diff --git a/README.md b/README.md
index ef80638..e39fee1 100644
--- a/README.md
+++ b/README.md
@@ -3,4 +3,7 @@
 ### Окружение
 * Запустить сокет сервер - для теста
 * Запустить pybullet сервер - визуализация в отдельном ПРОЦЕССЕ
-* Запустить gui
\ No newline at end of file
+* Запустить gui
+
+### Локальный запуск
+`poetry run python run_local.py --test-socket --bullet-gui`
\ No newline at end of file
diff --git a/app.log b/app.log
index 47f1042..619f491 100644
--- a/app.log
+++ b/app.log
@@ -63753,3 +63753,1959 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
 2024-10-30 17:01:47,433 - logger - INFO - set joints - client_socket.py - 219
 2024-10-30 17:01:48,182 - logger - INFO - Мировые координаты [1282.221436, -75.418549, 1772.498901, 84.629715, 34.520199, 153.999252] - client_socket.py - 216
 2024-10-30 17:01:48,782 - logger - INFO - Команд в очереди ['10'] - client_socket.py - 216
+2024-11-01 07:57:25,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 07:57:25,734 - logger - INFO - None - robot.py - 52
+2024-11-01 07:57:25,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 07:57:25,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 07:57:25,734 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 07:57:25,735 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 07:57:25,735 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 07:57:25,735 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 07:57:26,737 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 07:57:26,737 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 07:57:34,630 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 07:57:35,061 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 07:57:37,650 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:01:24,032 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:01:24,033 - logger - INFO - None - robot.py - 52
+2024-11-01 08:01:24,033 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:01:24,033 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:01:24,033 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:01:24,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:01:24,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:01:24,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:01:25,037 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:01:25,037 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:01:26,751 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:01:27,182 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:01:29,735 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:01:32,567 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:01:32,567 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 216
+2024-11-01 08:01:33,068 - logger - INFO - set joints - client_socket.py - 219
+2024-11-01 08:01:33,976 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 216
+2024-11-01 08:01:34,584 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 216
+2024-11-01 08:01:37,614 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:01:37,614 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 216
+2024-11-01 08:01:38,115 - logger - INFO - set joints - client_socket.py - 219
+2024-11-01 08:01:38,822 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 216
+2024-11-01 08:01:39,432 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 216
+2024-11-01 08:21:10,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:21:10,037 - logger - INFO - None - robot.py - 52
+2024-11-01 08:21:10,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:21:10,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:21:10,037 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:21:10,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:21:10,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:21:10,038 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:21:11,039 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:21:11,039 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:21:12,612 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:21:13,044 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:21:15,611 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:36:17,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:36:17,428 - logger - INFO - None - robot.py - 52
+2024-11-01 08:36:17,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:36:17,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:36:17,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:36:17,428 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:36:17,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:36:17,429 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:36:18,431 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:36:18,431 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:36:19,527 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:36:19,957 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:36:22,536 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:36:48,884 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:36:48,885 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 220
+2024-11-01 08:36:49,385 - logger - INFO - set joints - client_socket.py - 223
+2024-11-01 08:36:50,326 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 220
+2024-11-01 08:36:50,943 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 220
+2024-11-01 08:36:51,598 - logger - INFO - (0.0, 0.0, 0.0) - client_socket.py - 152
+2024-11-01 08:36:51,599 - logger - INFO - (0.0, 0.0, 0.0, 1.0) - client_socket.py - 153
+2024-11-01 08:45:39,659 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - None - robot.py - 52
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:45:39,660 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:45:40,661 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:45:40,662 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:45:41,981 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:49:35,369 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:49:35,369 - logger - INFO - None - robot.py - 52
+2024-11-01 08:49:35,369 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:49:35,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:49:35,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:49:35,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:49:35,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:49:35,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:49:36,373 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:49:36,373 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:49:37,400 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:49:37,830 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:49:40,395 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:49:40,796 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:49:41,623 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:49:42,814 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:49:43,363 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:49:45,614 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:49:46,620 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:49:46,620 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225
+2024-11-01 08:49:47,121 - logger - INFO - set joints - client_socket.py - 228
+2024-11-01 08:49:48,021 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225
+2024-11-01 08:49:48,666 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
+2024-11-01 08:50:09,462 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:50:09,462 - logger - INFO - None - robot.py - 52
+2024-11-01 08:50:09,462 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:50:09,462 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:50:09,462 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:50:09,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:50:09,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:50:09,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:50:10,465 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:50:10,465 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:50:18,980 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:50:19,411 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:50:22,025 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:50:23,815 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:50:23,816 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 221
+2024-11-01 08:50:24,317 - logger - INFO - set joints - client_socket.py - 224
+2024-11-01 08:50:25,245 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 221
+2024-11-01 08:50:25,854 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 221
+2024-11-01 08:50:26,440 - logger - INFO - None - client_socket.py - 154
+2024-11-01 08:50:34,892 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:50:34,892 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 221
+2024-11-01 08:50:35,393 - logger - INFO - set joints - client_socket.py - 224
+2024-11-01 08:50:36,128 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 221
+2024-11-01 08:50:36,731 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 221
+2024-11-01 08:50:37,324 - logger - INFO - None - client_socket.py - 154
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - None - robot.py - 52
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:51:02,787 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:51:03,789 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:51:03,790 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:51:04,861 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:51:05,292 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:51:07,977 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:51:09,285 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:51:09,286 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 221
+2024-11-01 08:51:09,787 - logger - INFO - set joints - client_socket.py - 224
+2024-11-01 08:51:10,715 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 221
+2024-11-01 08:51:11,319 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 221
+2024-11-01 08:51:11,904 - logger - INFO - ((0.4825175674257993, -0.6113227941873675, 1.7192601986176042), (-0.7167015650509129, -0.290156453197401, -0.2879265731208373, 0.5650189269505649), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.4825175702571869, -0.611322820186615, 1.7192602157592773), (-0.7167016267776489, -0.2901564836502075, -0.2879266142845154, 0.565018892288208)) - client_socket.py - 154
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - None - robot.py - 52
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:53:25,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:53:26,401 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:53:26,402 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:53:26,987 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:53:27,419 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:53:30,021 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:53:31,259 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:53:31,260 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 221
+2024-11-01 08:53:31,760 - logger - INFO - set joints - client_socket.py - 224
+2024-11-01 08:53:32,469 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 221
+2024-11-01 08:53:33,086 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 221
+2024-11-01 08:53:33,702 - logger - INFO - 6 - client_socket.py - 154
+2024-11-01 08:54:08,262 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:54:08,262 - logger - INFO - None - robot.py - 52
+2024-11-01 08:54:08,262 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:54:08,262 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:54:08,262 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 08:54:08,263 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 08:54:08,263 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 08:54:08,263 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 08:54:09,265 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
+2024-11-01 08:54:09,265 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
+2024-11-01 08:54:18,947 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 08:54:19,379 - logger - INFO - urdf/sample.urdf - client_socket.py - 76
+2024-11-01 08:54:21,957 - logger - INFO - connected - robot.py - 52
+2024-11-01 08:54:24,117 - logger - INFO - UPDATE - client_socket.py - 136
+2024-11-01 08:54:24,118 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 228
+2024-11-01 08:54:24,618 - logger - INFO - set joints - client_socket.py - 231
+2024-11-01 08:54:25,537 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 228
+2024-11-01 08:54:26,134 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 228
+2024-11-01 08:54:26,781 - logger - INFO - ((0.4825175674257993, -0.6113227941873675, 1.7192601986176042), (-0.7167015650509129, -0.290156453197401, -0.2879265731208373, 0.5650189269505649), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.4825175702571869, -0.611322820186615, 1.7192602157592773), (-0.7167016267776489, -0.2901564836502075, -0.2879266142845154, 0.565018892288208)) - client_socket.py - 156
+2024-11-01 08:54:26,782 - logger - INFO - None - client_socket.py - 159
+2024-11-01 09:02:17,538 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - None - robot.py - 52
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 09:02:17,539 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 09:02:18,541 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 09:02:18,542 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 09:02:20,585 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 09:02:21,016 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 09:02:23,568 - logger - INFO - connected - robot.py - 52
+2024-11-01 09:02:24,953 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 09:02:24,954 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 233
+2024-11-01 09:02:25,455 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:02:26,372 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 233
+2024-11-01 09:02:26,965 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 09:02:27,553 - logger - INFO - (0.4825175702571869, -0.611322820186615, 1.7192602157592773) - client_socket.py - 165
+2024-11-01 09:02:27,554 - logger - INFO - [-106.93284602  -47.78278474    7.74407243] - client_socket.py - 166
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - None - robot.py - 52
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 09:09:41,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 09:09:42,795 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 09:09:42,796 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 09:09:43,735 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 09:09:44,166 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 09:09:46,768 - logger - INFO - connected - robot.py - 52
+2024-11-01 09:09:50,217 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 09:09:50,218 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 233
+2024-11-01 09:09:50,719 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:09:51,636 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 233
+2024-11-01 09:09:52,214 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 09:09:52,795 - logger - INFO - (0.4825175702571869, -0.611322820186615, 1.7192602157592773) - client_socket.py - 165
+2024-11-01 09:09:52,796 - logger - INFO - [-106.93284602  -47.78278474    7.74407243] - client_socket.py - 166
+2024-11-01 09:10:20,011 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 09:10:20,012 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 233
+2024-11-01 09:10:20,512 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:21,495 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 233
+2024-11-01 09:10:22,214 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 09:10:22,933 - logger - INFO - (0.39069944620132446, -0.5175923705101013, 1.7530313730239868) - client_socket.py - 165
+2024-11-01 09:10:22,934 - logger - INFO - [-116.31339872  -33.20716185   31.18735199] - client_socket.py - 166
+2024-11-01 09:10:24,612 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 09:10:24,612 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 233
+2024-11-01 09:10:25,113 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:26,046 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 233
+2024-11-01 09:10:26,766 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 09:10:27,487 - logger - INFO - (0.39069944620132446, -0.5175923705101013, 1.7530313730239868) - client_socket.py - 165
+2024-11-01 09:10:27,488 - logger - INFO - [-116.31337891  -33.20715269   31.18733757] - client_socket.py - 166
+2024-11-01 09:10:30,123 - logger - INFO - convrt to joint (-1.1091433237176762, -1.2063796998204894, 1.032489557343363, -0.8418858934811471, -0.029946163665179514, -4.1597432194589335e-11) - client_socket.py - 228
+2024-11-01 09:10:30,361 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:32,994 - logger - INFO - convrt to joint (-1.107940404093218, -1.564898645139186, 1.9173040627018776, -0.8052448253956196, -0.09789421869239276, -0.0001774235740861674) - client_socket.py - 228
+2024-11-01 09:10:32,995 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:35,625 - logger - INFO - convrt to joint (-1.1057174923359685, -1.6250685080471226, 2.1059899246103315, -0.8091376921000444, -0.11132761983058584, -0.016065847334687133) - client_socket.py - 228
+2024-11-01 09:10:35,627 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:38,254 - logger - INFO - convrt to joint (-1.0981378253132836, -1.4959725602065805, 1.7623268574445956, -0.8109289096770702, -0.08578685142468079, -0.035474678015240846) - client_socket.py - 228
+2024-11-01 09:10:38,256 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:40,883 - logger - INFO - convrt to joint (-1.0919534392053158, -1.501421612930789, 1.7730009638492934, -0.8055040707945216, -0.08706286281512837, -0.04185472915075668) - client_socket.py - 228
+2024-11-01 09:10:40,884 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:10:43,526 - logger - INFO - convrt to joint (-1.0951641507398036, -1.5021118074257815, 1.772142936232166, -0.8008618369236323, -0.08740545152992696, -0.0414197718370199) - client_socket.py - 228
+2024-11-01 09:10:43,527 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:43:24,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - None - robot.py - 52
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 09:43:24,599 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 09:43:25,601 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 09:43:25,602 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 09:43:26,512 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 09:43:26,943 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 09:43:29,459 - logger - INFO - connected - robot.py - 52
+2024-11-01 09:43:30,897 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 09:43:30,898 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 09:43:31,398 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 09:43:32,342 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 09:43:32,961 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 09:43:33,578 - logger - INFO - (1.3142644166946411, -0.28350329399108887, 1.7338675260543823) - client_socket.py - 165
+2024-11-01 09:43:33,579 - logger - INFO - [ 64.45299688 -27.44207684 -67.65761175] - client_socket.py - 166
+2024-11-01 10:05:54,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:05:54,810 - logger - INFO - None - robot.py - 52
+2024-11-01 10:05:54,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:05:54,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:05:54,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:05:54,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:05:54,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:05:54,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:05:55,813 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:05:55,813 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:05:56,613 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:05:57,044 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:05:59,455 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:06:07,066 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:06:07,067 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:06:07,568 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:06:08,455 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:06:09,051 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:06:09,649 - logger - INFO - (1.3577018976211548, -0.14390413463115692, 1.6902754306793213) - client_socket.py - 165
+2024-11-01 10:06:09,650 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 166
+2024-11-01 10:06:48,462 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:06:49,255 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:06:50,890 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:06:51,423 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:06:53,705 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:06:54,911 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:06:54,912 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:06:55,412 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:06:56,315 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:06:56,899 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:06:57,482 - logger - INFO - (1.3577018976211548, -0.14390413463115692, 1.6902754306793213) - client_socket.py - 165
+2024-11-01 10:06:57,483 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 166
+2024-11-01 10:09:23,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:09:23,590 - logger - INFO - None - robot.py - 52
+2024-11-01 10:09:23,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:09:23,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:09:23,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:09:23,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:09:23,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:09:23,591 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:09:24,593 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:09:24,594 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:09:25,417 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:09:25,847 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:09:28,375 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:09:32,143 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:09:32,143 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:09:32,644 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:09:33,347 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:09:33,949 - logger - INFO - convrt to joint (-0.06302911115855686, -0.8310521486015797, 2.01135397740564, 1.1437615593459949, 0.06404278236808726, -0.5406191679321408) - client_socket.py - 228
+2024-11-01 10:09:33,950 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:09:35,148 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:09:35,749 - logger - INFO - (1.41015625, -0.19402813911437988, 1.9513217210769653) - client_socket.py - 165
+2024-11-01 10:09:35,750 - logger - INFO - [-76.9325239  -25.51535674 -33.01296332] - client_socket.py - 166
+2024-11-01 10:10:27,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - None - robot.py - 52
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:10:27,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:10:28,837 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:10:28,837 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:10:31,462 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:10:31,894 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:10:34,450 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:10:35,667 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:10:35,667 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:10:36,168 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:10:37,081 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:10:37,692 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:10:38,291 - logger - INFO - (1.3378390073776245, -0.2795734107494354, 1.692197561264038) - client_socket.py - 165
+2024-11-01 10:10:38,292 - logger - INFO - [-87.27024812   0.87612706 -52.87828145] - client_socket.py - 166
+2024-11-01 10:12:13,568 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:12:13,569 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:12:14,069 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:12:15,062 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:12:15,809 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:12:16,549 - logger - INFO - (1.2618941068649292, -0.30966562032699585, 1.7708903551101685) - client_socket.py - 165
+2024-11-01 10:12:16,550 - logger - INFO - [-76.49662062  -4.4232186  -84.02352363] - client_socket.py - 166
+2024-11-01 10:14:21,490 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:14:21,490 - logger - INFO - None - robot.py - 52
+2024-11-01 10:14:21,490 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:14:21,490 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:14:21,490 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:14:21,491 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:14:21,491 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:14:21,491 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:14:22,493 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:14:22,494 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:14:23,481 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:14:23,911 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:14:26,423 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:14:29,080 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:14:29,081 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:14:29,581 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:14:30,481 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:14:31,112 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:14:31,693 - logger - INFO - (1.3378390073776245, -0.2795734107494354, 1.692197561264038) - client_socket.py - 165
+2024-11-01 10:14:31,694 - logger - INFO - [-87.27024812   0.87612706 -52.87828145] - client_socket.py - 166
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - None - robot.py - 52
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:16:30,181 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:16:31,183 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:16:31,183 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:16:31,755 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:16:32,187 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:16:34,779 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:16:36,618 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:16:36,619 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:16:37,120 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:16:37,859 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:16:37,860 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:16:37,956 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:16:38,360 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:16:38,457 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:16:39,093 - logger - INFO - (1.2954392433166504, -0.12196647375822067, 1.7642911672592163) - client_socket.py - 165
+2024-11-01 10:16:39,094 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:16:39,094 - logger - INFO - [54.46059728 -4.05466163 65.25219824] - client_socket.py - 166
+2024-11-01 10:16:39,691 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:16:40,287 - logger - INFO - (1.2933387756347656, -0.12160858511924744, 1.7664374113082886) - client_socket.py - 165
+2024-11-01 10:16:40,288 - logger - INFO - [54.88911769 -4.22883038 66.09338773] - client_socket.py - 166
+2024-11-01 10:18:04,761 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - None - robot.py - 52
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:18:04,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:18:05,765 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:18:05,766 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:18:06,849 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:18:07,281 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:18:09,770 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:18:11,204 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:18:11,204 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:18:11,705 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:18:12,633 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:18:13,227 - logger - INFO - convrt to joint (-0.055957725502108716, -0.8347558487655531, 2.0250691387902706, 1.2012068884558313, 0.055466232878539676, -0.591270555130562) - client_socket.py - 228
+2024-11-01 10:18:13,228 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:18:14,413 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:18:15,055 - logger - INFO - (1.4175455570220947, -0.10374638438224792, 1.950693130493164) - client_socket.py - 165
+2024-11-01 10:18:15,056 - logger - INFO - [ 25.19302426 -25.5755242   25.32052127] - client_socket.py - 166
+2024-11-01 10:21:14,459 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - None - robot.py - 52
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:21:14,460 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:21:15,461 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:21:15,462 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:21:16,138 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:21:16,569 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:21:19,144 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:21:33,936 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:21:33,937 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:21:34,437 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:21:35,370 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:21:35,990 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:21:36,637 - logger - INFO - (1.3577018976211548, -0.14390413463115692, 1.6902754306793213) - client_socket.py - 165
+2024-11-01 10:21:36,638 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 166
+2024-11-01 10:23:26,941 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:23:26,942 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 233
+2024-11-01 10:23:27,443 - logger - INFO - set joints - client_socket.py - 236
+2024-11-01 10:23:28,378 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 233
+2024-11-01 10:23:28,996 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 233
+2024-11-01 10:23:29,614 - logger - INFO - (1.2909445762634277, -0.12122625857591629, 1.7688566446304321) - client_socket.py - 165
+2024-11-01 10:23:29,615 - logger - INFO - [55.36460317 -4.42320991 67.0495173 ] - client_socket.py - 166
+2024-11-01 10:23:37,094 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:23:37,094 - logger - INFO - None - robot.py - 52
+2024-11-01 10:23:37,094 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:23:37,094 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:23:37,094 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:23:37,095 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:23:37,095 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:23:37,095 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:23:38,096 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:23:38,097 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:23:39,097 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:23:39,527 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:23:42,081 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:23:43,680 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:23:43,680 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 235
+2024-11-01 10:23:44,181 - logger - INFO - set joints - client_socket.py - 238
+2024-11-01 10:23:45,077 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 235
+2024-11-01 10:23:45,678 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 235
+2024-11-01 10:23:46,278 - logger - INFO - (1.3577018976211548, -0.14390413463115692, 1.6902754306793213) - client_socket.py - 165
+2024-11-01 10:23:46,279 - logger - INFO - (0.277409166097641, 0.09980999678373337, 0.30121442675590515, 0.9068362712860107) - client_socket.py - 166
+2024-11-01 10:23:46,279 - logger - INFO - (0.5983891357605814, 0.013903812722255523, 0.6456765004409842) - client_socket.py - 167
+2024-11-01 10:23:46,279 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 168
+2024-11-01 10:27:58,667 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - None - robot.py - 52
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:27:58,668 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:27:59,669 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:27:59,670 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:28:00,480 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:28:00,911 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:28:03,423 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:28:04,620 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:28:04,621 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 234
+2024-11-01 10:28:05,121 - logger - INFO - set joints - client_socket.py - 237
+2024-11-01 10:28:05,812 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 234
+2024-11-01 10:28:06,412 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 234
+2024-11-01 10:28:07,019 - logger - INFO - ((1.363508688862827, -0.14738633312740007, 1.681940416705209), (0.2711905931532546, 0.09134442108571526, 0.2760005784723251, 0.9175704548450998), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.363508701324463, -0.1473863273859024, 1.6819404363632202), (0.2711905837059021, 0.0913444310426712, 0.27600061893463135, 0.9175704121589661)) - client_socket.py - 165
+2024-11-01 10:28:07,020 - logger - INFO - (1.363508688862827, -0.14738633312740007, 1.681940416705209) - client_socket.py - 166
+2024-11-01 10:28:07,020 - logger - INFO - [33.2424705   1.02750378 33.78877976] - client_socket.py - 167
+2024-11-01 10:32:02,255 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:02,256 - logger - INFO - None - robot.py - 52
+2024-11-01 10:32:02,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:02,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:02,256 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:02,257 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:32:02,257 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:32:02,257 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:32:03,259 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:32:03,259 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:32:03,882 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:32:04,313 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:32:06,954 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:32:08,690 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:32:08,691 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 236
+2024-11-01 10:32:09,192 - logger - INFO - set joints - client_socket.py - 239
+2024-11-01 10:32:10,084 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 236
+2024-11-01 10:32:10,662 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 236
+2024-11-01 10:32:33,885 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:33,885 - logger - INFO - None - robot.py - 52
+2024-11-01 10:32:33,885 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:33,885 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:33,886 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:32:33,886 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:32:33,886 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:32:33,886 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:32:34,888 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:32:34,888 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:32:35,613 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:32:36,045 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:32:38,628 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:32:40,408 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:32:40,409 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 236
+2024-11-01 10:32:40,910 - logger - INFO - set joints - client_socket.py - 239
+2024-11-01 10:32:41,805 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 236
+2024-11-01 10:32:42,383 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 236
+2024-11-01 10:32:42,959 - logger - INFO - forward kin 0 - client_socket.py - 157
+2024-11-01 10:32:42,960 - logger - INFO - ((0.011789000000000003, -0.027800000000000005, 0.2615800000000001), (0.0, 0.0, -0.06910027547585298, 0.9976097192435333), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.011788999661803246, -0.027799999341368675, 0.2615799903869629), (0.0, 0.0, -0.0691002756357193, 0.9976097345352173)) - client_socket.py - 158
+2024-11-01 10:32:42,960 - logger - INFO - forward kin 1 - client_socket.py - 157
+2024-11-01 10:32:42,960 - logger - INFO - ((0.16459908876496818, -0.15306419445572844, 0.4960300000000002), (0.004646746377066796, 0.06708568550123119, -0.06894385990750726, 0.9953515272153809), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.16459909081459045, -0.15306419134140015, 0.4960300028324127), (0.004646745510399342, 0.06708567589521408, -0.06894385069608688, 0.9953515529632568)) - client_socket.py - 158
+2024-11-01 10:32:42,961 - logger - INFO - forward kin 2 - client_socket.py - 157
+2024-11-01 10:32:42,961 - logger - INFO - ((0.2686206669358018, -0.16520057027886625, 1.2180261299028752), (-0.012134559427501513, -0.17518822233703, -0.06802646939492893, 0.9821070403390624), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.26862066984176636, -0.16520057618618011, 1.2180261611938477), (-0.012134560383856297, -0.17518822848796844, -0.06802647560834885, 0.9821070432662964)) - client_socket.py - 158
+2024-11-01 10:32:43,152 - logger - INFO - forward kin 3 - client_socket.py - 157
+2024-11-01 10:32:43,153 - logger - INFO - ((0.472174384988445, -0.09124934960356283, 1.3939497142995183), (0.5650358477946952, -0.1849616535888104, 0.049274798511937376, 0.8025557124837073), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.47217437624931335, -0.09124934673309326, 1.3939497470855713), (0.5650358200073242, -0.18496164679527283, 0.04927479103207588, 0.8025557398796082)) - client_socket.py - 158
+2024-11-01 10:32:43,153 - logger - INFO - forward kin 4 - client_socket.py - 157
+2024-11-01 10:32:43,154 - logger - INFO - ((1.2653767735993386, -0.19063920221905145, 1.7336373929059767), (0.4878665526791165, 0.18110933462958917, 0.289274509486157, 0.8034338142302486), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2653768062591553, -0.1906391978263855, 1.7336374521255493), (0.48786652088165283, 0.18110933899879456, 0.28927451372146606, 0.8034338355064392)) - client_socket.py - 158
+2024-11-01 10:32:43,154 - logger - INFO - forward kin 5 - client_socket.py - 157
+2024-11-01 10:32:43,347 - logger - INFO - ((1.3521778005318807, -0.140877803539371, 1.6978935428629554), (0.29593001618470854, 0.11186501767577649, 0.32243844489891005, 0.8921575491988446), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3521778583526611, -0.14087779819965363, 1.697893500328064), (0.29593005776405334, 0.11186503618955612, 0.32243847846984863, 0.8921574950218201)) - client_socket.py - 158
+2024-11-01 10:32:43,347 - logger - INFO - (1.3521778005318807, -0.140877803539371, 1.6978935428629554) - client_socket.py - 168
+2024-11-01 10:32:43,347 - logger - INFO - [36.8838369   0.5021473  39.90860621] - client_socket.py - 169
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - None - robot.py - 52
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:35:11,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:35:12,955 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:35:12,955 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:35:13,604 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - None - robot.py - 52
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:35:59,596 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:36:00,599 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:36:00,599 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:36:01,817 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:36:52,064 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:36:52,064 - logger - INFO - None - robot.py - 52
+2024-11-01 10:36:52,064 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:36:52,064 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:36:52,064 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:36:52,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:36:52,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:36:52,065 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:36:53,067 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:36:53,067 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:36:53,931 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:36:54,367 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:36:56,980 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:36:58,184 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:36:58,185 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 236
+2024-11-01 10:36:58,685 - logger - INFO - set joints - client_socket.py - 239
+2024-11-01 10:36:59,579 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 236
+2024-11-01 10:37:00,208 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 236
+2024-11-01 10:37:00,784 - logger - INFO - forward kin 0 - client_socket.py - 157
+2024-11-01 10:37:00,786 - logger - INFO - ((0.011789000000000003, -0.027800000000000005, 0.2615800000000001), (0.0, 0.0, -0.06910027547585298, 0.9976097192435333), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.011788999661803246, -0.027799999341368675, 0.2615799903869629), (0.0, 0.0, -0.0691002756357193, 0.9976097345352173)) - client_socket.py - 158
+2024-11-01 10:37:00,786 - logger - INFO - forward kin 1 - client_socket.py - 157
+2024-11-01 10:37:00,786 - logger - INFO - ((0.16459908876496818, -0.15306419445572844, 0.4960300000000002), (0.004646746377066796, 0.06708568550123119, -0.06894385990750726, 0.9953515272153809), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.16459909081459045, -0.15306419134140015, 0.4960300028324127), (0.004646745510399342, 0.06708567589521408, -0.06894385069608688, 0.9953515529632568)) - client_socket.py - 158
+2024-11-01 10:37:00,786 - logger - INFO - forward kin 2 - client_socket.py - 157
+2024-11-01 10:37:00,786 - logger - INFO - ((0.2686206669358018, -0.16520057027886625, 1.2180261299028752), (-0.012134559427501513, -0.17518822233703, -0.06802646939492893, 0.9821070403390624), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.26862066984176636, -0.16520057618618011, 1.2180261611938477), (-0.012134560383856297, -0.17518822848796844, -0.06802647560834885, 0.9821070432662964)) - client_socket.py - 158
+2024-11-01 10:37:00,787 - logger - INFO - forward kin 3 - client_socket.py - 157
+2024-11-01 10:37:00,787 - logger - INFO - ((0.4722873594681847, -0.090803672760365, 1.3927413699208582), (0.552928392884076, -0.1825486852904489, 0.044659727749690875, 0.8117583868114238), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.4722873568534851, -0.09080367535352707, 1.392741322517395), (0.5529284477233887, -0.18254871666431427, 0.04465973749756813, 0.8117583394050598)) - client_socket.py - 158
+2024-11-01 10:37:00,787 - logger - INFO - forward kin 4 - client_socket.py - 157
+2024-11-01 10:37:00,976 - logger - INFO - ((1.2683007710855563, -0.18864509839669064, 1.726246684800133), (0.4852492121101304, 0.16862585784731554, 0.2688075539982856, 0.8147643960834404), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2683007717132568, -0.18864509463310242, 1.72624671459198), (0.48524922132492065, 0.1686258614063263, 0.2688075602054596, 0.8147643804550171)) - client_socket.py - 158
+2024-11-01 10:37:00,977 - logger - INFO - forward kin 5 - client_socket.py - 157
+2024-11-01 10:37:00,977 - logger - INFO - ((1.3521778005318807, -0.140877803539371, 1.6978935428629554), (0.29593001618470854, 0.11186501767577649, 0.32243844489891005, 0.8921575491988446), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3521778583526611, -0.14087779819965363, 1.697893500328064), (0.29593005776405334, 0.11186503618955612, 0.32243847846984863, 0.8921574950218201)) - client_socket.py - 158
+2024-11-01 10:37:00,977 - logger - INFO - (1.3521778583526611, -0.14087779819965363, 1.697893500328064) - client_socket.py - 168
+2024-11-01 10:37:00,978 - logger - INFO - [36.88384329  0.50214583 39.90861179] - client_socket.py - 169
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - None - robot.py - 52
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:39:18,125 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:39:19,127 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:39:19,127 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:39:20,469 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:39:20,903 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:39:23,418 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:39:26,017 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:39:26,017 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 236
+2024-11-01 10:39:26,518 - logger - INFO - set joints - client_socket.py - 239
+2024-11-01 10:39:27,219 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 236
+2024-11-01 10:39:27,845 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 236
+2024-11-01 10:40:13,792 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:40:13,792 - logger - INFO - None - robot.py - 52
+2024-11-01 10:40:13,792 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:40:13,792 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:40:13,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:40:13,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:40:13,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:40:13,794 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:40:14,796 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:40:14,796 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:40:15,548 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:40:15,980 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:40:18,580 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:40:19,638 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:40:19,639 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 237
+2024-11-01 10:40:20,139 - logger - INFO - set joints - client_socket.py - 240
+2024-11-01 10:40:20,839 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 237
+2024-11-01 10:40:21,419 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 237
+2024-11-01 10:40:21,994 - logger - INFO - forward kin 0 - client_socket.py - 157
+2024-11-01 10:40:21,995 - logger - INFO - ((0.011789, -0.027800000000000002, 0.26158), (0.0, 0.0, -0.06855495305663467, 0.9976473417051752), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.011788999661803246, -0.027799999341368675, 0.2615799903869629), (0.0, 0.0, -0.06855495274066925, 0.9976473450660706)) - client_socket.py - 158
+2024-11-01 10:40:21,996 - logger - INFO - forward kin 1 - client_socket.py - 157
+2024-11-01 10:40:21,996 - logger - INFO - ((0.16473594092189725, -0.15289706193046126, 0.49602999999999997), (0.0045456404398894435, 0.06615052449174362, -0.06840408424640027, 0.9954518202911027), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.16473594307899475, -0.15289705991744995, 0.4960300028324127), (0.004545640666037798, 0.06615052372217178, -0.06840408593416214, 0.995451807975769)) - client_socket.py - 158
+2024-11-01 10:40:21,996 - logger - INFO - forward kin 2 - client_socket.py - 157
+2024-11-01 10:40:22,187 - logger - INFO - ((0.26742307957038375, -0.16473362027402969, 1.218222106977614), (-0.011766028586447774, -0.17122536911373024, -0.06753770916976884, 0.9828438794555672), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.2674230933189392, -0.1647336184978485, 1.2182221412658691), (-0.011766028590500355, -0.17122535407543182, -0.06753771007061005, 0.9828438758850098)) - client_socket.py - 158
+2024-11-01 10:40:22,188 - logger - INFO - forward kin 3 - client_socket.py - 157
+2024-11-01 10:40:22,188 - logger - INFO - ((0.47228736096947777, -0.09080367090144362, 1.3927413662880936), (0.5529283949093811, -0.18254867577900524, 0.044659723584176934, 0.8117583877999981), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.4722873568534851, -0.09080366790294647, 1.392741322517395), (0.5529283881187439, -0.1825486719608307, 0.044659726321697235, 0.8117583990097046)) - client_socket.py - 158
+2024-11-01 10:40:22,188 - logger - INFO - forward kin 4 - client_socket.py - 157
+2024-11-01 10:40:22,188 - logger - INFO - ((1.2683007798849677, -0.18864509398589693, 1.726246664496804), (0.4852492220448129, 0.1686258476080886, 0.26880753953820485, 0.8147643970564583), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2683007717132568, -0.18864509463310242, 1.72624671459198), (0.48524922132492065, 0.1686258465051651, 0.2688075304031372, 0.8147643804550171)) - client_socket.py - 158
+2024-11-01 10:40:22,188 - logger - INFO - forward kin 5 - client_socket.py - 157
+2024-11-01 10:40:22,188 - logger - INFO - ((1.357701861503372, -0.1439041339136618, 1.6902754122490153), (0.2912795683813789, 0.10441629298006647, 0.2996488070298808, 0.9024766164557549), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3577018976211548, -0.14390413463115692, 1.6902754306793213), (0.29127955436706543, 0.10441629588603973, 0.29964882135391235, 0.9024766087532043)) - client_socket.py - 158
+2024-11-01 10:54:26,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:54:26,360 - logger - INFO - None - robot.py - 52
+2024-11-01 10:54:26,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:54:26,360 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:54:26,361 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:54:26,361 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:54:26,361 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:54:26,361 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:54:27,364 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:54:27,364 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:54:28,439 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:54:28,871 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:54:31,450 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:54:33,630 - logger - INFO - UPDATE - client_socket.py - 137
+2024-11-01 10:54:33,631 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 236
+2024-11-01 10:54:34,131 - logger - INFO - set joints - client_socket.py - 239
+2024-11-01 10:54:34,823 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 236
+2024-11-01 10:54:35,418 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 236
+2024-11-01 10:54:36,013 - logger - INFO - forward kin 0 - client_socket.py - 157
+2024-11-01 10:54:36,014 - logger - INFO - ((0.011789, -0.027800000000000002, 0.26158), (0.0, 0.0, -0.06855495305663467, 0.9976473417051752), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.011788999661803246, -0.027799999341368675, 0.2615799903869629), (0.0, 0.0, -0.06855495274066925, 0.9976473450660706)) - client_socket.py - 158
+2024-11-01 10:54:36,015 - logger - INFO - forward kin 1 - client_socket.py - 157
+2024-11-01 10:54:36,015 - logger - INFO - ((0.16473594092189725, -0.15289706193046126, 0.49602999999999997), (0.0045456404398894435, 0.06615052449174362, -0.06840408424640027, 0.9954518202911027), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.16473594307899475, -0.15289705991744995, 0.4960300028324127), (0.004545640666037798, 0.06615052372217178, -0.06840408593416214, 0.995451807975769)) - client_socket.py - 158
+2024-11-01 10:54:36,015 - logger - INFO - forward kin 2 - client_socket.py - 157
+2024-11-01 10:54:36,211 - logger - INFO - ((0.26742307957038375, -0.16473362027402969, 1.218222106977614), (-0.011766028586447774, -0.17122536911373024, -0.06753770916976884, 0.9828438794555672), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.2674230933189392, -0.1647336184978485, 1.2182221412658691), (-0.011766028590500355, -0.17122535407543182, -0.06753771007061005, 0.9828438758850098)) - client_socket.py - 158
+2024-11-01 10:54:36,212 - logger - INFO - forward kin 3 - client_socket.py - 157
+2024-11-01 10:54:36,213 - logger - INFO - ((0.47228736096947777, -0.09080367090144362, 1.3927413662880936), (0.5529283949093811, -0.18254867577900524, 0.044659723584176934, 0.8117583877999981), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.4722873568534851, -0.09080366790294647, 1.392741322517395), (0.5529283881187439, -0.1825486719608307, 0.044659726321697235, 0.8117583990097046)) - client_socket.py - 158
+2024-11-01 10:54:36,213 - logger - INFO - forward kin 4 - client_socket.py - 157
+2024-11-01 10:54:36,213 - logger - INFO - ((1.2683007798849677, -0.18864509398589693, 1.726246664496804), (0.4852492220448129, 0.1686258476080886, 0.26880753953820485, 0.8147643970564583), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2683007717132568, -0.18864509463310242, 1.72624671459198), (0.48524922132492065, 0.1686258465051651, 0.2688075304031372, 0.8147643804550171)) - client_socket.py - 158
+2024-11-01 10:54:36,213 - logger - INFO - forward kin 5 - client_socket.py - 157
+2024-11-01 10:54:36,213 - logger - INFO - ((1.357701861503372, -0.1439041339136618, 1.6902754122490153), (0.2912795683813789, 0.10441629298006647, 0.2996488070298808, 0.9024766164557549), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3577018976211548, -0.14390413463115692, 1.6902754306793213), (0.29127955436706543, 0.10441629588603973, 0.29964882135391235, 0.9024766087532043)) - client_socket.py - 158
+2024-11-01 10:54:36,213 - logger - INFO - (1.3577018976211548, -0.14390413463115692, 1.6902754306793213) - client_socket.py - 168
+2024-11-01 10:54:36,213 - logger - INFO - [36.04208166  0.7966306  36.99454171] - client_socket.py - 169
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - None - robot.py - 52
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 10:59:25,674 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 10:59:26,676 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 10:59:26,677 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 10:59:27,920 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 10:59:28,351 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 10:59:30,911 - logger - INFO - connected - robot.py - 52
+2024-11-01 10:59:47,868 - logger - INFO - UPDATE - client_socket.py - 140
+2024-11-01 10:59:47,869 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 238
+2024-11-01 10:59:48,370 - logger - INFO - set joints - client_socket.py - 241
+2024-11-01 10:59:49,309 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 238
+2024-11-01 10:59:49,945 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 238
+2024-11-01 10:59:50,526 - logger - INFO - (2.6399457454681396, -0.21933113038539886, 3.4627513885498047) - client_socket.py - 170
+2024-11-01 10:59:50,527 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 171
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - None - robot.py - 52
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:01:04,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:01:05,101 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:01:05,102 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:01:07,081 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:01:07,512 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:01:10,155 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:01:11,740 - logger - INFO - UPDATE - client_socket.py - 140
+2024-11-01 11:01:11,741 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 238
+2024-11-01 11:01:12,242 - logger - INFO - set joints - client_socket.py - 241
+2024-11-01 11:01:12,940 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 238
+2024-11-01 11:01:13,519 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 238
+2024-11-01 11:01:14,097 - logger - INFO - (1.6457526683807373, -0.22281333804130554, 3.454416513442993) - client_socket.py - 170
+2024-11-01 11:01:14,098 - logger - INFO - [33.24247083  1.02750342 33.78878578] - client_socket.py - 171
+2024-11-01 11:05:59,968 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:05:59,968 - logger - INFO - None - robot.py - 52
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:05:59,969 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:06:00,971 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:06:00,971 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:06:01,728 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:06:02,160 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:06:04,718 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:06:06,252 - logger - INFO - UPDATE - client_socket.py - 140
+2024-11-01 11:06:06,253 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 238
+2024-11-01 11:06:06,753 - logger - INFO - set joints - client_socket.py - 241
+2024-11-01 11:06:07,446 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 238
+2024-11-01 11:06:08,082 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 238
+2024-11-01 11:06:08,907 - logger - INFO - (1.6399458646774292, -0.21933113038539886, 2.4627513885498047) - client_socket.py - 170
+2024-11-01 11:06:08,908 - logger - INFO - [36.04208166  0.7966306  36.99454171] - client_socket.py - 171
+2024-11-01 11:07:33,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:07:33,930 - logger - INFO - None - robot.py - 52
+2024-11-01 11:07:33,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:07:33,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:07:33,930 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:07:33,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:07:33,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:07:33,931 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:07:34,933 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:07:34,933 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:07:35,755 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:07:36,187 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:07:38,731 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:07:39,889 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:07:39,890 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:07:40,391 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:07:41,285 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:07:41,864 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 242
+2024-11-01 11:07:42,442 - logger - INFO - (1.2822438478469849, -0.07542713731527328, 1.7724764347076416) - client_socket.py - 174
+2024-11-01 11:07:42,443 - logger - INFO - [34.28517199  0.79662979 36.99453841] - client_socket.py - 175
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - None - robot.py - 52
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:08:29,160 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:08:30,161 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:08:30,162 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:08:31,435 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:08:31,867 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:08:34,516 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:08:35,673 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:08:35,674 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:08:36,175 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:08:37,068 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:08:37,644 - logger - INFO - convrt to joint (-0.05600759228786554, -0.8348072541690892, 2.0250691387902706, 1.2012054640625103, 0.055466438476310304, -0.591270555130562) - client_socket.py - 237
+2024-11-01 11:08:37,646 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:08:38,894 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 242
+2024-11-01 11:08:39,471 - logger - INFO - (1.3421276807785034, -0.03531603142619133, 2.032857894897461) - client_socket.py - 174
+2024-11-01 11:08:39,473 - logger - INFO - [ 25.19393798 -25.57406432  25.31834742] - client_socket.py - 175
+2024-11-01 11:09:16,494 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:09:16,494 - logger - INFO - None - robot.py - 52
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:09:16,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:09:17,497 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:09:17,498 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:09:18,332 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:09:18,771 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:09:21,334 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:09:22,681 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:09:22,682 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:09:23,183 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:24,076 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:09:29,850 - logger - INFO - convrt to joint (-0.06046543761575437, -0.6935449934140627, 1.6911851512100466, 1.6991478475029536, -0.009874920187095328, -0.2079512793648415) - client_socket.py - 237
+2024-11-01 11:09:29,850 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:32,159 - logger - INFO - convrt to joint (-0.052339205118294284, -0.5550372369380107, 1.3014240945095787, 1.719302693142708, -0.00561797535130952, -0.20184514905140521) - client_socket.py - 237
+2024-11-01 11:09:32,160 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:34,471 - logger - INFO - convrt to joint (-0.04461204904895729, -0.5663001039411708, 1.327975852718689, 1.7250771345550655, -0.00642958381126041, -0.20092035080599413) - client_socket.py - 237
+2024-11-01 11:09:34,472 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:36,777 - logger - INFO - convrt to joint (-0.04429780294693799, -0.5691938492321023, 1.326093751959256, 1.7312698347699782, -0.006805098458180423, -0.20140972924882725) - client_socket.py - 237
+2024-11-01 11:09:36,779 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:39,088 - logger - INFO - convrt to joint (-0.04399257638697959, -0.5729112617786871, 1.3261973463506784, 1.7378834469667923, -0.007241647082074837, -0.20127411925102198) - client_socket.py - 237
+2024-11-01 11:09:39,089 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:41,399 - logger - INFO - convrt to joint (-0.05168581041389455, -0.5730772465905665, 1.3261758969526576, 1.7448099470356264, -0.007695610023770958, -0.20123076139993384) - client_socket.py - 237
+2024-11-01 11:09:41,400 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:43,591 - logger - INFO - convrt to joint (-0.05937251162779393, -0.5732764666197783, 1.3261665721290026, 1.7516253044522572, -0.008142170185318013, -0.20116443162081082) - client_socket.py - 237
+2024-11-01 11:09:43,592 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:45,954 - logger - INFO - convrt to joint (-0.05986090502984706, -0.5696164461047498, 1.3261605646660497, 1.7592157398929666, -0.008638465023968783, -0.20106375460564652) - client_socket.py - 237
+2024-11-01 11:09:45,955 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:09:48,237 - logger - INFO - convrt to joint (-0.06035575145822083, -0.565938034106052, 1.3261572014366938, 1.7666311902726712, -0.009122896122972398, -0.20100514095316588) - client_socket.py - 237
+2024-11-01 11:09:48,238 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:24,312 - logger - INFO - None - robot.py - 52
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:10:24,312 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:10:24,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:10:25,313 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:10:25,314 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:10:26,094 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:10:26,527 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:10:29,105 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:10:29,921 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:10:29,922 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:10:30,423 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:10:31,314 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:10:53,007 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - None - robot.py - 52
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:10:53,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:10:54,009 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:10:54,010 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:10:54,776 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:10:55,213 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:10:57,875 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:10:58,839 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:10:58,840 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:10:59,340 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:11:00,232 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:11:37,831 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:11:37,831 - logger - INFO - None - robot.py - 52
+2024-11-01 11:11:37,831 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:11:37,831 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:11:37,832 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:11:37,832 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:11:37,832 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:11:37,832 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:11:38,833 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:11:38,834 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:11:39,605 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:11:40,042 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:11:42,620 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:11:43,582 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:11:43,583 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:11:44,084 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:11:44,972 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:12:21,080 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - None - robot.py - 52
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:12:21,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:12:22,084 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:12:22,084 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:12:22,685 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:12:23,117 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:12:25,644 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:12:27,372 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:12:27,373 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:12:27,874 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:12:28,757 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:12:55,202 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:55,202 - logger - INFO - None - robot.py - 52
+2024-11-01 11:12:55,202 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:55,203 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:55,203 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:12:55,203 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:12:55,203 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:12:55,203 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:12:56,204 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:12:56,205 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:12:56,683 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:12:57,115 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:12:59,678 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:13:00,641 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:13:00,642 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 242
+2024-11-01 11:13:01,142 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:02,040 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 242
+2024-11-01 11:13:02,617 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 237
+2024-11-01 11:13:02,618 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:03,814 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 242
+2024-11-01 11:13:04,390 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:13:04,391 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:13:07,415 - logger - INFO - [1.282244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:07,417 - logger - INFO - convrt to joint (-0.12921733520207523, -0.1194010952530674, 0.4700553519881623, 1.1166565991394184, -0.7053320419629417, -0.5686009936883386) - client_socket.py - 237
+2024-11-01 11:13:07,418 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:09,712 - logger - INFO - [1.282244, -0.06542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:09,713 - logger - INFO - convrt to joint (-0.12167564662612197, -0.11810226713005592, 0.46863327519827663, 1.1153942688827072, -0.7021868751963671, -0.5730492375459174) - client_socket.py - 237
+2024-11-01 11:13:09,714 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:12,212 - logger - INFO - [1.282244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:12,213 - logger - INFO - convrt to joint (-0.11437769481238623, -0.1171345354608372, 0.46763346147171225, 1.115642179667562, -0.703410773307993, -0.5720410936007952) - client_socket.py - 237
+2024-11-01 11:13:12,213 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:14,510 - logger - INFO - [1.292244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:14,511 - logger - INFO - convrt to joint (-0.11336729615829684, -0.13116241078954552, 0.4825934582775391, 1.1165715485789134, -0.69950794678685, -0.572226271906203) - client_socket.py - 237
+2024-11-01 11:13:14,512 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:16,858 - logger - INFO - [1.302244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:16,859 - logger - INFO - convrt to joint (-0.11238523931202508, -0.14556459767617808, 0.49818974375215486, 1.1175433294835735, -0.695956433947568, -0.5722078857339099) - client_socket.py - 237
+2024-11-01 11:13:16,859 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:19,156 - logger - INFO - [1.302244, -0.06542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:19,157 - logger - INFO - convrt to joint (-0.1196225575402168, -0.14665719486418702, 0.49939420479730623, 1.1174261507655665, -0.6955904112399202, -0.5722349503728453) - client_socket.py - 237
+2024-11-01 11:13:19,157 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:21,457 - logger - INFO - [1.302244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:21,458 - logger - INFO - convrt to joint (-0.12683737745415682, -0.14780976091751094, 0.5006432696144774, 1.1173435287951379, -0.6949585102757366, -0.5722158643633823) - client_socket.py - 237
+2024-11-01 11:13:21,459 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:23,665 - logger - INFO - [1.292244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:23,666 - logger - INFO - convrt to joint (-0.12793970272678648, -0.13364049606568693, 0.48537092298366935, 1.1163832228066572, -0.6988931453990218, -0.5722310736730267) - client_socket.py - 237
+2024-11-01 11:13:23,666 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:25,986 - logger - INFO - [1.282244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:25,987 - logger - INFO - convrt to joint (-0.12903847225925608, -0.11933584470917005, 0.4699838195885369, 1.1154227879264433, -0.7023703188487546, -0.5722082666385909) - client_socket.py - 237
+2024-11-01 11:13:25,987 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:31,797 - logger - INFO - [1.282244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:31,988 - logger - INFO - convrt to joint (-0.12903709864789584, -0.11931665310320896, 0.46995402753740984, 1.115451941779008, -0.7023248823654477, -0.5722242986927464) - client_socket.py - 237
+2024-11-01 11:13:31,989 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:34,297 - logger - INFO - [1.282244, -0.06542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:34,298 - logger - INFO - convrt to joint (-0.1217196860395766, -0.11817441666891682, 0.46873969536551097, 1.1155625480788747, -0.7029944179543866, -0.5722450227893713) - client_socket.py - 237
+2024-11-01 11:13:34,298 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:36,609 - logger - INFO - [1.282244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:36,610 - logger - INFO - convrt to joint (-0.11438514253748756, -0.11714152802616026, 0.46764625287543893, 1.115623952089678, -0.7035644256221254, -0.572230893530332) - client_socket.py - 237
+2024-11-01 11:13:36,610 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:38,919 - logger - INFO - [1.292244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:38,920 - logger - INFO - convrt to joint (-0.11337949330403027, -0.1311874259189377, 0.48263258818793703, 1.1165763115024558, -0.6997507440997327, -0.5722236481070556) - client_socket.py - 237
+2024-11-01 11:13:38,920 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:41,093 - logger - INFO - [1.302244, -0.055427000000000004, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:41,094 - logger - INFO - convrt to joint (-0.11239857790527093, -0.14558837054605825, 0.49822780868746264, 1.117542444449235, -0.6962241562636102, -0.5722445208186939) - client_socket.py - 237
+2024-11-01 11:13:41,094 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:43,382 - logger - INFO - [1.302244, -0.06542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:43,384 - logger - INFO - convrt to joint (-0.11963666857680641, -0.14670031986412158, 0.49946098170682424, 1.1174231889523547, -0.6958807186742505, -0.5722648552948253) - client_socket.py - 237
+2024-11-01 11:13:43,384 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:45,705 - logger - INFO - [1.302244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:45,706 - logger - INFO - convrt to joint (-0.12685258663865387, -0.14782509629347051, 0.5006691886341074, 1.1173473709615613, -0.6952578994093244, -0.5722527724604207) - client_socket.py - 237
+2024-11-01 11:13:45,706 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:47,920 - logger - INFO - [1.292244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:47,921 - logger - INFO - convrt to joint (-0.1279540252736924, -0.13366793260542081, 0.48541470157764244, 1.1163768024908525, -0.6991827169615181, -0.5722605914680198) - client_socket.py - 237
+2024-11-01 11:13:47,921 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:13:50,261 - logger - INFO - [1.282244, -0.07542700000000001, 1.7724760000000002] - client_socket.py - 222
+2024-11-01 11:13:50,263 - logger - INFO - convrt to joint (-0.12905092626515163, -0.11936395428095986, 0.4700276567578418, 1.1154218165217846, -0.7026208461759534, -0.5722389309939598) - client_socket.py - 237
+2024-11-01 11:13:50,263 - logger - INFO - set joints - client_socket.py - 245
+2024-11-01 11:14:19,055 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:14:19,055 - logger - INFO - None - robot.py - 52
+2024-11-01 11:14:19,055 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:14:19,055 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:14:19,055 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:14:19,056 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:14:19,056 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:14:19,056 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:14:20,057 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:14:20,058 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:14:20,993 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:14:21,429 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:14:24,024 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:14:25,369 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:14:25,369 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:14:25,870 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:26,759 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:14:27,335 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:14:27,336 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:28,489 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:14:29,063 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:14:29,064 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:14:30,982 - logger - INFO - convrt to joint (-0.11306856145969263, -0.37095349405663813, 0.7578423447284666, 1.1443412480051813, -0.6466839749302911, -0.5528670056997733) - client_socket.py - 236
+2024-11-01 11:14:31,171 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:33,471 - logger - INFO - convrt to joint (-0.09682129739933201, -0.6588073010020228, 1.122473159619771, 1.1640258385591602, -0.5171605194560173, -0.5617452726631275) - client_socket.py - 236
+2024-11-01 11:14:33,472 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:35,775 - logger - INFO - convrt to joint (0.00917016562599329, -0.8935195575896867, 1.4127436113679126, 1.187534306187111, -0.323976655347565, -0.5608700318132799) - client_socket.py - 236
+2024-11-01 11:14:35,776 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:38,078 - logger - INFO - convrt to joint (0.10227143726864694, -0.92441477322723, 1.4541506092552303, 1.19401083972156, -0.2408080478231767, -0.563431478602136) - client_socket.py - 236
+2024-11-01 11:14:38,079 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:40,386 - logger - INFO - convrt to joint (0.20957307296496297, -0.8702736940021759, 1.433953257286618, 1.1917356567825679, -0.2831937477909635, -0.5656126354701394) - client_socket.py - 236
+2024-11-01 11:14:40,387 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:42,683 - logger - INFO - convrt to joint (0.22521828397278795, -0.7659561850713282, 1.3550935668577377, 1.1799440708954905, -0.42594034948175413, -0.5667020019449382) - client_socket.py - 236
+2024-11-01 11:14:42,685 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:44,987 - logger - INFO - convrt to joint (0.1145707456927244, -0.2803224963374281, 0.704488957268997, 1.1292668114722917, -0.7502607453179085, -0.5653059169132439) - client_socket.py - 236
+2024-11-01 11:14:44,988 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:47,387 - logger - INFO - convrt to joint (-0.007606634672995132, -0.11978595841649656, 0.4729094469449421, 1.1183694096261012, -0.7189998991211785, -0.5598107233389743) - client_socket.py - 236
+2024-11-01 11:14:47,388 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:49,731 - logger - INFO - convrt to joint (-0.12969785670121983, -0.12141880792386278, 0.4731388164115979, 1.1159860120037342, -0.7156624822292897, -0.560334735043103) - client_socket.py - 236
+2024-11-01 11:14:49,732 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:14:52,027 - logger - INFO - convrt to joint (-0.13021863703847794, -0.098300468170468, 0.41221215168334185, 1.1124793205516652, -0.7276543825862759, -0.5604114548244792) - client_socket.py - 236
+2024-11-01 11:14:52,028 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:18:45,440 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:18:45,441 - logger - INFO - None - robot.py - 52
+2024-11-01 11:18:45,441 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:18:45,441 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:18:45,441 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:18:45,442 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:18:45,442 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:18:45,442 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:18:46,444 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:18:46,444 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:18:47,224 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:18:47,656 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:18:50,246 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:18:51,644 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:18:51,645 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:18:52,145 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:18:53,038 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:18:53,662 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:18:53,663 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:18:54,820 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:18:55,396 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:18:55,398 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - None - robot.py - 52
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:19:27,795 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:19:28,797 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:19:28,797 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:19:32,656 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:19:33,096 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:19:35,662 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:19:37,801 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:19:37,801 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:19:38,302 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:39,189 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:19:39,768 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:19:39,769 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:40,970 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:19:41,597 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:19:41,598 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:19:43,811 - logger - INFO - convrt to joint (-0.1300372038478061, -0.12074483211383702, 0.4718394014270148, 1.1234205193815183, -0.7188852765875106, -0.5567091931970278) - client_socket.py - 236
+2024-11-01 11:19:43,812 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:46,023 - logger - INFO - convrt to joint (-0.12420004835307964, -0.19218786152473885, 0.5495811112479286, 1.1262607722579143, -0.6925574880097984, -0.5642305602045826) - client_socket.py - 236
+2024-11-01 11:19:46,024 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:48,325 - logger - INFO - convrt to joint (-0.11908714986775884, -0.26808392939425646, 0.6360488275828544, 1.131888191325386, -0.6724290851501226, -0.5628293219966123) - client_socket.py - 236
+2024-11-01 11:19:48,326 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:50,623 - logger - INFO - convrt to joint (-0.08491506370902405, -0.26457820856321507, 0.6324685356192007, 1.1320789313657125, -0.676500773933068, -0.5632408912948934) - client_socket.py - 236
+2024-11-01 11:19:50,624 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:52,827 - logger - INFO - convrt to joint (-0.05048232006130559, -0.2628268931918177, 0.6305783219898242, 1.1325730085682633, -0.6780348994326025, -0.5632063031635884) - client_socket.py - 236
+2024-11-01 11:19:52,827 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:55,129 - logger - INFO - convrt to joint (-0.05328389499211864, -0.18738476103590548, 0.5450562190350353, 1.1269645198901228, -0.7008058113270708, -0.5632495517123421) - client_socket.py - 236
+2024-11-01 11:19:55,130 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:57,451 - logger - INFO - convrt to joint (-0.0560815930789631, -0.11439001885353459, 0.46531961741136413, 1.1219906518874636, -0.719222663769521, -0.5631204203132094) - client_socket.py - 236
+2024-11-01 11:19:57,453 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:19:59,745 - logger - INFO - convrt to joint (-0.09294428284600482, -0.11573416675829847, 0.4664298254583872, 1.121486232838864, -0.7152672589224949, -0.5630148352918469) - client_socket.py - 236
+2024-11-01 11:19:59,746 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:02,045 - logger - INFO - convrt to joint (-0.12967810582322578, -0.12033829730076256, 0.4712941496347125, 1.1210629643074974, -0.7127520260252398, -0.5630073805662443) - client_socket.py - 236
+2024-11-01 11:20:02,046 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:04,343 - logger - INFO - convrt to joint (-0.12898548822209613, -0.15234305696729283, 0.5516509631253325, 1.1260172756723688, -0.696586325011536, -0.5630007540641022) - client_socket.py - 236
+2024-11-01 11:20:04,344 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:06,644 - logger - INFO - convrt to joint (-0.12349550768681146, -0.2266215249912036, 0.6343534834982826, 1.131206164882825, -0.6760233000384155, -0.5630601314114625) - client_socket.py - 236
+2024-11-01 11:20:06,645 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:08,807 - logger - INFO - convrt to joint (-0.11822148489157464, -0.30526632981168494, 0.7257100418194014, 1.1368863099714264, -0.652317564790282, -0.5629639825445432) - client_socket.py - 236
+2024-11-01 11:20:08,807 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:11,380 - logger - INFO - convrt to joint (-0.08403588551026196, -0.30267594012742427, 0.7235088771233266, 1.1371660649933149, -0.6562955243952336, -0.5631101378535361) - client_socket.py - 236
+2024-11-01 11:20:11,381 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:13,687 - logger - INFO - convrt to joint (-0.04959737187884197, -0.301259800085217, 0.7221196055804205, 1.137669176573091, -0.6578039546540575, -0.563146415044024) - client_socket.py - 236
+2024-11-01 11:20:13,688 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:15,849 - logger - INFO - convrt to joint (-0.05251179614486973, -0.22319881625116594, 0.6318856202301145, 1.1317470946678045, -0.6833509413564871, -0.5631751176983828) - client_socket.py - 236
+2024-11-01 11:20:15,851 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:18,207 - logger - INFO - convrt to joint (-0.05539855105316308, -0.14756805542956158, 0.5473942346233223, 1.1264868045759076, -0.7038133491731691, -0.5630115136670896) - client_socket.py - 236
+2024-11-01 11:20:18,208 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:20,611 - logger - INFO - convrt to joint (-0.09225864129104144, -0.14852046196508303, 0.5479226934046398, 1.1259819000675728, -0.699717066801241, -0.5628662795414758) - client_socket.py - 236
+2024-11-01 11:20:20,612 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:20:22,846 - logger - INFO - convrt to joint (-0.1289953206738539, -0.15310664567396115, 0.552808860995324, 1.1255858905617613, -0.6971953987142393, -0.5628551275368798) - client_socket.py - 236
+2024-11-01 11:20:22,847 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:24:02,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:02,589 - logger - INFO - None - robot.py - 52
+2024-11-01 11:24:02,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:02,589 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:02,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:02,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:24:02,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:24:02,590 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:24:03,592 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:24:03,592 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:24:04,375 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:24:04,801 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:24:07,440 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:24:10,365 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:24:10,366 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:24:10,867 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:24:11,752 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:24:12,329 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:24:12,330 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:24:13,478 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:24:14,054 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:24:14,055 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:24:47,762 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - None - robot.py - 52
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:24:47,763 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:24:48,765 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:24:48,766 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:24:49,350 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:24:49,782 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:24:52,358 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:25:04,142 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:25:04,143 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:25:04,644 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:05,561 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:25:06,167 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:25:06,168 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:07,380 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:25:07,987 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:25:07,988 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:25:08,797 - logger - INFO - convrt to joint (-0.13259735256046556, -0.1251067199279058, 0.4775250767528686, 1.1449178427658215, -0.7618070466345653, -0.5190198633707119) - client_socket.py - 236
+2024-11-01 11:25:08,798 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:11,022 - logger - INFO - convrt to joint (-0.11592588543988455, -0.3493424862815974, 0.7323022896767442, 1.1575755216252868, -0.6787014944828462, -0.5347458982391856) - client_socket.py - 236
+2024-11-01 11:25:11,023 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:13,244 - logger - INFO - convrt to joint (-0.10138084166299112, -0.6094849782002585, 1.0595575632260772, 1.1795051568824961, -0.5744062844766537, -0.5314879162086746) - client_socket.py - 236
+2024-11-01 11:25:13,246 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:15,527 - logger - INFO - convrt to joint (-0.010126193972630685, -0.6242416483892831, 1.0845807771427394, 1.1817746547475902, -0.5699746984066735, -0.5328449488223174) - client_socket.py - 236
+2024-11-01 11:25:15,529 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:17,864 - logger - INFO - convrt to joint (0.08177150260339175, -0.6618733408157667, 1.1387895399595065, 1.1867469578002623, -0.5476418141710709, -0.533229527966207) - client_socket.py - 236
+2024-11-01 11:25:17,866 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:19,996 - logger - INFO - convrt to joint (0.08410962344048607, -0.40008955724953327, 0.8066539542232376, 1.1630957601074108, -0.6837284081132883, -0.5336085056067968) - client_socket.py - 236
+2024-11-01 11:25:19,997 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:22,220 - logger - INFO - convrt to joint (0.08993281542213583, -0.1411686917832527, 0.49696359173929744, 1.1434866034103317, -0.7557578278643537, -0.5323895070593547) - client_socket.py - 236
+2024-11-01 11:25:22,222 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:24,437 - logger - INFO - convrt to joint (-0.020602263061890908, -0.11798601835052888, 0.4697115430625379, 1.1405977247269292, -0.7452655513744577, -0.531873122688439) - client_socket.py - 236
+2024-11-01 11:25:24,438 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:26,664 - logger - INFO - convrt to joint (-0.13139718390264427, -0.12320651024429516, 0.4748808258394811, 1.1388083248237113, -0.7399315008758537, -0.5318911144700476) - client_socket.py - 236
+2024-11-01 11:25:26,666 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:28,890 - logger - INFO - convrt to joint (-0.12884396012330301, -0.23472541834701394, 0.7384741978337734, 1.1558371224797896, -0.6808357545266803, -0.5319096406930337) - client_socket.py - 236
+2024-11-01 11:25:28,891 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:31,119 - logger - INFO - convrt to joint (-0.11192843401958304, -0.48003090801432546, 1.0313495551272174, 1.1750508602760175, -0.585295086505121, -0.5319323813278375) - client_socket.py - 236
+2024-11-01 11:25:31,120 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:33,347 - logger - INFO - convrt to joint (-0.09510208713531548, -0.7191551291393441, 1.3255560948702338, 1.196093751057996, -0.4297453773388124, -0.5317073133020367) - client_socket.py - 236
+2024-11-01 11:25:33,348 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:35,571 - logger - INFO - convrt to joint (-0.001679196654872414, -0.7494946765152098, 1.3745917706438222, 1.2015027326648071, -0.38423326809063535, -0.5328655577706908) - client_socket.py - 236
+2024-11-01 11:25:35,572 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:37,796 - logger - INFO - convrt to joint (0.09233267257888182, -0.7837254361417259, 1.4222283664385962, 1.2078309402892615, -0.3234861824681797, -0.5340461601486962) - client_socket.py - 236
+2024-11-01 11:25:37,797 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:40,112 - logger - INFO - convrt to joint (0.09742176266403192, -0.6945783979759766, 1.3654428662743878, 1.1999252232078068, -0.41609744194175113, -0.5350542675344577) - client_socket.py - 236
+2024-11-01 11:25:40,114 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:42,388 - logger - INFO - convrt to joint (0.09842379982658696, -0.47275562003177857, 1.1059935716310427, 1.176578756600328, -0.6134769732710718, -0.5349859112721171) - client_socket.py - 236
+2024-11-01 11:25:42,389 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:44,671 - logger - INFO - convrt to joint (-0.01680151584093002, -0.2803350266745926, 0.811287918851358, 1.1577035394637478, -0.6746633438782436, -0.5324707707886446) - client_socket.py - 236
+2024-11-01 11:25:44,672 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:25:46,919 - logger - INFO - convrt to joint (-0.12804437240004327, -0.24892320332255388, 0.7601805337371033, 1.153688343056502, -0.6701223760968217, -0.5312618152479333) - client_socket.py - 236
+2024-11-01 11:25:46,920 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - None - robot.py - 52
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:26:04,316 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:26:05,319 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:26:05,319 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:26:05,962 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:26:06,394 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:26:08,936 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:26:10,337 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:26:10,338 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:26:10,839 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:11,542 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:26:12,121 - logger - INFO - convrt to joint (-0.122988541338691, -0.11061232673940839, 0.4584808360341803, 1.0557417038789492, -0.6091355205260658, -0.5901225339991888) - client_socket.py - 236
+2024-11-01 11:26:12,122 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:13,284 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:26:13,864 - logger - INFO - (1.2824301719665527, -0.06901988387107849, 1.7636923789978027) - client_socket.py - 174
+2024-11-01 11:26:13,865 - logger - INFO - [30.66361815  1.76580491 30.78493878] - client_socket.py - 175
+2024-11-01 11:26:19,509 - logger - INFO - convrt to joint (-0.1234026006071661, -0.11117945753475633, 0.459294275321639, 1.0590180912139555, -0.615741790131418, -0.5849112078290113) - client_socket.py - 236
+2024-11-01 11:26:19,509 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:21,722 - logger - INFO - convrt to joint (-0.10839649551561283, -0.33654440683605114, 0.7141019410236878, 1.0725758685198565, -0.5533207077218499, -0.5860399572776185) - client_socket.py - 236
+2024-11-01 11:26:21,723 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:24,088 - logger - INFO - convrt to joint (-0.09480010436300838, -0.5980089194573336, 1.042053272347639, 1.0893958512142863, -0.46171023815928386, -0.5861410572079941) - client_socket.py - 236
+2024-11-01 11:26:24,090 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:26,403 - logger - INFO - convrt to joint (-0.0036275823961860795, -0.6132938537508301, 1.0678648930657073, 1.0915131720837978, -0.45894163170089586, -0.5871721476495708) - client_socket.py - 236
+2024-11-01 11:26:26,404 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:28,717 - logger - INFO - convrt to joint (0.08793491687135302, -0.6477110343926945, 1.11691482455556, 1.0952653405867416, -0.44304250098459164, -0.5879761294124963) - client_socket.py - 236
+2024-11-01 11:26:28,719 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:31,023 - logger - INFO - convrt to joint (0.0914847458413858, -0.3814495975582606, 0.7792644175804813, 1.0765911504615433, -0.5587051776907807, -0.5887257887832428) - client_socket.py - 236
+2024-11-01 11:26:31,025 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:33,186 - logger - INFO - convrt to joint (0.09841085008727868, -0.12741190560754662, 0.478825808044318, 1.0614570398323766, -0.620820245317494, -0.5863949020850436) - client_socket.py - 236
+2024-11-01 11:26:33,187 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:35,494 - logger - INFO - convrt to joint (-0.012092967815249711, -0.10527803491261963, 0.45316016732738523, 1.0586110255323098, -0.6122920743147063, -0.5854276072741222) - client_socket.py - 236
+2024-11-01 11:26:35,495 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:37,853 - logger - INFO - convrt to joint (-0.12286533042153544, -0.110653523867468, 0.45844925775432543, 1.0567580525164044, -0.6064474600189456, -0.5854987036169544) - client_socket.py - 236
+2024-11-01 11:26:37,854 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:40,169 - logger - INFO - convrt to joint (-0.12449195467985662, -0.039361677577848087, 0.2517353934609132, 1.046448477617712, -0.6425588485104634, -0.5855045764779242) - client_socket.py - 236
+2024-11-01 11:26:40,170 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:42,345 - logger - INFO - convrt to joint (-0.10984550351880022, -0.2511375564102905, 0.4809680808875543, 1.0594589517385407, -0.5890356040752218, -0.5847766948766168) - client_socket.py - 236
+2024-11-01 11:26:42,346 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:44,708 - logger - INFO - convrt to joint (-0.0973017359374691, -0.4917064871626334, 0.7732958351656817, 1.074196578561993, -0.5243086846572805, -0.5856649887449472) - client_socket.py - 236
+2024-11-01 11:26:44,709 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:47,015 - logger - INFO - convrt to joint (-0.006644338802181544, -0.49102502226183947, 0.7740024163173205, 1.075128876102363, -0.5314875566255917, -0.5861140666511574) - client_socket.py - 236
+2024-11-01 11:26:47,017 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:49,230 - logger - INFO - convrt to joint (0.08437630588584621, -0.5113919025291519, 0.8008145236020828, 1.0777988341720979, -0.5268280667083243, -0.5864324414356593) - client_socket.py - 236
+2024-11-01 11:26:49,232 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:51,542 - logger - INFO - convrt to joint (0.08942103770143474, -0.2666001190802151, 0.5006641453558024, 1.0618372492388377, -0.6030494662197619, -0.5868511801317499) - client_socket.py - 236
+2024-11-01 11:26:51,543 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:53,861 - logger - INFO - convrt to joint (0.09719325889364906, -0.050749914011244096, 0.26378215284426537, 1.0497930094395442, -0.6485996855727407, -0.5856795970069374) - client_socket.py - 236
+2024-11-01 11:26:53,862 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:56,285 - logger - INFO - convrt to joint (-0.013372838685672054, -0.03285877787132868, 0.2449655567693728, 1.0469201324454411, -0.6419257710137121, -0.5853555467953153) - client_socket.py - 236
+2024-11-01 11:26:56,287 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:26:58,497 - logger - INFO - convrt to joint (-0.12414234057270318, -0.038635022081142244, 0.25069965975314457, 1.0449988347746733, -0.6362266258320882, -0.5854363018592861) - client_socket.py - 236
+2024-11-01 11:26:58,498 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:34,733 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:27:34,734 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:27:35,234 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:36,133 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:27:36,716 - logger - INFO - convrt to joint (-0.14811246827788577, -0.1538589478883947, 0.5035276414891879, 1.3977651277475935, -1.018029622550171, -0.44738051718831345) - client_socket.py - 236
+2024-11-01 11:27:36,717 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:37,957 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:27:38,563 - logger - INFO - (1.264172911643982, -0.06829650700092316, 1.7903755903244019) - client_socket.py - 174
+2024-11-01 11:27:38,564 - logger - INFO - [45.88830471 -2.54423385 52.19917455] - client_socket.py - 175
+2024-11-01 11:27:39,859 - logger - INFO - convrt to joint (-0.14935867366162456, -0.15790033114915464, 0.5082974454875918, 1.4085662981215974, -1.0486263721975537, -0.4097728505856039) - client_socket.py - 236
+2024-11-01 11:27:39,859 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:42,646 - logger - INFO - convrt to joint (-0.13156293502230557, -0.3839346806034053, 0.7700766479948962, 1.4329085530776617, -0.9557224172599272, -0.4188931827437321) - client_socket.py - 236
+2024-11-01 11:27:42,648 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:45,146 - logger - INFO - convrt to joint (-0.11508978088870166, -0.6410470505531475, 1.0969852620915859, 1.4653847726783944, -0.815639978251777, -0.4171814063903603) - client_socket.py - 236
+2024-11-01 11:27:45,147 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:47,863 - logger - INFO - convrt to joint (-0.023475677775040903, -0.6584396471412024, 1.1264712940595836, 1.4683052220665003, -0.8033124363621088, -0.4178100691041062) - client_socket.py - 236
+2024-11-01 11:27:47,864 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:50,745 - logger - INFO - convrt to joint (0.0687753729074913, -0.6926277645758794, 1.1758930595913832, 1.4743787530308081, -0.7725393248627601, -0.41791288975906393) - client_socket.py - 236
+2024-11-01 11:27:50,746 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:53,465 - logger - INFO - convrt to joint (0.06934145810615634, -0.4446035963696437, 0.8607362846809358, 1.4398669544973997, -0.9486785213698103, -0.4181130313780242) - client_socket.py - 236
+2024-11-01 11:27:53,465 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:56,355 - logger - INFO - convrt to joint (0.07331045528001869, -0.17688296030292727, 0.532395112259138, 1.4097631131558475, -1.0409968382458694, -0.4177573478929316) - client_socket.py - 236
+2024-11-01 11:27:56,357 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:27:59,259 - logger - INFO - convrt to joint (-0.037481143639621406, -0.150169501834443, 0.4997805108488329, 1.407737275569566, -1.0267917884660878, -0.4175768965125762) - client_socket.py - 236
+2024-11-01 11:27:59,260 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:02,261 - logger - INFO - convrt to joint (-0.1484117290048171, -0.15509123740308964, 0.5046257608325809, 1.4070556358744282, -1.0236069321758983, -0.4175596714142062) - client_socket.py - 236
+2024-11-01 11:28:02,263 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:05,257 - logger - INFO - convrt to joint (-0.14984957628443, -0.081952467009837, 0.2901981073710539, 1.3880071667209088, -1.069997346635937, -0.41757760887048634) - client_socket.py - 236
+2024-11-01 11:28:05,259 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:08,259 - logger - INFO - convrt to joint (-0.13277659645072928, -0.29386984563564067, 0.5253470280224227, 1.411414703029063, -0.9973647619873346, -0.41740626881437093) - client_socket.py - 236
+2024-11-01 11:28:08,260 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:11,247 - logger - INFO - convrt to joint (-0.11800570298923066, -0.5359608181204263, 0.8259240464539612, 1.4388282331852742, -0.9068376905426387, -0.41755883904703295) - client_socket.py - 236
+2024-11-01 11:28:11,248 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:14,223 - logger - INFO - convrt to joint (-0.027259539857836742, -0.5365414195748681, 0.828440785083828, 1.4387123958425445, -0.9136608565062947, -0.4176619129051213) - client_socket.py - 236
+2024-11-01 11:28:14,225 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:17,153 - logger - INFO - convrt to joint (0.06408943015145915, -0.5582066251826417, 0.8577352895364379, 1.4422832839601978, -0.9031471903518214, -0.4177440644358536) - client_socket.py - 236
+2024-11-01 11:28:17,155 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:19,959 - logger - INFO - convrt to joint (0.06680169936107387, -0.31235234075004936, 0.5494790830782684, 1.4121756264944263, -1.0134298194019744, -0.41783208851125325) - client_socket.py - 236
+2024-11-01 11:28:19,961 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:22,941 - logger - INFO - convrt to joint (0.07231907667447035, -0.0933306691196648, 0.30236522964463464, 1.3903990006769995, -1.070563889496341, -0.41761978008858114) - client_socket.py - 236
+2024-11-01 11:28:22,943 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:25,862 - logger - INFO - convrt to joint (-0.03858718629609156, -0.07448159503351226, 0.2820592219160283, 1.388490007011644, -1.0625653020712247, -0.4175926003779628) - client_socket.py - 236
+2024-11-01 11:28:25,864 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:28,736 - logger - INFO - convrt to joint (-0.14945177124452919, -0.08018020927837576, 0.28794571322726814, 1.3878115709932906, -1.0582997861743986, -0.4175917756528857) - client_socket.py - 236
+2024-11-01 11:28:28,737 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:28:56,418 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - None - robot.py - 52
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:28:56,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:28:57,421 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:28:57,422 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:29:03,483 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:29:07,616 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:29:08,048 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:29:10,684 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:29:11,895 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:29:11,896 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:29:12,397 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:13,296 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:29:13,876 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:29:13,878 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:15,037 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:29:15,616 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:29:15,617 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:29:17,357 - logger - INFO - convrt to joint (-0.13059392276243115, -0.12164477187566423, 0.47302194073377607, 1.1280362657362473, -0.7281318926977336, -0.5486014060081597) - client_socket.py - 236
+2024-11-01 11:29:17,544 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:19,902 - logger - INFO - convrt to joint (-0.11437016434290155, -0.3463911756693074, 0.7281434037741212, 1.1415406075678167, -0.6517083286442388, -0.5581627946605519) - client_socket.py - 236
+2024-11-01 11:29:19,904 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:22,213 - logger - INFO - convrt to joint (-0.09995421162814594, -0.607142978729204, 1.0560308430015266, 1.1623396728943756, -0.5491408593410773, -0.5564898565738277) - client_socket.py - 236
+2024-11-01 11:29:22,215 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:24,569 - logger - INFO - convrt to joint (-0.008665030348576212, -0.6232984148752145, 1.0832299033446224, 1.1647644709611917, -0.5440775728048062, -0.5575401301797731) - client_socket.py - 236
+2024-11-01 11:29:24,571 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:26,976 - logger - INFO - convrt to joint (0.08307608206253242, -0.6581358214219899, 1.133032481308038, 1.1692092223701926, -0.5248337754694237, -0.5579974885987866) - client_socket.py - 236
+2024-11-01 11:29:26,978 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:29,156 - logger - INFO - convrt to joint (0.08564194265661197, -0.3943993614882564, 0.798216932288592, 1.1465290971460393, -0.6563535338333457, -0.5584832938227986) - client_socket.py - 236
+2024-11-01 11:29:29,158 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:31,524 - logger - INFO - convrt to joint (0.09162919660031812, -0.1377117907558064, 0.49241463817399245, 1.127847319908952, -0.7274340114039045, -0.5571735442813848) - client_socket.py - 236
+2024-11-01 11:29:31,525 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:33,836 - logger - INFO - convrt to joint (-0.0189339698794718, -0.11509376071215813, 0.4660157977975414, 1.1248695511778943, -0.7182343934991672, -0.5566199929321025) - client_socket.py - 236
+2024-11-01 11:29:33,838 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:36,250 - logger - INFO - convrt to joint (-0.1297113830408156, -0.12040810362190818, 0.471299852439194, 1.1230518971803165, -0.7125970855931348, -0.5566522416640851) - client_socket.py - 236
+2024-11-01 11:29:36,251 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:38,575 - logger - INFO - convrt to joint (-0.13133701509472623, -0.04890604951715842, 0.2631872601428452, 1.1106171926609447, -0.7516798680239436, -0.5566632297132319) - client_socket.py - 236
+2024-11-01 11:29:38,576 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:40,889 - logger - INFO - convrt to joint (-0.11597376654849423, -0.2605522074345488, 0.49345129832843837, 1.1261589648493193, -0.6933182610180614, -0.5563629180485625) - client_socket.py - 236
+2024-11-01 11:29:40,890 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:43,200 - logger - INFO - convrt to joint (-0.10273167263637364, -0.5013270721930633, 0.7872947303597533, 1.1440305627587108, -0.6212465333376701, -0.5568083848660083) - client_socket.py - 236
+2024-11-01 11:29:43,202 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:45,520 - logger - INFO - convrt to joint (-0.012058601750260727, -0.5010931601337645, 0.7886353729362363, 1.1449265369303747, -0.6282740179712948, -0.5571012833105266) - client_socket.py - 236
+2024-11-01 11:29:45,521 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:29:47,840 - logger - INFO - convrt to joint (0.0790346546730645, -0.5218631293254988, 0.8161383526785969, 1.1479675859344545, -0.6225335312132992, -0.557316899853028) - client_socket.py - 236
+2024-11-01 11:29:47,841 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:02,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:30:02,953 - logger - INFO - None - robot.py - 52
+2024-11-01 11:30:02,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:30:02,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:30:02,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:30:02,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:30:02,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:30:02,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:30:03,956 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:30:03,956 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:30:04,745 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:30:05,176 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:30:07,725 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:30:08,878 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:30:08,879 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 241
+2024-11-01 11:30:09,380 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:10,264 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 241
+2024-11-01 11:30:10,839 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 236
+2024-11-01 11:30:10,840 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:11,989 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 241
+2024-11-01 11:30:12,565 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:30:12,566 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:30:14,485 - logger - INFO - convrt to joint (-0.13030128657666862, -0.12117014948820407, 0.4723992494303587, 1.1256054136823208, -0.7232668102374419, -0.5528670056997733) - client_socket.py - 236
+2024-11-01 11:30:14,485 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:16,688 - logger - INFO - convrt to joint (-0.11418299835298193, -0.3460386019154317, 0.7276373728037262, 1.139705316888787, -0.6484509099108348, -0.5612246654745675) - client_socket.py - 236
+2024-11-01 11:30:16,689 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:18,986 - logger - INFO - convrt to joint (-0.09978395011618266, -0.606801769596753, 1.0555069298182158, 1.1603057372119088, -0.5461268757168154, -0.5597896720336579) - client_socket.py - 236
+2024-11-01 11:30:18,987 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:30:21,287 - logger - INFO - convrt to joint (-0.008500181396571964, -0.6229280779720257, 1.082659380792118, 1.1627263024988526, -0.5411732903747574, -0.5608013073515722) - client_socket.py - 236
+2024-11-01 11:30:21,288 - logger - INFO - set joints - client_socket.py - 244
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:31:58,430 - logger - INFO - None - robot.py - 52
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:31:58,430 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:31:58,431 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:31:59,433 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:31:59,433 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:32:00,388 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:32:00,826 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:32:03,373 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:32:27,557 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:32:27,558 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 245
+2024-11-01 11:32:28,058 - logger - INFO - set joints - client_socket.py - 248
+2024-11-01 11:32:28,950 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 245
+2024-11-01 11:32:29,528 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 240
+2024-11-01 11:32:29,530 - logger - INFO - set joints - client_socket.py - 248
+2024-11-01 11:32:30,682 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 245
+2024-11-01 11:32:31,260 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 174
+2024-11-01 11:32:31,261 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 175
+2024-11-01 11:35:34,562 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:35:34,563 - logger - INFO - None - robot.py - 52
+2024-11-01 11:35:34,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:35:34,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:35:34,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:35:34,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:35:34,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:35:34,564 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:35:35,565 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:35:35,566 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:35:36,424 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:35:36,862 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:35:39,441 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:35:42,576 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:35:43,393 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:36:41,872 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:36:42,400 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:36:44,685 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:36:46,075 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:36:46,076 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:36:46,577 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:36:47,466 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:37:06,320 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:37:06,320 - logger - INFO - None - robot.py - 52
+2024-11-01 11:37:06,320 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:37:06,320 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:37:06,320 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:37:06,320 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:37:06,321 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:37:06,321 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:37:07,323 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:37:07,323 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:37:42,398 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:37:42,830 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:37:45,452 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:37:46,419 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:37:46,420 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:37:46,920 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:37:47,632 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:37:48,215 - logger - INFO - convrt to joint (-0.122988541338691, -0.11061232673940839, 0.4584808360341803, 1.0557417038789492, -0.6091355205260658, -0.5901225339991888) - client_socket.py - 253
+2024-11-01 11:37:48,216 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:37:49,378 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:37:49,958 - logger - INFO - (1.28243088722229, -0.06901973485946655, 1.7636915445327759) - client_socket.py - 178
+2024-11-01 11:37:49,959 - logger - INFO - [30.66157769  1.76566546 30.78447267] - client_socket.py - 179
+2024-11-01 11:37:52,282 - logger - INFO - convrt to joint (-0.12545524558672075, -0.11413986234763716, 0.46347638604269736, 1.0753906235882433, -0.6486791991333223, -0.5589787420090083) - client_socket.py - 253
+2024-11-01 11:37:52,475 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:37:54,798 - logger - INFO - convrt to joint (-0.10989925817942925, -0.3389761313260245, 0.7177899012033078, 1.0873992475038396, -0.5787061040723068, -0.5659420829205726) - client_socket.py - 253
+2024-11-01 11:37:54,799 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:37:56,977 - logger - INFO - convrt to joint (-0.09611616319701213, -0.6003126779270027, 1.0457858550953063, 1.1053907672416425, -0.4846954445743404, -0.5648489424216887) - client_socket.py - 253
+2024-11-01 11:37:56,978 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:37:59,364 - logger - INFO - convrt to joint (-0.004911465046418359, -0.6158100474717634, 1.0719313235693657, 1.1075756284361173, -0.4812896185104902, -0.5660147668209453) - client_socket.py - 253
+2024-11-01 11:37:59,366 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:01,709 - logger - INFO - convrt to joint (0.0866957523610433, -0.6503361007503475, 1.1211694422952085, 1.1115129382071138, -0.46454350746529466, -0.5666838556590156) - client_socket.py - 253
+2024-11-01 11:38:01,710 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:04,039 - logger - INFO - convrt to joint (0.08999003579751175, -0.38482139825932626, 0.7844318670060061, 1.0918445728055226, -0.5843543326020102, -0.5673546634258757) - client_socket.py - 253
+2024-11-01 11:38:04,041 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:06,367 - logger - INFO - convrt to joint (0.09660932906603759, -0.12994082006862792, 0.4824201962049775, 1.0756980939543834, -0.6500340632705695, -0.5654195991087954) - client_socket.py - 253
+2024-11-01 11:38:06,368 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:08,720 - logger - INFO - convrt to joint (-0.013904263764308854, -0.10784452573157033, 0.456800275917295, 1.0728066161466612, -0.641289645060423, -0.5646074869733005) - client_socket.py - 253
+2024-11-01 11:38:08,721 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:11,134 - logger - INFO - convrt to joint (-0.12467741887685295, -0.113218638067189, 0.46211033480555846, 1.070937261907129, -0.6355103397745225, -0.5646650678963352) - client_socket.py - 253
+2024-11-01 11:38:11,135 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:13,452 - logger - INFO - convrt to joint (-0.1263062656981741, -0.04188799843706018, 0.2550590307626935, 1.0600771220306446, -0.6724962215258845, -0.5646742681340801) - client_socket.py - 253
+2024-11-01 11:38:13,454 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:15,763 - logger - INFO - convrt to joint (-0.11147709474593341, -0.2536170959216703, 0.484539081608746, 1.0737219297544203, -0.6178058522707361, -0.564243320049997) - client_socket.py - 253
+2024-11-01 11:38:15,764 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:18,071 - logger - INFO - convrt to joint (-0.0987416202548526, -0.4942223085692406, 0.777219292674975, 1.0892809785305742, -0.5509469877633653, -0.5649066678134732) - client_socket.py - 253
+2024-11-01 11:38:18,072 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:20,380 - logger - INFO - convrt to joint (-0.008080685093602153, -0.4936669942836652, 0.7781054384994838, 1.0902204601414225, -0.5580935001394227, -0.5653025365840465) - client_socket.py - 253
+2024-11-01 11:38:20,381 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:22,689 - logger - INFO - convrt to joint (0.0829579941879892, -0.5142680064862154, 0.8052938792922772, 1.0930194605593482, -0.5531751643601459, -0.5655997889628791) - client_socket.py - 253
+2024-11-01 11:38:22,690 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:25,046 - logger - INFO - convrt to joint (0.0877972385083973, -0.26930260512155807, 0.5045526352728064, 1.0761526382494722, -0.6320370916634817, -0.5659333004612416) - client_socket.py - 253
+2024-11-01 11:38:25,047 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:27,346 - logger - INFO - convrt to joint (0.09538170447403355, -0.05333359547397069, 0.2671819904727809, 1.06346481684843, -0.6787500278174687, -0.5649241317071647) - client_socket.py - 253
+2024-11-01 11:38:27,347 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:29,646 - logger - INFO - convrt to joint (-0.015203443182263935, -0.03539333931233674, 0.24829536146085918, 1.0605322597001205, -0.6720582541487414, -0.5646542545806595) - client_socket.py - 253
+2024-11-01 11:38:29,647 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:31,816 - logger - INFO - convrt to joint (-0.12597287684570224, -0.04116048306783377, 0.25404197111770077, 1.05859372560479, -0.6664113997974599, -0.5647196609972481) - client_socket.py - 253
+2024-11-01 11:38:31,817 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:40,215 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:38:40,216 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:38:40,717 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:41,609 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:38:42,187 - logger - INFO - convrt to joint (-0.1486261589385326, -0.1555078067169439, 0.505509259036135, 1.401724424986602, -1.0305896357446673, -0.4337687628567731) - client_socket.py - 253
+2024-11-01 11:38:42,188 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:43,342 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:38:43,920 - logger - INFO - (1.2639793157577515, -0.06825380027294159, 1.7903600931167603) - client_socket.py - 178
+2024-11-01 11:38:43,922 - logger - INFO - [46.51081347 -2.48325226 52.78229045] - client_socket.py - 179
+2024-11-01 11:38:44,499 - logger - INFO - convrt to joint (-0.15021841649513956, -0.16086154278532763, 0.5117953622678381, 1.416117296562271, -1.0707380491195122, -0.38482368401429295) - client_socket.py - 253
+2024-11-01 11:38:44,499 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:46,849 - logger - INFO - convrt to joint (-0.13237737998545931, -0.3869622197381955, 0.7740194135400188, 1.4408370260035621, -0.9759192426040486, -0.3944430296670163) - client_socket.py - 253
+2024-11-01 11:38:46,850 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:49,152 - logger - INFO - convrt to joint (-0.1158502656122599, -0.6437356836672496, 1.1006836910432698, 1.4739747296544785, -0.8329144723837274, -0.39263046584308386) - client_socket.py - 253
+2024-11-01 11:38:49,153 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:51,455 - logger - INFO - convrt to joint (-0.02407813695433192, -0.6632299829963506, 1.1335364003805148, 1.4774264362515388, -0.8169485393919352, -0.3932383500846146) - client_socket.py - 253
+2024-11-01 11:38:51,456 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:53,759 - logger - INFO - convrt to joint (0.0682799048649734, -0.6993045622420023, 1.186009323103816, 1.4839484712848425, -0.7835744835648084, -0.3933493140750928) - client_socket.py - 253
+2024-11-01 11:38:53,760 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:56,068 - logger - INFO - convrt to joint (0.06873411335814852, -0.4537067037412078, 0.8742976227130985, 1.448852464763304, -0.9654020508038461, -0.3935114921722065) - client_socket.py - 253
+2024-11-01 11:38:56,069 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:38:58,375 - logger - INFO - convrt to joint (0.07231117263479526, -0.1802803764648699, 0.5365589456852103, 1.4167455314478528, -1.0671221255390562, -0.39315887291672524) - client_socket.py - 253
+2024-11-01 11:38:58,376 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:00,731 - logger - INFO - convrt to joint (-0.038606313511806066, -0.153603486375685, 0.5039487170666329, 1.4143549609203532, -1.05544144444424, -0.3929849661567555) - client_socket.py - 253
+2024-11-01 11:39:00,732 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:03,036 - logger - INFO - convrt to joint (-0.14949537389561926, -0.1586334491400975, 0.5089763071147632, 1.413764672538872, -1.051178251330411, -0.39299143924039026) - client_socket.py - 253
+2024-11-01 11:39:03,037 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:05,344 - logger - INFO - convrt to joint (-0.15088290433579302, -0.08545102982759803, 0.29410439375474023, 1.394270631403841, -1.0985622578848806, -0.39300528073391244) - client_socket.py - 253
+2024-11-01 11:39:05,345 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:07,651 - logger - INFO - convrt to joint (-0.13381546457682272, -0.2975198467847264, 0.5298913853206264, 1.4180308135333235, -1.0257022772565831, -0.3929188993278211) - client_socket.py - 253
+2024-11-01 11:39:07,652 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:10,009 - logger - INFO - convrt to joint (-0.11892704695482041, -0.5398041419747347, 0.8312023049479774, 1.4463853012591128, -0.9309391213015665, -0.3930209273827359) - client_socket.py - 253
+2024-11-01 11:39:10,010 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:12,314 - logger - INFO - convrt to joint (-0.028099181673998563, -0.5413837021657031, 0.8352768534810223, 1.4465546268682357, -0.9360244478140615, -0.39311024408319195) - client_socket.py - 253
+2024-11-01 11:39:12,315 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:14,618 - logger - INFO - convrt to joint (0.06323159620300554, -0.5631987243190304, 0.8648432395447609, 1.450153959123399, -0.9258654034781277, -0.3931818707652757) - client_socket.py - 253
+2024-11-01 11:39:14,619 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:16,920 - logger - INFO - convrt to joint (0.06587750392586414, -0.31639303230894666, 0.5546386677169466, 1.4192067766660106, -1.0394821978078703, -0.39324738112842533) - client_socket.py - 253
+2024-11-01 11:39:16,921 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:19,087 - logger - INFO - convrt to joint (0.07130181187670874, -0.09682670914552872, 0.3062883742768302, 1.396713367060627, -1.0988604409686324, -0.39304960427355373) - client_socket.py - 253
+2024-11-01 11:39:19,088 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:21,294 - logger - INFO - convrt to joint (-0.03965471097661209, -0.07800228328516441, 0.2859825805199943, 1.3946963479750316, -1.0916601722676156, -0.3930208542935922) - client_socket.py - 253
+2024-11-01 11:39:21,294 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:23,599 - logger - INFO - convrt to joint (-0.15051836384976472, -0.08370727462545195, 0.2918953574131508, 1.3940387608052824, -1.087252776255554, -0.39302799418859286) - client_socket.py - 253
+2024-11-01 11:39:23,600 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:30,136 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:39:30,136 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:39:30,637 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:31,530 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:39:32,110 - logger - INFO - convrt to joint (-0.15497374791697244, -0.17937732443049964, 0.530562712645211, 1.4983436953400293, -1.205298988179049, -0.3211668887073207) - client_socket.py - 253
+2024-11-01 11:39:32,111 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:39:33,269 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:39:33,851 - logger - INFO - (1.2616022825241089, -0.06787138432264328, 1.7901259660720825) - client_socket.py - 178
+2024-11-01 11:39:33,851 - logger - INFO - [52.63449651 -3.47454295 61.65210297] - client_socket.py - 179
+2024-11-01 11:40:06,371 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:40:06,371 - logger - INFO - None - robot.py - 52
+2024-11-01 11:40:06,371 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:40:06,371 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:40:06,372 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:40:06,372 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:40:06,372 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:40:06,372 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:40:07,373 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:40:07,374 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:40:08,140 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:40:08,575 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:40:11,209 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:40:12,746 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:40:12,747 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:40:13,248 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:13,954 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:40:14,531 - logger - INFO - convrt to joint (-0.122988541338691, -0.11061232673940839, 0.4584808360341803, 1.0557417038789492, -0.6091355205260658, -0.5901225339991888) - client_socket.py - 253
+2024-11-01 11:40:14,533 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:15,689 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:40:16,321 - logger - INFO - (1.28243088722229, -0.06901973485946655, 1.7636915445327759) - client_socket.py - 178
+2024-11-01 11:40:16,322 - logger - INFO - [30.66157769  1.76566546 30.78447267] - client_socket.py - 179
+2024-11-01 11:40:23,597 - logger - INFO - convrt to joint (-0.12316660221725324, -0.11086144793186412, 0.45883872492413896, 1.057152270648792, -0.6119799393729993, -0.5878717732297036) - client_socket.py - 253
+2024-11-01 11:40:23,598 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:25,902 - logger - INFO - convrt to joint (-0.10822391101157645, -0.3362726275694264, 0.7136859345896156, 1.0708645898871096, -0.5504172184877835, -0.5883052883323769) - client_socket.py - 253
+2024-11-01 11:40:25,904 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:28,219 - logger - INFO - convrt to joint (-0.09464932535688259, -0.5977516086363072, 1.041632430509927, 1.0875531215546914, -0.4590801230809645, -0.588549495869751) - client_socket.py - 253
+2024-11-01 11:40:28,221 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:30,536 - logger - INFO - convrt to joint (-0.003480390489556538, -0.6130125789265147, 1.0674065187244761, 1.0896624955972327, -0.4563822737313849, -0.5895648769568649) - client_socket.py - 253
+2024-11-01 11:40:30,537 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:32,854 - logger - INFO - convrt to joint (0.08807702615335211, -0.6474173164010238, 1.116435067662873, 1.0933934892518058, -0.440578145086192, -0.5903855815705361) - client_socket.py - 253
+2024-11-01 11:40:32,856 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:35,218 - logger - INFO - convrt to joint (0.09165660675668375, -0.3810736130115626, 0.7786843123666154, 1.0748331877471593, -0.5557682181360611, -0.5911452056822795) - client_socket.py - 253
+2024-11-01 11:40:35,220 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:37,534 - logger - INFO - convrt to joint (0.09852773581583125, -0.12701506514134206, 0.47829273774133474, 1.0596382440329735, -0.6192229090689838, -0.588885954421576) - client_socket.py - 253
+2024-11-01 11:40:37,535 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:39,845 - logger - INFO - convrt to joint (-0.011970132848077766, -0.1051158105487374, 0.4529671797722445, 1.0568123316660218, -0.6106706632899906, -0.587929224866174) - client_socket.py - 253
+2024-11-01 11:40:39,846 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:42,155 - logger - INFO - convrt to joint (-0.12274306543549042, -0.11051424745455249, 0.4582882342716759, 1.0549566819752423, -0.604838893171859, -0.5880017502060196) - client_socket.py - 253
+2024-11-01 11:40:42,157 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:44,509 - logger - INFO - convrt to joint (-0.12436869186452926, -0.03923075524049953, 0.2516029502883796, 1.0446852319489413, -0.64091392796604, -0.5880063697604424) - client_socket.py - 253
+2024-11-01 11:40:44,511 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:46,820 - logger - INFO - convrt to joint (-0.10975240899004174, -0.25101228942850834, 0.48083325288114553, 1.0576114085445125, -0.5877974034196509, -0.5875037694603498) - client_socket.py - 253
+2024-11-01 11:40:46,821 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:49,078 - logger - INFO - convrt to joint (-0.09724332530408014, -0.49150127159246837, 0.7730339920189085, 1.072249500617013, -0.5236432912707275, -0.5883075340057637) - client_socket.py - 253
+2024-11-01 11:40:49,079 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:51,382 - logger - INFO - convrt to joint (-0.006629366932891779, -0.49096626508875146, 0.7739643607949236, 1.0737504658275647, -0.5316043907158686, -0.5851103658386907) - client_socket.py - 253
+2024-11-01 11:40:51,384 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:53,546 - logger - INFO - convrt to joint (0.08439951439227501, -0.5113596214488284, 0.8008149186275216, 1.0763587433479116, -0.5267828749121741, -0.5862346390391153) - client_socket.py - 253
+2024-11-01 11:40:53,547 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:55,859 - logger - INFO - convrt to joint (0.0894481305086252, -0.26660305615974833, 0.500724372002558, 1.0604214891605899, -0.6030389710764915, -0.5865010645737251) - client_socket.py - 253
+2024-11-01 11:40:55,860 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:40:58,163 - logger - INFO - convrt to joint (0.09722448406922518, -0.05075891600552764, 0.2638535038987163, 1.048387996903909, -0.6486123011585044, -0.58535851402997) - client_socket.py - 253
+2024-11-01 11:40:58,164 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:00,513 - logger - INFO - convrt to joint (-0.01334160607696894, -0.032868397195008656, 0.24503731668936993, 1.0455100464790181, -0.6419438851043062, -0.5850280254911627) - client_socket.py - 253
+2024-11-01 11:41:00,514 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:02,815 - logger - INFO - convrt to joint (-0.12410407877960279, -0.03864855924531431, 0.2507757562541315, 1.0435530224947218, -0.6361230530358414, -0.5850961435513571) - client_socket.py - 253
+2024-11-01 11:41:02,816 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:11,180 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:41:11,181 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:41:11,681 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:12,377 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:41:12,961 - logger - INFO - convrt to joint (-0.14667700856068522, -0.14971326578969685, 0.4989083588559486, 1.3821014760009558, -0.9856544500079076, -0.447181907150802) - client_socket.py - 253
+2024-11-01 11:41:12,963 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:14,127 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:41:14,706 - logger - INFO - (1.2653392553329468, -0.06855569779872894, 1.7883175611495972) - client_socket.py - 178
+2024-11-01 11:41:14,707 - logger - INFO - [45.70287383 -2.42407997 50.62826407] - client_socket.py - 179
+2024-11-01 11:41:20,407 - logger - INFO - convrt to joint (-0.1468088571212644, -0.15010403516999235, 0.4993757805941846, 1.3831534702901198, -0.9886769728921383, -0.4438525672013678) - client_socket.py - 253
+2024-11-01 11:41:20,408 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:22,768 - logger - INFO - convrt to joint (-0.1293510714489055, -0.37657968379699946, 0.7608206388631177, 1.4075221791010002, -0.9046235089890053, -0.44449412912747155) - client_socket.py - 253
+2024-11-01 11:41:22,769 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:25,083 - logger - INFO - convrt to joint (-0.11303571215180583, -0.6344130865217036, 1.0881242220741765, 1.4381213697523838, -0.7711975361373331, -0.44444570598377675) - client_socket.py - 253
+2024-11-01 11:41:25,084 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:27,303 - logger - INFO - convrt to joint (-0.021502589487972623, -0.6512960544108628, 1.1167374532863994, 1.4408549972409013, -0.7610040568823533, -0.4447413865656399) - client_socket.py - 253
+2024-11-01 11:41:27,304 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:29,568 - logger - INFO - convrt to joint (0.07072735900256132, -0.6866392504547669, 1.167895608219342, 1.4468233017799295, -0.7315584260076287, -0.4449572654240498) - client_socket.py - 253
+2024-11-01 11:41:29,569 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:31,899 - logger - INFO - convrt to joint (0.07144325913457338, -0.43576941746797443, 0.8489521829085638, 1.4139049749744714, -0.899543801147254, -0.4451514360871772) - client_socket.py - 253
+2024-11-01 11:41:31,900 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:34,181 - logger - INFO - convrt to joint (0.07550757728310867, -0.1691008360475517, 0.5232269305702306, 1.3852308148139283, -0.9892614823985373, -0.44472885543952495) - client_socket.py - 253
+2024-11-01 11:41:34,183 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:36,407 - logger - INFO - convrt to joint (-0.03527323931391611, -0.14347247079286715, 0.49227438454162864, 1.3829796590896635, -0.9769578768489361, -0.4445205499912062) - client_socket.py - 253
+2024-11-01 11:41:36,408 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:38,585 - logger - INFO - convrt to joint (-0.1461395158214462, -0.14849411711259541, 0.4972668315067768, 1.3822170271064886, -0.9724607715966362, -0.44452142410759155) - client_socket.py - 253
+2024-11-01 11:41:38,586 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:40,946 - logger - INFO - convrt to joint (-0.1476487055845379, -0.0757334312156046, 0.28408636430799705, 1.3640667499727108, -1.0173680218745824, -0.44454175072350943) - client_socket.py - 253
+2024-11-01 11:41:40,948 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:43,126 - logger - INFO - convrt to joint (-0.13072562910915878, -0.2875998654186775, 0.5183815932656141, 1.386339055090656, -0.9479209906100182, -0.4443922121716379) - client_socket.py - 253
+2024-11-01 11:41:43,127 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:45,333 - logger - INFO - convrt to joint (-0.11605162303222043, -0.5294360368764666, 0.8177815296661923, 1.412515297190867, -0.8602656839406386, -0.4445471449043606) - client_socket.py - 253
+2024-11-01 11:41:45,334 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:47,500 - logger - INFO - convrt to joint (-0.025300461939621415, -0.5301481100197698, 0.8204998023846043, 1.412601279035078, -0.8666733601881681, -0.44465822662985965) - client_socket.py - 253
+2024-11-01 11:41:47,501 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:49,722 - logger - INFO - convrt to joint (0.06600348766729183, -0.551694888672478, 0.8495357565153415, 1.4160515480527178, -0.8574342704180259, -0.44474856395439283) - client_socket.py - 253
+2024-11-01 11:41:49,723 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:51,892 - logger - INFO - convrt to joint (0.068825315812453, -0.30568926260554685, 0.5418909043134554, 1.3874144201683696, -0.9631158280419219, -0.44483885080504476) - client_socket.py - 253
+2024-11-01 11:41:51,893 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:54,173 - logger - INFO - convrt to joint (0.07443985335196132, -0.087215147001142, 0.29633820842893144, 1.3664923049511177, -1.019564477573314, -0.44460062836911185) - client_socket.py - 253
+2024-11-01 11:41:54,174 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:41:56,565 - logger - INFO - convrt to joint (-0.036468315648907484, -0.06862823846345636, 0.27643680328406295, 1.364252922573296, -1.012960143565232, -0.4445585700431634) - client_socket.py - 253
+2024-11-01 11:41:56,566 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - None - robot.py - 52
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:42:00,244 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:42:01,246 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:42:01,247 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:42:03,715 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:42:04,145 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:42:06,777 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:42:08,509 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:42:08,510 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 258
+2024-11-01 11:42:09,011 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:09,955 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 258
+2024-11-01 11:42:10,534 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 253
+2024-11-01 11:42:10,535 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:11,691 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 258
+2024-11-01 11:42:12,267 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 178
+2024-11-01 11:42:12,268 - logger - INFO - [32.20440604  1.77436339 34.18111527] - client_socket.py - 179
+2024-11-01 11:42:22,927 - logger - INFO - convrt to joint (-0.12765693455184274, -0.11695568019081237, 0.4667695043974312, 1.1039566266615641, -0.6798263793681305, -0.5909534497109555) - client_socket.py - 253
+2024-11-01 11:42:22,929 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:25,097 - logger - INFO - convrt to joint (-0.12765559174750085, -0.11696674005373096, 0.4667858953004191, 1.1039326976456814, -0.6797638807963599, -0.5910161968004618) - client_socket.py - 253
+2024-11-01 11:42:25,098 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:27,408 - logger - INFO - convrt to joint (-0.12765594255299303, -0.11697821642087126, 0.466802443619294, 1.1039379370742666, -0.6797655200725284, -0.5910046490567434) - client_socket.py - 253
+2024-11-01 11:42:27,409 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:29,721 - logger - INFO - convrt to joint (-0.12765563564513444, -0.11698772542285676, 0.46681616233678686, 1.1039377464477573, -0.6797576790824796, -0.5910081279414675) - client_socket.py - 253
+2024-11-01 11:42:29,722 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:32,086 - logger - INFO - convrt to joint (-0.127655297250732, -0.11699562598073643, 0.4668274673150016, 1.1039398296065914, -0.6797515462595451, -0.5910107804800065) - client_socket.py - 253
+2024-11-01 11:42:32,087 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:34,402 - logger - INFO - convrt to joint (-0.12765497686430846, -0.11700231221535434, 0.4668370728970135, 1.1039407977141367, -0.6797466516724109, -0.5910126567293353) - client_socket.py - 253
+2024-11-01 11:42:34,403 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:36,716 - logger - INFO - convrt to joint (-0.1276546998163408, -0.11700799555542973, 0.4668452694547934, 1.103941981880439, -0.6797426713871478, -0.5910146014378591) - client_socket.py - 253
+2024-11-01 11:42:36,717 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:39,075 - logger - INFO - convrt to joint (-0.12765447646057734, -0.11701282103166759, 0.46685222788334285, 1.103942782994143, -0.6797396394662228, -0.5910157032380957) - client_socket.py - 253
+2024-11-01 11:42:39,076 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:42:41,245 - logger - INFO - convrt to joint (-0.12765429894984553, -0.11701670480066788, 0.4668578221962292, 1.1039432612431899, -0.6797373680253471, -0.5910164706138655) - client_socket.py - 253
+2024-11-01 11:42:41,246 - logger - INFO - set joints - client_socket.py - 261
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - None - robot.py - 52
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:45:04,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:45:05,623 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:45:05,624 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:45:07,354 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:45:07,784 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:45:10,428 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:45:11,394 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:45:11,394 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:45:11,895 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:45:12,840 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:45:25,419 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:25,420 - logger - INFO - None - robot.py - 52
+2024-11-01 11:45:25,420 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:25,421 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:25,421 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:45:25,423 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:45:25,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:45:25,425 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:45:26,433 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:45:26,434 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:45:27,618 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:45:28,058 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:45:30,656 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:45:31,810 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:45:31,811 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:45:32,312 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:45:33,201 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - None - robot.py - 52
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:46:48,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:46:49,287 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:46:49,287 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:46:49,947 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:46:50,379 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:46:53,052 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:46:54,594 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:46:54,594 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:46:55,095 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:46:55,995 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:46:59,661 - logger - INFO - convrt to joint (-0.10764330133002374, -0.6628176589033558, 1.2883507847220013, 1.5984185262628596, -2.8601765492637905, -1.61043307294349) - client_socket.py - 255
+2024-11-01 11:46:59,662 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:01,980 - logger - INFO - convrt to joint (-0.10739995481434507, -0.6790217948114113, 1.3127774685864146, 1.6105933546833517, -2.859866086014042, -1.5969585786667688) - client_socket.py - 255
+2024-11-01 11:47:01,981 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:04,152 - logger - INFO - convrt to joint (-0.10716893183859713, -0.659952493652913, 1.2807330015099276, 1.5637919408887082, -2.8593670958204958, -1.6454620192760163) - client_socket.py - 255
+2024-11-01 11:47:04,154 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:06,523 - logger - INFO - convrt to joint (-0.09820983742831431, -0.23157966064317742, 0.5033356934162914, 2.9953647722079126, -1.7017028148146165, 1.1318616458580024) - client_socket.py - 255
+2024-11-01 11:47:06,525 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:08,843 - logger - INFO - convrt to joint (-0.0982172696232014, -0.2431744180724386, 0.5213987792862359, 2.9954705796099943, -1.6953087877522566, 1.1329352440290208) - client_socket.py - 255
+2024-11-01 11:47:08,844 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:11,163 - logger - INFO - convrt to joint (-0.09821766303487568, -0.24398713148756296, 0.5226669945870601, 2.995477601811775, -1.6948593809413053, 1.1330102609792665) - client_socket.py - 255
+2024-11-01 11:47:11,165 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:13,482 - logger - INFO - convrt to joint (-0.13945077582182375, -0.23546196902996142, 0.6612724250862931, 0.8218795700957067, -1.4529239295771574, 0.5337209109230753) - client_socket.py - 255
+2024-11-01 11:47:13,483 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:15,801 - logger - INFO - convrt to joint (-0.13945679219723328, -0.2298153337928031, 0.6522790381638474, 0.8223160089839612, -1.4501492848309432, 0.5310276706452653) - client_socket.py - 255
+2024-11-01 11:47:15,802 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:47:18,120 - logger - INFO - convrt to joint (-0.13945934390859452, -0.2277444883267787, 0.6489828846423891, 0.8224794341058163, -1.449131127605182, 0.5300384929374232) - client_socket.py - 255
+2024-11-01 11:47:18,121 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:20,916 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - None - robot.py - 52
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:48:20,917 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:48:21,919 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:48:21,920 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:48:23,894 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:48:24,325 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:48:26,902 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:48:27,864 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:48:27,865 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:48:28,366 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:29,062 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:48:29,638 - logger - INFO - convrt to joint (-0.122988541338691, -0.11061232673940839, 0.4584808360341803, 1.0557417038789492, -0.6091355205260658, -0.5901225339991888) - client_socket.py - 255
+2024-11-01 11:48:29,639 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:30,796 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 260
+2024-11-01 11:48:31,371 - logger - INFO - (1.28243088722229, -0.06901973485946655, 1.7636915445327759) - client_socket.py - 178
+2024-11-01 11:48:31,373 - logger - INFO - [30.66157769  1.76566546 30.78447267] - client_socket.py - 179
+2024-11-01 11:48:32,331 - logger - INFO - convrt to joint (-0.10781692596920514, -0.4018612748375733, 0.8498447349938171, 0.9903511717299037, -2.805114029278924, -0.9353961917940058) - client_socket.py - 255
+2024-11-01 11:48:32,332 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:34,633 - logger - INFO - convrt to joint (-0.09803179914039983, -0.6474448904498961, 1.1584081343565564, 1.1401538863890819, -2.825390745275474, -1.207798943434581) - client_socket.py - 255
+2024-11-01 11:48:34,634 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:36,988 - logger - INFO - convrt to joint (-0.08856646043215075, -0.8705301163368012, 1.4496132570341052, 1.3884439170193732, -2.833562693716783, -1.8166534739748494) - client_socket.py - 255
+2024-11-01 11:48:36,989 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:39,156 - logger - INFO - convrt to joint (-0.0008358663155049183, -0.680154081367872, 1.0912806096848864, 1.9268656041059289, -2.640881805170426, 0.3923185345955364) - client_socket.py - 255
+2024-11-01 11:48:39,157 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:41,469 - logger - INFO - convrt to joint (0.08151777322901463, -0.8026733495848384, 1.277476591309189, 2.4649197118463504, -2.2253026455542027, 0.8592851661678232) - client_socket.py - 255
+2024-11-01 11:48:41,470 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:43,782 - logger - INFO - convrt to joint (0.10644161084208725, -0.5319872771248746, 0.8932765800095265, 2.9191970681179735, -1.5782391740919217, 0.956879959319149) - client_socket.py - 255
+2024-11-01 11:48:43,784 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:46,093 - logger - INFO - convrt to joint (0.08617543303158234, -0.7886843643169683, 1.5062027490073067, 1.390016914381185, -2.380607736479166, 0.35613935014124315) - client_socket.py - 255
+2024-11-01 11:48:46,094 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:48,453 - logger - INFO - convrt to joint (-0.032878060691929986, -0.7616104279222164, 1.485771444044745, 1.23548523389015, -2.1551268091728994, 0.4432478760983189) - client_socket.py - 255
+2024-11-01 11:48:48,455 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:50,766 - logger - INFO - convrt to joint (-0.13931751359491332, -0.6594311837408915, 1.3550287078475018, 0.8156624848790153, -1.6519645055353505, 0.7316113449448227) - client_socket.py - 255
+2024-11-01 11:48:50,767 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:53,078 - logger - INFO - convrt to joint (-0.10625817350357733, -0.7284907673072649, 1.2934981577030409, 1.4101430624591296, -2.8545405977690863, -0.06089258063102696) - client_socket.py - 255
+2024-11-01 11:48:53,079 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:55,391 - logger - INFO - convrt to joint (-0.0963285936174383, -0.8562661431489242, 1.406943645584948, 1.315285902648718, -2.8394173735278443, -0.15271255205960832) - client_socket.py - 255
+2024-11-01 11:48:55,393 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:48:57,705 - logger - INFO - convrt to joint (-0.0882507782555483, -0.9444295283424161, 1.4714255668322649, 1.2385612337328908, -2.8225071143454934, -0.2287110790866488) - client_socket.py - 255
+2024-11-01 11:48:57,706 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:00,012 - logger - INFO - convrt to joint (-0.0013406371056601482, -0.9201403760721703, 1.433785707946505, 1.2233847465577525, -2.746712944337973, -0.198482229078544) - client_socket.py - 255
+2024-11-01 11:49:00,014 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:02,327 - logger - INFO - convrt to joint (0.08564270782182218, -0.9090967817024529, 1.4120635554473877, 1.2145334124785414, -2.670992268343077, -0.16159809406809686) - client_socket.py - 255
+2024-11-01 11:49:02,328 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:04,639 - logger - INFO - convrt to joint (0.09436889050991887, -0.7748095385976698, 1.2717959689967444, 1.2165012244113418, -2.666498506096979, -0.15564592033981065) - client_socket.py - 255
+2024-11-01 11:49:04,641 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:06,949 - logger - INFO - convrt to joint (0.10664716726507473, -0.45138368970888737, 0.8368177322698717, 1.0711338655842682, -2.6109673152763406, -0.3192680245629142) - client_socket.py - 255
+2024-11-01 11:49:06,950 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:09,180 - logger - INFO - convrt to joint (0.0018041083639891303, -0.33716169195779655, 0.6545248502587258, 0.8965339417455511, -2.648254320753101, -0.5602239234726053) - client_socket.py - 255
+2024-11-01 11:49:09,181 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:11,401 - logger - INFO - convrt to joint (-0.10376812696901032, -0.32420369150957457, 0.626833905344982, 0.7620273999737132, -2.7093757728484498, -0.7461386969062193) - client_socket.py - 255
+2024-11-01 11:49:11,403 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:49:57,283 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:49:57,283 - logger - INFO - None - robot.py - 52
+2024-11-01 11:49:57,283 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:49:57,283 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:49:57,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:49:57,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:49:57,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:49:57,284 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:49:58,285 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:49:58,291 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:50:01,588 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:50:02,019 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:50:04,587 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:50:05,746 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:50:05,747 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:50:06,248 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:06,954 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:50:07,533 - logger - INFO - convrt to joint (-0.122988541338691, -0.11061232673940839, 0.4584808360341803, 1.0557417038789492, -0.6091355205260658, -0.5901225339991888) - client_socket.py - 255
+2024-11-01 11:50:07,534 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:08,691 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 260
+2024-11-01 11:50:09,272 - logger - INFO - (1.28243088722229, -0.06901973485946655, 1.7636915445327759) - client_socket.py - 178
+2024-11-01 11:50:09,273 - logger - INFO - [30.66157769  1.76566546 30.78447267] - client_socket.py - 179
+2024-11-01 11:50:11,007 - logger - INFO - convrt to joint (-0.10951110204541421, -0.3809475801789409, 0.813241903085028, 0.9308420716876017, -2.797874306667061, -0.5618561645687815) - client_socket.py - 255
+2024-11-01 11:50:11,197 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:13,596 - logger - INFO - convrt to joint (-0.10620456689916041, -0.44756772519917226, 0.9281892924091983, 1.104183610449969, -2.8204797089984877, -1.2521366979767925) - client_socket.py - 255
+2024-11-01 11:50:13,597 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:15,755 - logger - INFO - convrt to joint (-0.09787712368177909, -0.6557291827298253, 1.1723200411866324, 1.1587583068395764, -2.827368027188392, -1.188258282185547) - client_socket.py - 255
+2024-11-01 11:50:15,757 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:18,108 - logger - INFO - convrt to joint (-0.08963090735628657, -0.8076912301087492, 1.3401939094454443, 1.1986297727625657, -2.8236150336741996, -1.141695610724882) - client_socket.py - 255
+2024-11-01 11:50:18,109 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:20,407 - logger - INFO - convrt to joint (-0.0020024553057159996, -0.8175185384311434, 1.3618042048212566, 1.267760785298538, -2.753749871569036, -1.0218506951221) - client_socket.py - 255
+2024-11-01 11:50:20,409 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:22,758 - logger - INFO - convrt to joint (0.08531465744217206, -0.8382988177475997, 1.394637840416762, 1.306554510202187, -2.68353567355336, -0.9308892305006857) - client_socket.py - 255
+2024-11-01 11:50:22,760 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:25,062 - logger - INFO - convrt to joint (0.09383520633316551, -0.7468801165765565, 1.3268501777245159, 1.3595130065035488, -2.6863180909156026, -0.867326687914443) - client_socket.py - 255
+2024-11-01 11:50:25,064 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:27,227 - logger - INFO - convrt to joint (0.10400374121750569, -0.5773350218138635, 1.1430214260480298, 1.3516155967823884, -2.6786482368801035, -0.871903373170046) - client_socket.py - 255
+2024-11-01 11:50:27,229 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:29,535 - logger - INFO - convrt to joint (-0.0010114154756401825, -0.5279327251503685, 1.0678892315341473, 1.3103126922563895, -2.758069011194327, -0.978647995466628) - client_socket.py - 255
+2024-11-01 11:50:29,536 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:31,831 - logger - INFO - convrt to joint (-0.10600739041179297, -0.5204352822496121, 1.050522116503504, 1.2679055633431753, -2.840684504203138, -1.081032075697596) - client_socket.py - 255
+2024-11-01 11:50:31,832 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:34,177 - logger - INFO - convrt to joint (-0.14203449096774717, -0.23153241105980074, 0.5066121560500209, 1.027647325433926, -2.0410800075587305, -0.07273975007178111) - client_socket.py - 255
+2024-11-01 11:50:34,179 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:36,522 - logger - INFO - convrt to joint (-0.12818782740161966, -0.46813568522032006, 0.794842911371376, 1.0493011658791045, -2.0544922006213393, -0.016399032655801685) - client_socket.py - 255
+2024-11-01 11:50:36,523 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:38,864 - logger - INFO - convrt to joint (-0.11685540364068878, -0.7311270202079297, 1.1434907083550385, 1.0881556059951338, -2.082530246646271, 0.07324505019946616) - client_socket.py - 255
+2024-11-01 11:50:38,866 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:41,207 - logger - INFO - convrt to joint (-0.02728203409206364, -0.7527861363598957, 1.1848423386248728, 1.0815359342615989, -2.0207093851317643, 0.13717599544543754) - client_socket.py - 255
+2024-11-01 11:50:41,209 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:43,552 - logger - INFO - convrt to joint (0.06269515872150412, -0.7878945593117904, 1.241388439954117, 1.0691958484812258, -1.9597264240247174, 0.20071388022929076) - client_socket.py - 255
+2024-11-01 11:50:43,553 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:45,703 - logger - INFO - convrt to joint (0.06896424716558386, -0.5560692536340285, 0.9427606543989903, 1.0457602025912103, -1.9292800620687942, 0.1442895038024866) - client_socket.py - 255
+2024-11-01 11:50:45,704 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:47,858 - logger - INFO - convrt to joint (0.0764658395123018, -0.23150278113945963, 0.5126372025162378, 1.0137851335377632, -1.8663488693741914, 0.05183237863002403) - client_socket.py - 255
+2024-11-01 11:50:47,859 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:50,168 - logger - INFO - convrt to joint (-0.03317640288417273, -0.2092756398225907, 0.47997337190873784, 1.0210366314638164, -1.9490792272274016, -0.01730383848707618) - client_socket.py - 255
+2024-11-01 11:50:50,170 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:50:52,323 - logger - INFO - convrt to joint (-0.14204906339821863, -0.22666695638438664, 0.49895927732145223, 1.0262033351750317, -2.0392488219674574, -0.07584388224594134) - client_socket.py - 255
+2024-11-01 11:50:52,323 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:10,237 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - None - robot.py - 52
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:51:10,238 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:51:11,240 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:51:11,240 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:51:23,950 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:51:24,384 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:51:27,045 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:51:35,199 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:51:35,199 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:51:35,700 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:36,713 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:51:37,214 - logger - INFO - convrt to joint (-0.12298854526184418, -0.11061233383423019, 0.4584808477774046, 1.0557417028487655, -0.6091355963479502, -0.6368591217361571) - client_socket.py - 255
+2024-11-01 11:51:37,214 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:38,637 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 260
+2024-11-01 11:51:39,407 - logger - INFO - (1.28243088722229, -0.06901973485946655, 1.7636915445327759) - client_socket.py - 178
+2024-11-01 11:51:39,407 - logger - INFO - convrt to joint (-0.10922315859170015, -0.3840778789758608, 0.8187166857648585, 0.9397791009869331, -2.7989512183293237, -0.5524097809898462) - client_socket.py - 255
+2024-11-01 11:51:39,409 - logger - INFO - [28.70323881  1.76566808 30.7844744 ] - client_socket.py - 179
+2024-11-01 11:51:39,409 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:42,030 - logger - INFO - convrt to joint (-0.10612864871238173, -0.45200634927119326, 0.9357398166488665, 1.1148125350702975, -2.8218867957831923, -1.2410037924739288) - client_socket.py - 255
+2024-11-01 11:51:42,032 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:44,900 - logger - INFO - convrt to joint (-0.09784745504496435, -0.6572797392384202, 1.1749315328725078, 1.1623298805328344, -2.8277286703693605, -1.184509926646651) - client_socket.py - 255
+2024-11-01 11:51:44,902 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:47,806 - logger - INFO - convrt to joint (-0.08964035493628916, -0.807299479525507, 1.3395241692354565, 1.1975924421766657, -2.8235385949111276, -1.14278177732316) - client_socket.py - 255
+2024-11-01 11:51:47,807 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:50,319 - logger - INFO - convrt to joint (-0.002021650631612707, -0.8162499543087621, 1.359624727104189, 1.2649636055095304, -2.753526331629165, -1.024835824035469) - client_socket.py - 255
+2024-11-01 11:51:50,321 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:53,102 - logger - INFO - convrt to joint (0.0852987681166234, -0.8360987241534884, 1.390871498514773, 1.3025972595676165, -2.683163288122045, -0.9352189993584877) - client_socket.py - 255
+2024-11-01 11:51:53,103 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:55,932 - logger - INFO - convrt to joint (0.0938337188146567, -0.7459070416546401, 1.3252230462760413, 1.3580954842709567, -2.686182729944365, -0.8688950974506038) - client_socket.py - 255
+2024-11-01 11:51:55,933 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:51:58,594 - logger - INFO - convrt to joint (0.1040118694691045, -0.5749922108755577, 1.1391502874921349, 1.348624079806467, -2.678264111471397, -0.8752435310291098) - client_socket.py - 255
+2024-11-01 11:51:58,595 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:01,588 - logger - INFO - convrt to joint (-0.0010141915354000691, -0.5283100081248218, 1.0685020602836053, 1.3108404462339687, -2.7581410143653775, -0.9780774480626612) - client_socket.py - 255
+2024-11-01 11:52:01,589 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:04,618 - logger - INFO - convrt to joint (-0.10603355774617676, -0.524742093584863, 1.0576977331984014, 1.2773595810674034, -2.8416740895466606, -1.071175018763535) - client_socket.py - 255
+2024-11-01 11:52:04,619 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:07,333 - logger - INFO - convrt to joint (-0.14203294708462197, -0.2320511666178108, 0.5074286675483829, 1.0278017314690713, -2.0412750229226666, -0.07240837976687338) - client_socket.py - 255
+2024-11-01 11:52:07,334 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:10,044 - logger - INFO - convrt to joint (-0.12818874752122725, -0.46749445057829103, 0.7938057403664482, 1.0491033098830889, -2.054260587652082, -0.016818735695019894) - client_socket.py - 255
+2024-11-01 11:52:10,045 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:12,414 - logger - INFO - convrt to joint (-0.11685611540468653, -0.7297942450618107, 1.1412965401870228, 1.087703480641439, -2.082094709020494, 0.07233332691936374) - client_socket.py - 255
+2024-11-01 11:52:12,415 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:14,751 - logger - INFO - convrt to joint (-0.027282931191184134, -0.7486807502885553, 1.1780771342283007, 1.0803640181324132, -2.0193601147863753, 0.13449761089323334) - client_socket.py - 255
+2024-11-01 11:52:14,752 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:17,056 - logger - INFO - convrt to joint (0.06269484832006345, -0.7831256958239906, 1.2335192388010034, 1.0680573092836765, -1.9581390276520392, 0.1977201397813066) - client_socket.py - 255
+2024-11-01 11:52:17,057 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:19,379 - logger - INFO - convrt to joint (0.06896198926859698, -0.5504915307479716, 0.9336559352552669, 1.0446083965376805, -1.9272898299946142, 0.14094771228675285) - client_socket.py - 255
+2024-11-01 11:52:19,380 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:21,686 - logger - INFO - convrt to joint (0.07646650817031068, -0.23054852357880548, 0.5111429911000375, 1.0136338575364805, -1.8659789438008423, 0.051297216262480454) - client_socket.py - 255
+2024-11-01 11:52:21,688 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:24,031 - logger - INFO - convrt to joint (-0.03317619830367193, -0.20961882126352183, 0.4805094648335679, 1.0211120057766145, -1.9492103501262739, -0.017101262510272424) - client_socket.py - 255
+2024-11-01 11:52:24,032 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:52:26,382 - logger - INFO - convrt to joint (-0.1420488068205391, -0.22674929684484296, 0.49908872884854727, 1.026227744508704, -2.0392798426329524, -0.07579135121958885) - client_socket.py - 255
+2024-11-01 11:52:26,384 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:53:17,725 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:53:17,725 - logger - INFO - None - robot.py - 52
+2024-11-01 11:53:17,725 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:53:17,725 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:53:17,726 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
+2024-11-01 11:53:17,726 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
+2024-11-01 11:53:17,726 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
+2024-11-01 11:53:17,726 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
+2024-11-01 11:53:18,728 - logger - INFO - SHARED_MEMORY - client_socket.py - 60
+2024-11-01 11:53:18,728 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 71
+2024-11-01 11:53:41,125 - logger - INFO - not_connected - robot.py - 52
+2024-11-01 11:53:41,559 - logger - INFO - urdf/sample.urdf - client_socket.py - 77
+2024-11-01 11:53:44,206 - logger - INFO - connected - robot.py - 52
+2024-11-01 11:53:52,118 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:53:52,118 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:53:52,619 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:53:53,333 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:53:53,382 - logger - INFO - UPDATE - client_socket.py - 144
+2024-11-01 11:53:53,383 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 260
+2024-11-01 11:53:53,834 - logger - INFO - convrt to joint (-0.15214704211916852, -0.1697944763994517, 0.5242644887771358, 1.4130299579554693, -1.131342473519351, -0.28704752116019666) - client_socket.py - 255
+2024-11-01 11:53:53,835 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:53:53,884 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:53:54,597 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 260
+2024-11-01 11:53:54,598 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 260
+2024-11-01 11:53:55,180 - logger - INFO - (1.2210190296173096, -0.05406669154763222, 1.845606803894043) - client_socket.py - 178
+2024-11-01 11:53:55,180 - logger - INFO - convrt to joint (-0.1567777930172401, -0.1908149965620492, 0.544872192677707, 1.5123209716224328, -1.279649573053079, -0.2031004287964534) - client_socket.py - 255
+2024-11-01 11:53:55,181 - logger - INFO - [54.34966824 -3.88972645 65.02562005] - client_socket.py - 179
+2024-11-01 11:53:55,182 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:53:56,593 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 260
+2024-11-01 11:53:57,240 - logger - INFO - (1.2577126026153564, -0.06718768179416656, 1.8028815984725952) - client_socket.py - 178
+2024-11-01 11:53:57,241 - logger - INFO - [56.78171238 -3.23134011 64.85790048] - client_socket.py - 179
+2024-11-01 11:53:59,994 - logger - INFO - convrt to joint (-0.10661895521723255, -0.4293908990718903, 0.89723271807232, 1.0605880928682276, -2.8145432043835377, -0.42519796382326575) - client_socket.py - 255
+2024-11-01 11:54:00,206 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:02,803 - logger - INFO - convrt to joint (-0.10585082794072774, -0.48172515709083563, 0.9861197303417445, 1.1851695103532671, -2.8307993239839804, -0.8765439603202593) - client_socket.py - 255
+2024-11-01 11:54:02,805 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:05,404 - logger - INFO - convrt to joint (-0.10030279212682197, -0.6143102229370598, 1.1360134824388881, 1.193690240633561, -2.8316802590837273, -0.8628273449657728) - client_socket.py - 255
+2024-11-01 11:54:05,405 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:07,790 - logger - INFO - convrt to joint (-0.09472130349813945, -0.7302340613052601, 1.2667514729098717, 1.2171263374974048, -2.830783185365331, -0.8343579547483734) - client_socket.py - 255
+2024-11-01 11:54:07,792 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:10,390 - logger - INFO - convrt to joint (-0.03284794775736374, -0.7351539070648164, 1.2794305377447324, 1.26431227102837, -2.7817697811662, -0.7515456537348767) - client_socket.py - 255
+2024-11-01 11:54:10,391 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:13,021 - logger - INFO - convrt to joint (0.029137063589443762, -0.7478547237321165, 1.3015073530365147, 1.2985813468146394, -2.7326845931565664, -0.6805420800089059) - client_socket.py - 255
+2024-11-01 11:54:13,023 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:15,821 - logger - INFO - convrt to joint (0.031448672335075506, -0.6605494489691291, 1.2181349408021127, 1.3225705379503734, -2.7340296234746533, -0.6541258076252435) - client_socket.py - 255
+2024-11-01 11:54:15,823 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:18,312 - logger - INFO - convrt to joint (0.03418752214810256, -0.5172006232276243, 1.049029766413014, 1.289593060347373, -2.7266876095023473, -0.6903133060783856) - client_socket.py - 255
+2024-11-01 11:54:18,314 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:21,004 - logger - INFO - convrt to joint (-0.03601608644757652, -0.49303740734610496, 1.0094120273853182, 1.244973138067041, -2.779010736888828, -0.7768361729832048) - client_socket.py - 255
+2024-11-01 11:54:21,006 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:23,701 - logger - INFO - convrt to joint (-0.10594572801687566, -0.48990694559236003, 0.9993128352288616, 1.198611855428096, -2.8329453174114634, -0.8624240088961045) - client_socket.py - 255
+2024-11-01 11:54:23,701 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:26,724 - logger - INFO - convrt to joint (-0.1333996005292131, -0.2972182578720567, 0.6335882496376894, 1.055995130011203, -2.3042279224112323, -0.17325673503524808) - client_socket.py - 255
+2024-11-01 11:54:26,726 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:29,511 - logger - INFO - convrt to joint (-0.12470854517494889, -0.45335890761294806, 0.823354233688269, 1.0810027416156498, -2.3120623649244467, -0.13088156480726024) - client_socket.py - 255
+2024-11-01 11:54:29,512 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:32,319 - logger - INFO - convrt to joint (-0.11704526997893094, -0.6280198949718265, 1.0509400442834762, 1.1230996228308203, -2.3277801128928184, -0.06429305938850705) - client_socket.py - 255
+2024-11-01 11:54:32,321 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:35,303 - logger - INFO - convrt to joint (-0.05444381631414103, -0.6361936535731357, 1.0694605350040225, 1.1293378062414674, -2.2814229146947307, -0.016938227008702456) - client_socket.py - 255
+2024-11-01 11:54:35,305 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:38,125 - logger - INFO - convrt to joint (0.00853402059899992, -0.649515638031475, 1.0927968537370847, 1.1308894020084441, -2.2344833199844416, 0.027170169434996387) - client_socket.py - 255
+2024-11-01 11:54:38,127 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:41,030 - logger - INFO - convrt to joint (0.00925884249160807, -0.48322204218742176, 0.8792929938124419, 1.1007426776021023, -2.2159578228491084, -0.022632137821952725) - client_socket.py - 255
+2024-11-01 11:54:41,032 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:43,840 - logger - INFO - convrt to joint (0.009956700054912608, -0.28832912972249103, 0.6273729370351527, 1.0639740824307138, -2.188302374043938, -0.08456204350892604) - client_socket.py - 255
+2024-11-01 11:54:43,842 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:46,644 - logger - INFO - convrt to joint (-0.06207243976095657, -0.28054473433271077, 0.6131903380655858, 1.057739293534779, -2.2437314805999335, -0.13423465875682883) - client_socket.py - 255
+2024-11-01 11:54:46,646 - logger - INFO - set joints - client_socket.py - 263
+2024-11-01 11:54:49,495 - logger - INFO - convrt to joint (-0.13345173832268964, -0.292126154713406, 0.6253381437643674, 1.0528971901918123, -2.3024232062107273, -0.17771620751163136) - client_socket.py - 255
+2024-11-01 11:54:49,496 - logger - INFO - set joints - client_socket.py - 263
diff --git a/data/test.nc.result b/data/test.nc.result
index 2c3ad22..a431cd6 100644
--- a/data/test.nc.result
+++ b/data/test.nc.result
@@ -1,9 +1,19 @@
-X0 Y0
-X0 Y10
-X0 Y20
-X10 Y20
-X20 Y20
-X20 Y10
-X20 Y0
-X10 Y0
-X0 Z0
\ No newline at end of file
+X0 Y0 Z0 U0
+X0 Y0 Z0 U-33.333
+X100 Y0 Z0 U-33.333
+X200 Y0 Z0 U-33.333
+X200 Y100 Z0 U-33.333
+X200 Y200 Z0 U-33.333
+X100 Y200 Z0 U-33.333
+X0 Y200 Z0 U-33.333
+X0 Y100 Z0 U-33.333
+X0 Y0 Z0 U-33.333
+X0 Y0 Z-100 W-33.333
+X100 Y0 Z-100 W-33.333
+X200 Y0 Z-100 W-33.333
+X200 Y100 Z-100 W-33.333
+X200 Y200 Z-100 W-33.333
+X100 Y200 Z-100 W-33.333
+X0 Y200 Z-100 W-33.333
+X0 Y100 Z-100 W-33.333
+X0 Y0 Z-100 W-33.333
diff --git a/robot/client_socket.py b/robot/client_socket.py
index 5f1dfb3..b2be794 100644
--- a/robot/client_socket.py
+++ b/robot/client_socket.py
@@ -2,6 +2,7 @@ import socket
 import json
 import os
 import math
+import numpy as np
 
 from typing import Literal
 from pprint import pprint
@@ -75,7 +76,14 @@ class SocketRobotArm:
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
         logger.info(urdf_path)
         self.body_id = p.loadURDF(
-            urdf_path, [0, 0, 0], useFixedBase=1, physicsClientId=self.physics_client
+            urdf_path,
+            [
+                -0.075458,  # новое значение x в метрах
+                0.068477,  # новое значение y в метрах
+                0.082201,  # новое значение z в метрах
+            ],
+            useFixedBase=1,
+            physicsClientId=self.physics_client,
         )
         time.sleep(1)
 
@@ -106,7 +114,7 @@ class SocketRobotArm:
             projectionMatrix=p.computeProjectionMatrixFOV(
                 fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
             ),
-            renderer=p.ER_TINY_RENDERER,
+            # renderer=p.ER_TINY_RENDERER,
             physicsClientId=self.physics_client,
         )
 
@@ -142,12 +150,34 @@ class SocketRobotArm:
         self.get_world()
         self.set_text(text=f"Мировые координаты {self.start_world_coordinates}")
         time.sleep(0.5)
-        # self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3]))
+        self.set_joint(
+            self.convert_to_joint(
+                [s * 0.001 for s in self.start_world_coordinates[0:3]]
+            )
+        )
 
         self._get_command_count()
         self.set_text(text=f"Команд в очереди {self.remote_command_count}")
         time.sleep(0.5)
 
+        num_joints = p.getNumJoints(self.body_id)
+        end_effector_state = p.getLinkState(
+            self.body_id, num_joints - 1, computeForwardKinematics=True
+        )
+
+        # Позиция end-effector
+        end_effector_position = end_effector_state[4]
+        # Ориентация end-effector (кватернион)
+        end_effector_orientation = end_effector_state[5]
+
+        # Преобразуем кватернион в углы Эйлера
+        euler_orientation = p.getEulerFromQuaternion(end_effector_orientation)
+
+        euler_orientation = np.degrees(euler_orientation)
+
+        logger.info(end_effector_position)
+        logger.info(euler_orientation)
+
     def cycle_base(self):
         self.upd_model()
 
@@ -192,14 +222,25 @@ class SocketRobotArm:
         for i, point in enumerate(points):
             if point["action"] == "10":
                 self.imitate_point = i
+                points = [
+                    point["m0"],
+                    point["m1"],
+                    point["m2"],
+                ]
+                coor = [(float(point) * 0.001) for point in points]
                 angles = self.convert_to_joint(
-                    [float(point) for point in [point["m0"], point["m1"], point["m2"]]]
+                    coor,
+                    [
+                        point["m3"],
+                        point["m4"],
+                        point["m5"],
+                    ],
                 )
                 # logger.info(f"point {point} {angles}")
-                self.set_joint((*angles, point["m2"], point["m3"], point["m4"]))
+                self.set_joint(angles)
                 time.sleep(1)
 
-    def convert_to_joint(self, coordinates):
+    def convert_to_joint(self, coordinates, angles=[]):
         num_joints = p.getNumJoints(self.body_id)
         joint_info = [p.getJointInfo(self.body_id, i) for i in range(num_joints)]
 
@@ -207,6 +248,9 @@ class SocketRobotArm:
             self.body_id,
             endEffectorLinkIndex=num_joints - 1,
             targetPosition=coordinates,
+            targetOrientation=p.getQuaternionFromEuler(
+                [math.radians(float(a)) for a in angles]
+            ) if len(angles) == 3  else None,
         )
         logger.info(f"convrt to joint {joint_angles}")
         # logger.info(joint_angles)
@@ -302,6 +346,9 @@ class SocketRobotArm:
     def round(v):
         return round(v, 3)
 
+    def relative_axis_coordinates(self):
+        start = self.start_axis_coordinates
+
     def make_world_step(self, type, point):
         step = {
             "oneshot": "1",
diff --git a/run_local.py b/run_local.py
index 9998b57..1d2e758 100644
--- a/run_local.py
+++ b/run_local.py
@@ -33,7 +33,8 @@ signal.signal(signal.SIGTERM, lambda *_: cleanup())
 
 # Парсер аргументов командной строки
 parser = argparse.ArgumentParser(description="Python launcher script.")
-parser.add_argument("--test", action="store_true", help="Запуск в режиме тестирования")
+parser.add_argument("--test-socket", action="store_true", help="Запуск в режиме тестирования")
+parser.add_argument("--bullet-gui", action="store_true", help="Вывод визуального pybullet")
 args = parser.parse_args()
 
 # Установка команды для pybullet_server
@@ -46,7 +47,7 @@ pybullet_command = [
 ]  # Путь к исполняемому файлу
 
 # Если включен режим тестирования, добавляем флаг --test
-if args.test:
+if args.bullet_gui:
     pybullet_command.append("--test")
 
 # Запуск pybullet_server.exe
@@ -59,7 +60,7 @@ if server_process.poll() is not None:
     sys.exit(1)
 
 # Если включен режим тестирования, запускаем test_socket_server.exe
-if args.test:
+if args.test_socket:
     print("Запуск test_socket_server...")
     test_server_process = subprocess.Popen(
         ["poetry", "run", "python", "utils/test_socket_server.py"]
diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index 21bfe47..ccd7f69 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -160,7 +160,7 @@
     <limit lower="-2.007" upper="2.007" effort="0" velocity="0"/>
     <parent link="link_4" />
     <child link="link_5" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
     <origin rpy="0 0 0" xyz="0.867755 0.037912 0.000177" />
   </joint>
 
diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py
index 46734b5..634385a 100644
--- a/utils/test_socket_server.py
+++ b/utils/test_socket_server.py
@@ -17,28 +17,22 @@ def handle_client(conn, addr):
 
             if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
                 res["queryData"] = [
-                    -60,
-                    40,
-                    -10,
-                    -60,
-                    -75,
-                    0,
+                    -8.487,
+                    -8.681,
+                    33.058,
+                    88.070,
+                    -75.010,
+                    -10.566,
                 ]
 
             if "queryAddr" in req and "world-0" in req["queryAddr"]:
                 res["queryData"] = [
-                    643.622,
-                    -1289.604,
-                    254.682,
-                    124.70,
-                    24.209,
-                    -58.492,
-                    # 0,
-                    # 0,
-                    # 0,
-                    # 0,
-                    # 0,
-                    # 0,
+                    1282.244,
+                    -75.427,
+                    1772.476,
+                    84.629,
+                    34.519,
+                    153.999,
                 ]
 
             if req["reqType"] == "command":