "point": 2450.564, + "calc": 2432.3159722289647, + "delta": 18.24802777103514 + } + ], + "orientation": [ + { + "point": 0.0, + "calc": 0.0, + "delta": 0.0 + }, + { + "point": 0.0, + "calc": -90.0, + "delta": 90.0 + }, + { + "point": 0.0, + "calc": -1.9006084288684064, + "delta": 1.9006084288684064 + } + ] + }, + { + "position": [ + { + "point": 1396.542, + "calc": 1395.1210132964286, + "delta": 1.420986703571316 + }, + { + "point": 1.748, + "calc": 3.0729777781727323, + "delta": -1.3249777781727323 + }, + { + "point": 1322.702, + "calc": 1330.894305872972, + "delta": -8.192305872971929 + } + ], + "orientation": [ + { + "point": 90.004, + "calc": 89.5871816818438, + "delta": 0.41681831815620285 + }, + { + "point": 0.001, + "calc": -0.4263670446483205, + "delta": 0.4273670446483205 + }, + { + "point": 90.003, + "calc": -0.011498402419446057, + "delta": 90.01449840241945 + } + ] + }, + { + "position": [ + { + "point": 1279.539, + "calc": 1298.6529839631573, + "delta": -19.113983963157352 + }, + { + "point": 1.716, + "calc": 1.1941396666698758, + "delta": 0.5218603333301242 + }, + { + "point": 1439.725, + "calc": 1421.9584575235335, + "delta": 17.766542476466384 + } + ], + "orientation": [ + { + "point": 0.004, + "calc": 44.59848837135974, + "delta": -44.594488371359745 + }, + { + "point": 0.005, + "calc": -89.56861104656603, + "delta": 89.57361104656603 + }, + { + "point": 0.001, + "calc": -44.59999872029401, + "delta": 44.60099872029401 + } + ] + }, + { + "position": [ + { + "point": 1396.518, + "calc": 1396.5150298333174, + "delta": 0.0029701666826440487 + }, + { + "point": 1.704, + "calc": 1.7043452192066975, + "delta": -0.00034521920669750017 + }, + { + "point": 1322.743, + "calc": 1323.2042092827587, + "delta": -0.46120928275877304 + } + ], + "orientation": [ + { + "point": 90.002, + "calc": 89.35749570446917, + "delta": 0.6445042955308224 + }, + { + "point": -0.006, + "calc": -0.394888295984799, + "delta": 0.388888295984799 + }, + { + "point": 90.0, + "calc": 0.0004372310675820825, + "delta": 89.99956276893242 + } + ] + }, + { + "position": [ + { + "point": 1396.513, + "calc": 1396.5034170137394, + "delta": 0.009582986260511461 + }, + { + "point": 1.758, + "calc": 1.7415043671341195, + "delta": 0.016495632865880516 + }, + { + "point": 1322.749, + "calc": 1322.7684959219296, + "delta": -0.019495921929546967 + } + ], + "orientation": [ + { + "point": -0.002, + "calc": 0.3046030193918365, + "delta": -0.3066030193918365 + }, + { + "point": 90.0, + "calc": 0.0009973795000818987, + "delta": 89.99900262049992 + }, + { + "point": 0.0, + "calc": 0.001993574278186638, + "delta": -0.001993574278186638 + } + ] + } +] \ No newline at end of file diff --git a/robot/client_socket.py b/robot/client_socket.py index e99d0c0..20278bd 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -138,16 +138,9 @@ class UrdfManager: urdf_path = os.path.join( self.application_path, "urdf", f"{self.urdf_filename}.urdf" ) - # self.body_id = p.loadURDF( - # urdf_path, - # self.robot_start_position, - # useFixedBase=1, - # physicsClientId=self.physics_client, - # ) self.robot = pi.RobotBase( urdf_path, self.robot_start_position, p.getQuaternionFromEuler([0, 0, 0]) ) - print(self.robot.__dir__()) time.sleep(1) def get_pybullet_image(self): @@ -201,12 +194,7 @@ class SocketRobotArm: self.q_app = None self.imitate_point = None - robot_start_position = [ - -0.008700576263427698, - 0.04579925857591629, - 0.0036192361602783203, - ] - robot_start_position = [0, 0, 0] + robot_start_position = [0,0,0] self.prepare_data = PrepareRobotData() self.socket_manager = SocketManager() @@ -236,6 +224,8 @@ class SocketRobotArm: def connect(self, host, slave_id): self.socket_manager.connect(host) + with open("delta.json", "w") as f: + pass def get_status(self): return self.socket_manager.status @@ -244,55 +234,105 @@ class SocketRobotArm: threading.Thread(target=self.upd_model_func, daemon=True).start() def upd_model_func(self): - # logger.info("UPDATE MODEL FUNC") + # logger.info("UPDATE MODEL FUNC")\ + mode = 'by_joint' + # mode = 'by_world' self.get_axis() self.set_text(text=f"Координаты осей {self.start_axis_coordinates}") - self.urdf_manager.robot.set_joint_position( - { - f"joint_{i+1}": math.radians(c) - for i, c in enumerate(self.start_axis_coordinates) - } - ) - time.sleep(1) - + self.get_world() self.set_text(text=f"Мировые координаты {self.start_world_coordinates}") - angles = self.start_world_coordinates + + if mode == 'by_joint': + self.urdf_manager.robot.set_joint_position( + { + f"joint_{i+1}": math.radians(c) + for i, c in enumerate(self.start_axis_coordinates) + } + ) - self.urdf_manager.robot.set_endeffector_pose( - [a * 0.001 for a in angles[0:3]], p.getQuaternionFromEuler(angles[3:]) - ) - - time.sleep(1) + + if mode == 'by_world': + coordinates = self.start_world_coordinates[:3] + angles = self.start_world_coordinates[3:] + # angles[1] -= 90 + self.urdf_manager.robot.set_endeffector_pose( + [a * 0.001 for a in coordinates], p.getQuaternionFromEuler(angles) + ) + + time.sleep(5) + if mode == 'by_joint': + self.calc_world_by_joint() + if mode == 'by_world': + self.calc_joint_by_world() self._get_command_count() self.set_text(text=f"Команд в очереди {self.remote_command_count}") time.sleep(0.5) def calc_world_by_joint(self): - num_joints = p.getNumJoints(self.urdf_manager.body_id) - end_effector_state = p.getLinkState( - self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True + [end_effector_position, end_effector_orientation] = ( + self.urdf_manager.robot.get_endeffector_pose() ) - - end_effector_position = end_effector_state[4] - end_effector_orientation = end_effector_state[5] - euler_orientation = list(p.getEulerFromQuaternion(end_effector_orientation)) - euler_orientation[1] += math.radians(90) - - logger.info( - f"Вычисленное положение {[a * 1000 for a in end_effector_position]}" + euler_orientation = p.getEulerFromQuaternion(end_effector_orientation) + try: + with open("delta.json", "r") as f: + data = json.load(f) + except (FileNotFoundError, json.JSONDecodeError): + data = [] + data.append( + { + "position": [ + { + "point": self.start_world_coordinates[i], + "calc": a * 1000, + "delta": self.start_world_coordinates[i] - a * 1000, + } + for i, a in enumerate(end_effector_position) + ], + "orientation": [ + { + "point": self.start_world_coordinates[i + 3], + "calc": a, + "delta": self.start_world_coordinates[i + 3] - a, + } + for i, a in enumerate(np.degrees(euler_orientation)) + ], + } ) - logger.info( - f"""{[f'{a*1000} -- {self.start_world_coordinates[i]} -- {self.start_world_coordinates[i] - a*1000}' - for i,a in enumerate(end_effector_position)]}""" + with open("delta.json", "w") as f: + json.dump(data, f, indent=4) + logger.info('write log') + + def calc_joint_by_world(self): + joint_state = ( + self.urdf_manager.robot.get_joint_state() ) - logger.info(f"Вычисленная ориентация {np.degrees(euler_orientation)}") - logger.info( - f"""{[f'{a} -- {self.start_world_coordinates[i + 3]} -- {self.start_world_coordinates[i + 3] - a}' - for i,a in enumerate(np.degrees(euler_orientation))]}""" + states= np.degrees([ + joint_state[f'joint_{i}']['position'] for i in range(1,6) + ]) + try: + with open("delta.json", "r") as f: + data = json.load(f) + except (FileNotFoundError, json.JSONDecodeError): + data = [] + data.append( + { + "orientation": [ + { + "point": self.start_axis_coordinates[i], + "calc": a, + "delta": self.start_axis_coordinates[i] - a, + } + for i, a in enumerate(np.degrees(states)) + ], + } ) + with open("delta.json", "w") as f: + json.dump(data, f, indent=4) + logger.info('write log') + def cycle_base(self): self.upd_model() @@ -323,9 +363,6 @@ class SocketRobotArm: step = 4 empty = 1 for i in range(0, len(self.add_rcc_list), step): - # if not self.socket: - # return - self.command_data = f"Отправка данных {i}...{i+step-1}" self.send_data(make_addrcc_data(self.add_rcc_list[i : i + step], empty)) @@ -335,52 +372,9 @@ class SocketRobotArm: def imitate(self): threading.Thread(target=self.imitate_func, daemon=True).start() - def convert_to_joint(self, coordinates, angles=[]): - num_joints = p.getNumJoints(self.urdf_manager.body_id) - if len(angles) == 3: - angles[1] = float(angles[1]) - 90 - target_orientation = p.getQuaternionFromEuler( - [math.radians(float(a)) for a in angles] - ) - else: - target_orientation = None - - joint_angles = p.calculateInverseKinematics( - self.urdf_manager.body_id, - endEffectorLinkIndex=num_joints - 1, - targetPosition=coordinates, - targetOrientation=target_orientation, - maxNumIterations=100, - ) - # logger.info(f"convrt to joint {joint_angles}") - return joint_angles - def set_text(self, text): logger.info(text) - def set_joint(self, coordinates): - # logger.info("set joints") - num_joints = p.getNumJoints(self.urdf_manager.body_id) - if coordinates is None: - return - # p.setJointMotorControlArray( - # bodyIndex=self.urdf_manager.body_id, - # controlMode=p.POSITION_CONTROL, - # jointIndices=range(0, num_joints), - # targetPositions=coordinates, - # positionGains=6 * [0.5], - # ) - self.urdf_manager.robot.set_( - { - "q0": coordinates[0], - "q1": coordinates[1], - "q2": coordinates[2], - "q3": coordinates[3], - "q4": coordinates[4], - "q5": coordinates[5], - } - ) - def send_data(self, data): return self.socket_manager.send_data(data) @@ -468,25 +462,30 @@ class SocketRobotArm: ] angles = [ point["m3"], + # float(point["m4"]) - 90, point["m4"], point["m5"], ] - # coor = [(float(point) * 0.001) for point in points] - # angles = self.convert_to_joint( - # coor, - # [ - # point["m3"], - # point["m4"], - # point["m5"], - # ], - # ) - # logger.info(f"point {point} {angles}") - # self.set_joint(angles) self.urdf_manager.robot.set_endeffector_pose( [(float(point) * 0.001) for point in points], - p.getQuaternionFromEuler([float(point) for point in angles]) + p.getQuaternionFromEuler([float(point) for point in angles]), ) time.sleep(1) + + def convert_to_joint(self, coordinates, angles=[]): + if len(angles) == 3: + # angles[1] = float(angles[1]) - 90 + target_orientation = p.getQuaternionFromEuler( + [math.radians(float(a)) for a in angles] + ) + else: + target_orientation = None + self.urdf_manager.robot.set_endeffector_pose(coordinates, target_orientation) + [end_effector_position, end_effector_orientation] = ( + self.urdf_manager.robot.get_endeffector_pose() + ) + + return list(end_effector_position) + list(end_effector_orientation) def convert_file_to_joint(self): result = [] diff --git a/robots.json b/robots.json index 9c1f509..ec20855 100644 --- a/robots.json +++ b/robots.json @@ -12,9 +12,9 @@ "urdf": "sample" }, { - "name": "test (ip small)", - "host": "192.168.70.55", + "name": "test", + "host": "127.0.0.1", "slave_id": 11, - "urdf": "borunte_macro" + "urdf": "sample" } ] \ No newline at end of file diff --git a/urdf/sample.urdf b/urdf/sample.urdf index 6e055d7..f045ef4 100644 --- a/urdf/sample.urdf +++ b/urdf/sample.urdf @@ -118,6 +118,7 @@ + @@ -133,7 +134,7 @@ - + diff --git a/urdf_support/sample/777.stl b/urdf_support/sample/777.stl new file mode 100644 index 0000000000000000000000000000000000000000..6d52ca05b26480b4fe99483edc733871f725a3d7 GIT binary patch literal 382034 zcmb@PXH*nRw6+^iQIKfFfC&?(qatCtm^SB}Jx0t~^q5gl!JIK?F=37{GfekPn-k^; zDrP+9cT!xNXRx_R3GCIr4(s5qjNycK%}! zJ2vbk^E4;03KLth3Xadn#{H-D*^BB&^tJuNIRaJap&(31>aQs2@%p0IcpFvHpRvuc zMcA*I?-<$>g!DJ1#rlW$>ATh#E1|05i*$CPc4fAy`|Cdlhn;g+*~2gN<4+8fP<3Z` zHcPk_!GudUSx}REEaU2I);j7M#Zjc$lF%h_>3Ua>{v3fS-m6B>wukQCaoYN8$_TEO zVD0-pDw}ot*;`q+ReOWQs$bCeXGLmZb?CL|GwBgSdxGG3r?QkWqrN00F0!D?o9b)L!g*NenUp_>J5<~K zmJ7j6u6oJk&e+(fUe%Q8+bb%Gw`^=*;2XJ4*aP|D6B`Sh<)|cgnjs6qT_UCwZ4(^T 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1322.700, -89.998, 90.000, 0], + "axis": [89.998, -0.002, -0.001, 0.001, -0.001, -0.001], + }, + { + "world": [-61.982, 1.689, 1955.771, 0, 25, 0.003], + "axis": [0.003, 65, -0.001, 0.001, 0, -0.001], + }, + { + "world": [72.252, 1.696, 2450.564, 0, 0, 0], + "axis": [0.002, -0.001, 89.999, 0.002, 0, -0.001], + }, + { + "world": [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003], + "axis": [0.002, -0.003, 0, 89.999, -0.001, 0], + }, + { + "world": [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001], + "axis": [0.001, -0.002, -0.001, 0.004, 89.998, 0], + }, + { + "world": [1396.518, 1.704, 1322.743, 90.002, -0.006, 90], + "axis": [0, -0.001, 0, 0.002, 0, 90.003], + }, +] +coordinates_index = 0 def handle_client(conn, addr): print(f"Connected by {addr}") @@ -45,12 +74,22 @@ def handle_client(conn, addr): break req = json.loads(data) res = {"queryData": ["ok"]} + if "axis-0" in req["queryAddr"]: + global coordinates_index + print(coordinates_index) + c = c_angles[coordinates_index] + limit = len(c_angles) - 1 + # limit = 2 + if coordinates_index < limit: + coordinates_index += 1 + else: + coordinates_index = 0 if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]: - res["queryData"] = coordinates[coordinates_index]["axis"] + res["queryData"] = c["axis"] if "queryAddr" in req and "world-0" in req["queryAddr"]: - res["queryData"] = coordinates[coordinates_index]["world"] + res["queryData"] = c["world"] if req["reqType"] == "command": res["cmdReply"] = ["ok"] @@ -70,6 +109,8 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: s.bind((HOST, PORT)) s.listen() print(f"Server listening on {HOST}:{PORT}") + + while True: conn, addr = s.accept() handle_client(conn, addr)