diff --git a/app.log b/app.log
index f35651f..58c1e6d 100644
--- a/app.log
+++ b/app.log
@@ -6957,3 +6957,72 @@
 2024-12-10 12:31:23,948 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 36
 2024-12-10 12:31:25,180 - logger - INFO - not_connected - robot.py - 52
 2024-12-10 12:31:25,482 - logger - INFO - trying connect to ('192.168.70.55', 9760) - socket_manager.py - 28
+2024-12-10 12:31:27,865 - logger - INFO - connected - robot.py - 52
+2024-12-10 12:31:28,710 - logger - INFO - Координаты осей [12.253801, 10.893473, -33.00238, -3.094137, -38.959312, 20.063223] - client_socket.py - 198
+2024-12-10 12:31:29,340 - logger - INFO - Мировые координаты [1327.947754, 272.286499, 490.386536, -41.067577, 5.557855, -95.279472] - client_socket.py - 198
+2024-12-10 12:31:34,306 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:31:34,750 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:31:45,410 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:32:07,166 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:32:27,312 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:32:35,775 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:32:54,638 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:33:13,216 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:34:32,865 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:34:41,249 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:34:52,040 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:37:43,410 - logger - INFO - Координаты осей [12.255512, 10.891512, -33.004097, -3.089458, -38.958954, 20.061064] - client_socket.py - 198
+2024-12-10 12:37:43,981 - logger - INFO - Мировые координаты [1327.915161, 272.344727, 490.30661, -41.071838, 5.559976, -95.27803] - client_socket.py - 198
+2024-12-10 12:37:48,104 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:37:48,555 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:39:00,901 - logger - INFO - Координаты осей [19.142836, 5.402451, -27.521996, -1.556896, -33.358746, 20.430845] - client_socket.py - 198
+2024-12-10 12:39:01,795 - logger - INFO - Мировые координаты [1383.448486, 472.048584, 526.77478, -36.210152, 8.871101, -88.460754] - client_socket.py - 198
+2024-12-10 12:39:06,791 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:39:11,117 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:39:33,465 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:39:45,324 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:45:33,164 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:45:33,169 - logger - INFO - None - robot.py - 52
+2024-12-10 12:45:33,169 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:45:33,169 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:45:33,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:45:33,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 115
+2024-12-10 12:45:33,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 115
+2024-12-10 12:45:33,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 115
+2024-12-10 12:45:34,225 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 36
+2024-12-10 12:45:37,909 - logger - INFO - not_connected - robot.py - 52
+2024-12-10 12:45:38,222 - logger - INFO - trying connect to ('192.168.70.55', 9760) - socket_manager.py - 28
+2024-12-10 12:45:40,963 - logger - INFO - connected - robot.py - 52
+2024-12-10 12:45:42,292 - logger - INFO - Координаты осей [19.142836, 5.403431, -27.523426, -1.557364, -33.355507, 20.43091] - client_socket.py - 198
+2024-12-10 12:45:43,069 - logger - INFO - Мировые координаты [1383.451782, 472.048401, 526.779785, -36.207344, 8.8716, -88.460121] - client_socket.py - 198
+2024-12-10 12:45:48,190 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:45:48,285 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:46:16,061 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:47:42,473 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:47:53,792 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:49:05,518 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:49:05,518 - logger - INFO - None - robot.py - 52
+2024-12-10 12:49:05,518 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:49:05,518 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:49:05,528 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 115
+2024-12-10 12:49:05,529 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 115
+2024-12-10 12:49:05,529 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 115
+2024-12-10 12:49:05,529 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 115
+2024-12-10 12:49:06,579 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 36
+2024-12-10 12:49:08,069 - logger - INFO - not_connected - robot.py - 52
+2024-12-10 12:49:08,372 - logger - INFO - trying connect to ('192.168.70.55', 9760) - socket_manager.py - 28
+2024-12-10 12:49:11,021 - logger - INFO - connected - robot.py - 52
+2024-12-10 12:49:12,864 - logger - INFO - Координаты осей [20.180531, -29.620337, -14.110187, -161.845108, -100.102501, 82.904137] - client_socket.py - 198
+2024-12-10 12:49:13,577 - logger - INFO - Мировые координаты [1383.454712, 472.044342, 526.783508, -36.206722, 8.872608, -88.462875] - client_socket.py - 198
+2024-12-10 12:49:18,802 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:49:18,828 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:49:28,797 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:49:42,372 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:49:59,055 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:50:09,862 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:53:42,540 - logger - INFO - Координаты осей [47.552551, 2.678021, -22.877775, -147.164322, -74.493736, 66.94529] - client_socket.py - 198
+2024-12-10 12:53:43,139 - logger - INFO - Мировые координаты [903.140625, 899.352966, 1011.113403, -46.3358, 14.796228, -73.315346] - client_socket.py - 198
+2024-12-10 12:53:47,995 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 198
+2024-12-10 12:53:49,466 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:53:59,666 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
+2024-12-10 12:54:12,674 - logger - INFO - Старт одиночного цикла - client_socket.py - 198
diff --git a/robot/prepare_data.py b/robot/prepare_data.py
index a2a58b2..4861f8a 100644
--- a/robot/prepare_data.py
+++ b/robot/prepare_data.py
@@ -6,7 +6,7 @@ from robot.func import *
 class PrepareRobotData:
     line_speed = 100.0
     line_smooth = 0
-    line_tool = 1
+    line_tool = 0
 
     def make_step(self, type, point, start_coordinates):
         step = {
diff --git a/robots.json b/robots.json
index ec20855..4a27da9 100644
--- a/robots.json
+++ b/robots.json
@@ -1,10 +1,17 @@
 [
     {
+        
         "name": "big",
         "host": "192.168.70.55",
         "slave_id": 11,
         "urdf": "sample"
     },
+    {
+        "name": "big WITHOUT",
+        "host": "192.168.70.55",
+        "slave_id": 11,
+        "urdf": "sample_without"
+    },
     {
         "name": "small",
         "host": "192.168.70.65",
diff --git a/urdf/sample_without.urdf b/urdf/sample_without.urdf
new file mode 100644
index 0000000..33c3669
--- /dev/null
+++ b/urdf/sample_without.urdf
@@ -0,0 +1,161 @@
+<?xml version="1.0"?>
+<robot name="sample_robot">
+
+  <!-- Materials -->
+  <material name="grey">
+    <color rgba="0.0 0 0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0 0.0 1.0 1.0" />
+  </material>
+  <material name="lightblue">
+    <color rgba="0.0 0.22 1.0 1.0" />
+  </material>
+  <material name="yellow">
+    <color rgba="0.96 0.76 0.13 1.0" />
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.15 0.15 0.15 1.0" />
+  </material>
+
+  <!-- Links: main serial chain -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+      <material name="grey" />
+    </visual>
+  </link>
+
+  <link name="link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+      <material name="red" />
+    </visual>
+  </link>
+
+  <link name="link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+      <material name="blue" />
+    </visual>
+  </link>
+
+  <link name="link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+      <material name="lightblue" />
+    </visual>
+  </link>
+
+  <link name="link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+      <material name="yellow" />
+    </visual>
+  </link>
+
+  <link name="link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+      <material name="orange" />
+    </visual>
+  </link>
+
+  <link name="link_6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <!-- Joints: main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="link_1" />
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="joint_2" type="revolute">
+    <limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
+    <parent link="link_1" />
+    <child link="link_2" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
+  </joint>
+
+  <joint name="joint_3" type="revolute">
+    <limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
+    <parent link="link_2" />
+    <child link="link_3" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0 -0.001963 0.729921" />
+  </joint>
+
+  <joint name="joint_4" type="revolute">
+    <limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
+    <parent link="link_3" />
+    <child link="link_4" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0 0 0.098277" />
+  </joint>
+
+  <joint name="joint_5" type="revolute">
+    <limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
+    <parent link="link_4" />
+    <child link="link_5" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="1.109039 0 0" />
+  </joint>
+
+  <joint name="joint_6" type="revolute">
+    <limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
+    <parent link="link_5" />
+    <child link="link_6" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.117 0 0" />
+  </joint>
+
+    <link name="tcp">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 0.05" />
+      </geometry>
+      <material name="red" />
+    </visual>
+  </link>
+
+  <joint name="tcp_joint" type="fixed">
+    <parent link="link_6" />
+    <child link="tcp" />
+    <origin xyz="0" rpy="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file