diff --git a/app.log b/app.log
index 6854e79..a42bb8a 100644
--- a/app.log
+++ b/app.log
@@ -68841,3 +68841,72 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
 2024-11-12 09:33:41,584 - logger - INFO - not_connected - robot.py - 52
 2024-11-12 09:33:41,994 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
 2024-11-12 09:33:44,286 - logger - INFO - connected - robot.py - 52
+2024-11-12 09:35:49,799 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:35:49,799 - logger - INFO - None - robot.py - 52
+2024-11-12 09:35:49,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:35:49,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:35:49,801 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:35:49,801 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-12 09:35:49,802 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-12 09:35:49,802 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-12 09:35:50,826 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-12 09:35:54,458 - logger - INFO - not_connected - robot.py - 52
+2024-11-12 09:35:54,770 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
+2024-11-12 09:35:57,101 - logger - INFO - connected - robot.py - 52
+2024-11-12 09:36:00,122 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-12 09:36:00,122 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
+2024-11-12 09:36:00,879 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:36:03,250 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
+2024-11-12 09:36:03,961 - logger - INFO - convrt to joint (-0.14094533068889684, -0.13993923796988497, 0.4935603285662431, 1.2520119655495923, -0.8965844244124949, -0.42178772500650474) - client_socket.py - 324
+2024-11-12 09:36:04,004 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:36:06,241 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329
+2024-11-12 09:36:06,926 - logger - INFO - Вычисленное положение [1274.5248079299927, -68.98343563079834, 1777.3178815841675] - client_socket.py - 265
+2024-11-12 09:36:06,960 - logger - INFO - Вычисленная ориентация [43.53166464  1.16458568 44.35211365] - client_socket.py - 268
+2024-11-12 09:48:32,728 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:48:32,729 - logger - INFO - None - robot.py - 52
+2024-11-12 09:48:32,729 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:48:32,730 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:48:32,730 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-12 09:48:32,731 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-12 09:48:32,731 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-12 09:48:32,731 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-12 09:48:33,754 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
+2024-11-12 09:49:09,206 - logger - INFO - not_connected - robot.py - 52
+2024-11-12 09:49:09,520 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
+2024-11-12 09:49:12,006 - logger - INFO - connected - robot.py - 52
+2024-11-12 09:49:13,442 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-12 09:49:13,442 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
+2024-11-12 09:49:14,199 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:49:16,347 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
+2024-11-12 09:49:17,045 - logger - INFO - convrt to joint (-0.14031437921352352, -0.13991836363298446, 0.49538869303055877, 1.221113862422301, -0.8958488960425809, -0.41525990806958385) - client_socket.py - 324
+2024-11-12 09:49:17,082 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:49:19,087 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329
+2024-11-12 09:49:19,801 - logger - INFO - Вычисленное положение [1272.8019952774048, -67.30527430772781, 1777.5481939315796] - client_socket.py - 265
+2024-11-12 09:49:19,818 - logger - INFO - Вычисленная ориентация [43.39941857  2.339044   44.87488938] - client_socket.py - 268
+2024-11-12 09:51:43,134 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-12 09:51:43,134 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
+2024-11-12 09:51:43,960 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:51:45,244 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-12 09:51:45,244 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
+2024-11-12 09:51:46,042 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:51:46,481 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
+2024-11-12 09:51:47,250 - logger - INFO - convrt to joint (-0.1544927728006868, -0.178509358035191, 0.5317654937113463, 1.4691661078152538, -1.1948152503255172, -0.2738117202049319) - client_socket.py - 324
+2024-11-12 09:51:47,281 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:51:48,472 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
+2024-11-12 09:51:49,305 - logger - INFO - convrt to joint (-0.15614157292954314, -0.1872186846532091, 0.5416083152778929, 1.4928686065020678, -1.2551686053002777, -0.20095428212827762) - client_socket.py - 324
+2024-11-12 09:51:49,337 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:51:49,775 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329
+2024-11-12 09:51:50,604 - logger - INFO - Вычисленное положение [1276.3087749481201, -73.97561520338058, 1781.082272529602] - client_socket.py - 265
+2024-11-12 09:51:50,635 - logger - INFO - Вычисленная ориентация [54.69909563 -2.35280475 60.43241054] - client_socket.py - 268
+2024-11-12 09:51:51,953 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329
+2024-11-12 09:51:52,751 - logger - INFO - Вычисленное положение [1281.5206050872803, -75.33696293830872, 1773.990511894226] - client_socket.py - 265
+2024-11-12 09:51:52,783 - logger - INFO - Вычисленная ориентация [56.70126539 -2.29319964 62.01283026] - client_socket.py - 268
+2024-11-12 09:52:00,436 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
+2024-11-12 09:52:00,436 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
+2024-11-12 09:52:01,252 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:52:03,731 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
+2024-11-12 09:52:04,511 - logger - INFO - convrt to joint (-0.15711904867971296, -0.19279455077498428, 0.5463467367983172, 1.526756856765248, -1.2933543977563458, -0.19078865880298448) - client_socket.py - 324
+2024-11-12 09:52:04,526 - logger - INFO - set joints - client_socket.py - 332
+2024-11-12 09:52:07,127 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329
+2024-11-12 09:52:07,943 - logger - INFO - Вычисленное положение [1275.2009630203247, -73.22012633085251, 1781.279444694519] - client_socket.py - 265
+2024-11-12 09:52:07,974 - logger - INFO - Вычисленная ориентация [58.56355473 -3.29212553 65.45517366] - client_socket.py - 268
diff --git a/gui/visualize.py b/gui/visualize.py
index 464debe..32d5fc1 100644
--- a/gui/visualize.py
+++ b/gui/visualize.py
@@ -35,9 +35,10 @@ class Visualize(QWidget):
             return
 
         (rgb, width, height) = res
-        bytesPerLine = 2 * width
+        rgb_array = np.array(rgb, dtype=np.uint8)
+        bytesPerLine = 4 * width
         # print(type(rgb))
-        image = QImage(np.asarray(rgb), width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped()
+        image = QImage(rgb_array, width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped()
         image = image.convertToFormat(QImage.Format.Format_RGB888)
         pixmap = QPixmap.fromImage(image)