joint
This commit is contained in:
parent
37a2a725d5
commit
79b69cfffa
273
app.log
273
app.log
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@ -61545,3 +61545,276 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
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2024-10-29 15:35:59,149 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:35:59,149 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:36:00,788 - logger - INFO - convrt to joint (-0.9641636481293769, 1.3992797392182088, 1.544249659272749, -0.3276867067521519, -0.0038241355699978902, 0.0007945284752866701) - client_socket.py - 202
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2024-10-29 15:36:00,788 - logger - INFO - convrt to joint (-0.9641636481293769, 1.3992797392182088, 1.544249659272749, -0.3276867067521519, -0.0038241355699978902, 0.0007945284752866701) - client_socket.py - 202
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2024-10-29 15:36:00,789 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:36:00,789 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:36,179 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:37:37,180 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:37:37,180 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:37:38,187 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:37:39,529 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:37:40,760 - logger - INFO - UPDATE - client_socket.py - 132
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2024-10-29 15:37:40,761 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
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2024-10-29 15:37:41,262 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:41,915 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
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2024-10-29 15:37:42,434 - logger - INFO - convrt to joint (-0.9524229395889161, 1.3502346846020679, 1.29986938732758, -0.31353179100217476, -0.04005273159215446, 0.00027273428626656477) - client_socket.py - 202
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2024-10-29 15:37:42,435 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:43,169 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
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2024-10-29 15:37:44,706 - logger - INFO - convrt to joint (-1.0134864723577373, 1.286152370733808, 1.262862245381843, -0.17789796625856097, -0.04089284897753857, 0.0002764392831079298) - client_socket.py - 202
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2024-10-29 15:37:44,706 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:46,460 - logger - INFO - convrt to joint (-1.0015368583033275, 1.2781216850034034, 1.2630756250554942, -0.16996119987213743, -0.04063179944748226, 0.0002704473424319922) - client_socket.py - 202
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2024-10-29 15:37:46,461 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:48,215 - logger - INFO - convrt to joint (-0.9858801966533356, 1.2715285805540546, 1.263075533487287, -0.1670527405075361, -0.04055051018693807, 0.00026345644801991253) - client_socket.py - 202
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2024-10-29 15:37:48,216 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:49,966 - logger - INFO - convrt to joint (-0.9521381744842066, 1.2759239734875105, 1.2630759421575806, -0.17061517799231152, -0.04065365243766262, 0.00025634518333952173) - client_socket.py - 202
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2024-10-29 15:37:49,966 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:51,735 - logger - INFO - convrt to joint (-0.9208014017777675, 1.2795427774455501, 1.263075827056281, -0.17182028499676627, -0.04068744183627993, 0.000248638714284958) - client_socket.py - 202
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2024-10-29 15:37:51,735 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:53,472 - logger - INFO - convrt to joint (-0.9428650199530253, 1.282191984562477, 1.2630757353710953, -0.1650792418766741, -0.04048536091354923, 0.00024096298787583292) - client_socket.py - 202
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2024-10-29 15:37:53,472 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:55,162 - logger - INFO - convrt to joint (-0.9602826601868568, 1.2869886109419775, 1.2630755793970794, -0.16508008297220467, -0.04048224545176353, 0.0002489165356975867) - client_socket.py - 202
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2024-10-29 15:37:55,163 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:56,970 - logger - INFO - convrt to joint (-0.9928229510047046, 1.2824360997544217, 1.2630742736674616, -0.15934584012949954, -0.04032720629912779, 0.0002548017800980389) - client_socket.py - 202
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2024-10-29 15:37:56,973 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:37:58,810 - logger - INFO - convrt to joint (-1.0250031248665123, 1.2788129015304863, 1.2630752184919318, -0.15614047764338673, -0.040244615325202945, 0.0002593660355250723) - client_socket.py - 202
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2024-10-29 15:37:58,812 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:38:53,974 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:38:54,976 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:38:54,977 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:38:56,717 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:38:58,068 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:38:59,829 - logger - INFO - UPDATE - client_socket.py - 132
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2024-10-29 15:38:59,830 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
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2024-10-29 15:39:00,330 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:39:00,969 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
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2024-10-29 15:39:01,497 - logger - INFO - convrt to joint (-0.9626918861742209, 1.3721460268621974, 1.415694673539136, -0.3148171545363295, -0.02321139496616466, 0.000456579550924834) - client_socket.py - 202
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2024-10-29 15:39:01,499 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:39:02,192 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
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2024-10-29 15:39:20,251 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:39:21,252 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:39:21,252 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:39:22,586 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:39:23,931 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:39:24,993 - logger - INFO - UPDATE - client_socket.py - 136
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2024-10-29 15:39:24,994 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 211
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2024-10-29 15:39:25,495 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:26,158 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 211
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2024-10-29 15:39:26,690 - logger - INFO - convrt to joint (-0.9591044092926384, 1.3630931887147204, 1.3694196684438897, -0.31395485800743506, -0.030019784349739675, 0.00035191969352651943) - client_socket.py - 206
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2024-10-29 15:39:26,691 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:27,355 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 211
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2024-10-29 15:39:28,797 - logger - INFO - convrt to joint (-0.9641994645292505, 1.3784730800523177, 1.4479566052715653, -0.31686223314059203, -0.018366893957904237, 0.00036199123443954355) - client_socket.py - 206
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2024-10-29 15:39:28,798 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:30,545 - logger - INFO - convrt to joint (-0.9522432115996406, 1.389128782360396, 1.5192505898163269, -0.31683821351564867, -0.007669284766272391, 0.0003615322168917323) - client_socket.py - 206
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2024-10-29 15:39:30,546 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:32,241 - logger - INFO - convrt to joint (-0.9358177652014641, 1.3871568456084733, 1.5345435119430808, -0.31683807384432594, -0.005345251483984945, 0.0003617571681046099) - client_socket.py - 206
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2024-10-29 15:39:32,242 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:33,983 - logger - INFO - convrt to joint (-0.9040811295473882, 1.3912291233067646, 1.539047429640838, -0.3168352025891177, -0.004664781255181781, 0.0003609138036105936) - client_socket.py - 206
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2024-10-29 15:39:33,984 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:35,717 - logger - INFO - convrt to joint (-0.8733684954669496, 1.3946337427245905, 1.540348419085967, -0.3168165888047523, -0.004470598066055556, 0.00035392834383572106) - client_socket.py - 206
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2024-10-29 15:39:35,718 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:37,530 - logger - INFO - convrt to joint (-0.8917786976989241, 1.399721341508768, 1.5412065700254605, -0.3167994585310759, -0.004345494480302123, 0.0003479396735448811) - client_socket.py - 206
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2024-10-29 15:39:37,531 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:39,276 - logger - INFO - convrt to joint (-0.9091215053959358, 1.4046117346578924, 1.5421905540506096, -0.3168085153233186, -0.00420080857995981, 0.00035085067956679015) - client_socket.py - 206
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2024-10-29 15:39:39,278 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:41,092 - logger - INFO - convrt to joint (-0.9386357132195216, 1.4017116290137785, 1.540882939836328, -0.3168199609510358, -0.004396711349885489, 0.0003545527488149172) - client_socket.py - 206
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2024-10-29 15:39:41,097 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:39:42,989 - logger - INFO - convrt to joint (-0.9691405743743974, 1.3990078771645535, 1.540164316469525, -0.3168359632397855, -0.004503107215856453, 0.00035971059972023285) - client_socket.py - 206
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2024-10-29 15:39:42,991 - logger - INFO - set joints - client_socket.py - 214
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2024-10-29 15:40:19,050 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:40:20,052 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:40:20,052 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:40:21,557 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:40:22,923 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:40:45,740 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:40:46,742 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:40:46,742 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:40:47,339 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:40:48,697 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:40:49,482 - logger - INFO - UPDATE - client_socket.py - 132
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2024-10-29 15:40:49,482 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
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2024-10-29 15:40:49,983 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:40:50,665 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
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2024-10-29 15:40:51,169 - logger - INFO - convrt to joint (-0.9641667182472826, 1.3811043496197122, 1.4620132818630056, -0.3190459026699363, -0.016212773660530755, 0.0006844177502805399) - client_socket.py - 202
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2024-10-29 15:40:51,170 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:40:51,996 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
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2024-10-29 15:40:53,778 - logger - INFO - convrt to joint (-0.9655636223944863, 1.3951051022102339, 1.5254950783543095, -0.3232384097072803, -0.0066576082094883995, 0.0006922534253587965) - client_socket.py - 202
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2024-10-29 15:40:53,778 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:40:55,615 - logger - INFO - convrt to joint (-0.9500893532578011, 1.3930778004754343, 1.5386633770932898, -0.32314042595657955, -0.0046812594852779065, 0.0006916293000873629) - client_socket.py - 202
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2024-10-29 15:40:55,616 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:40:57,458 - logger - INFO - convrt to joint (-0.9330659957470395, 1.387986906635904, 1.540102760776719, -0.3231411618171402, -0.004460371491890203, 0.0006919694200089776) - client_socket.py - 202
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2024-10-29 15:40:57,459 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:40:59,305 - logger - INFO - convrt to joint (-0.9012196071032019, 1.3914876033175951, 1.5419877597142109, -0.3231344851647538, -0.004180624736295228, 0.000689915501595161) - client_socket.py - 202
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2024-10-29 15:40:59,306 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:01,136 - logger - INFO - convrt to joint (-0.8704855874911905, 1.3947950284843553, 1.5428140692398669, -0.3231162904865549, -0.00405968918282912, 0.0006832059247069499) - client_socket.py - 202
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2024-10-29 15:41:01,136 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:02,953 - logger - INFO - convrt to joint (-0.8888886485348572, 1.3998689130675, 1.5435642137517689, -0.32309913605924284, -0.003951781864351049, 0.0006772228996166095) - client_socket.py - 202
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2024-10-29 15:41:02,955 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:04,812 - logger - INFO - convrt to joint (-0.9062228793886735, 1.4047491483444394, 1.544450729993632, -0.32311191464196404, -0.003822998826510199, 0.0006821125151829521) - client_socket.py - 202
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2024-10-29 15:41:04,812 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:06,660 - logger - INFO - convrt to joint (-0.9357420927134803, 1.4018481577316482, 1.5432038080219959, -0.323125032013562, -0.004007608826983515, 0.0006867905137862035) - client_socket.py - 202
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2024-10-29 15:41:06,661 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:08,515 - logger - INFO - convrt to joint (-0.9662508068601399, 1.3991519189859756, 1.5425553310679243, -0.32314307833216555, -0.004102432285847551, 0.0006934928987117297) - client_socket.py - 202
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2024-10-29 15:41:08,515 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:25,078 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:41:26,080 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
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2024-10-29 15:41:26,080 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
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2024-10-29 15:41:26,680 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 15:41:28,039 - logger - INFO - connected - robot.py - 52
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2024-10-29 15:41:28,787 - logger - INFO - UPDATE - client_socket.py - 132
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2024-10-29 15:41:28,787 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
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2024-10-29 15:41:29,288 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:29,971 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
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2024-10-29 15:41:30,481 - logger - INFO - convrt to joint (-0.9641667182472826, 1.3811043496197122, 1.4620132818630056, -0.3190459026699363, -0.016212773660530755, 0.0006844177502805399) - client_socket.py - 202
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2024-10-29 15:41:30,482 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:31,310 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
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2024-10-29 15:41:33,138 - logger - INFO - convrt to joint (-0.9657607692174093, 1.3951497704673124, 1.5255242538400664, -0.3228191590035464, -0.0066578751159778096, 0.0006918650385153641) - client_socket.py - 202
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2024-10-29 15:41:33,138 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:35,007 - logger - INFO - convrt to joint (-0.9656671363464291, 1.364531235256851, 1.5296483932797929, -0.3227253899340565, -0.00601018643719786, 0.0006912200933381123) - client_socket.py - 202
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2024-10-29 15:41:35,007 - logger - INFO - set joints - client_socket.py - 210
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2024-10-29 15:41:36,883 - logger - INFO - convrt to joint (-0.965084708783476, 1.3320566089437387, 1.5240929237355003, -0.3227277183524904, -0.006810338184763775, 0.0006912473515725359) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:36,884 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:38,714 - logger - INFO - convrt to joint (-0.9348190849769119, 1.3367460340522743, 1.5293590363126464, -0.32272756364959815, -0.0060260045461834055, 0.0006912252524505178) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:38,714 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:40,556 - logger - INFO - convrt to joint (-0.9053583639345335, 1.3406926943969488, 1.5310974122008545, -0.322709141365279, -0.0057694693833175905, 0.0006842505044348015) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:40,557 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:42,394 - logger - INFO - convrt to joint (-0.9060263305678673, 1.3730847747338193, 1.540097851302471, -0.3226920335978229, -0.004449999690634219, 0.0006782482080842925) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:42,395 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:44,241 - logger - INFO - convrt to joint (-0.9064965271770549, 1.4053174939430795, 1.5467488444244357, -0.3226926021276639, -0.0034800969997111084, 0.0006786800023600918) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:44,242 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:46,090 - logger - INFO - convrt to joint (-0.9359559596209879, 1.4019425148342641, 1.5434900834126397, -0.32269263143035315, -0.00396709833947288, 0.0006786477137474316) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:46,091 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:41:47,917 - logger - INFO - convrt to joint (-0.9664518986893225, 1.3991612894059404, 1.5424799070555983, -0.3227114030660605, -0.004116290763317175, 0.0006858517074866878) - client_socket.py - 202
|
||||||
|
2024-10-29 15:41:47,917 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:10,541 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:42:11,542 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
|
||||||
|
2024-10-29 15:42:11,543 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
|
||||||
|
2024-10-29 15:42:12,109 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:42:13,468 - logger - INFO - connected - robot.py - 52
|
||||||
|
2024-10-29 15:42:14,030 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:42:14,030 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:42:14,531 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:15,216 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
|
||||||
|
2024-10-29 15:42:15,732 - logger - INFO - convrt to joint (-0.9641667182472826, 1.3811043496197122, 1.4620132818630056, -0.3190459026699363, -0.016212773660530755, 0.0006844177502805399) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:15,733 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:16,530 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
|
||||||
|
2024-10-29 15:42:18,143 - logger - INFO - convrt to joint (-0.9641987387337589, 1.3948080317443905, 1.5253442840029359, -0.32614595015142467, -0.006648095181277437, 0.0006956805230529271) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:18,144 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:20,031 - logger - INFO - convrt to joint (-0.9633219461710544, 1.330534462488189, 1.519103634210059, -0.3259695193121627, -0.00751842758547897, 0.000694883019678719) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:20,032 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:21,869 - logger - INFO - convrt to joint (-0.96147621343128, 1.2652340202879886, 1.5005003405175978, -0.3259736375451665, -0.010211486517740558, 0.0006949672249119883) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:21,870 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:23,711 - logger - INFO - convrt to joint (-0.9022973490034324, 1.2772329063569943, 1.514425347992358, -0.3259735412972862, -0.008160174511368148, 0.000695065623633604) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:23,712 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:25,542 - logger - INFO - convrt to joint (-0.8464767262876323, 1.2875546944301675, 1.5198925172230853, -0.32595698934161754, -0.007359005300257834, 0.0006903906132852821) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:25,542 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:27,423 - logger - INFO - convrt to joint (-0.84798973017284, 1.3494864514819962, 1.538647898096349, -0.3259433421053285, -0.0046256411156853075, 0.0006875472473994784) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:27,424 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:29,260 - logger - INFO - convrt to joint (-0.8488844524379611, 1.4115644531102096, 1.5512644344832769, -0.3259437394886455, -0.0027955649452411644, 0.0006877679086420459) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:29,260 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:31,085 - logger - INFO - convrt to joint (-0.9049066226043332, 1.404736438076192, 1.5450946294852996, -0.3259437302013369, -0.003711759032395321, 0.000687725860260525) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:31,085 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:42:32,914 - logger - INFO - convrt to joint (-0.9649391887921555, 1.39910321584716, 1.5430882894380995, -0.32596125547189386, -0.004006479798618604, 0.0006931488729043974) - client_socket.py - 202
|
||||||
|
2024-10-29 15:42:32,915 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:43:44,603 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:43:45,604 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
|
||||||
|
2024-10-29 15:43:45,604 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
|
||||||
|
2024-10-29 15:43:50,047 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:43:51,407 - logger - INFO - connected - robot.py - 52
|
||||||
|
2024-10-29 15:43:52,947 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:43:52,948 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:43:53,449 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:43:54,114 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
|
||||||
|
2024-10-29 15:43:54,634 - logger - INFO - convrt to joint (-0.955351537775095, 1.3850824462023585, 1.4937405684999912, -0.3423684728223803, -0.0110223880899111, 0.0010515865173754695) - client_socket.py - 202
|
||||||
|
2024-10-29 15:43:54,636 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:43:55,303 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
|
||||||
|
2024-10-29 15:43:58,494 - logger - INFO - convrt to joint (-0.9567964461324159, 1.3975420078867256, 1.5412115327364844, -0.34312049523613924, -0.0041824779455328, 0.001053197993931907) - client_socket.py - 202
|
||||||
|
2024-10-29 15:43:58,494 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:00,309 - logger - INFO - convrt to joint (-0.9558914423210931, 1.3320754908866077, 1.531639770518754, -0.3430952545931459, -0.005523645066681272, 0.0010529407925865945) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:00,311 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:02,056 - logger - INFO - convrt to joint (-0.9545550393970698, 1.2674351111912476, 1.5177690370207408, -0.3430961036317446, -0.007477450600795441, 0.0010530545694695536) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:02,057 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:03,851 - logger - INFO - convrt to joint (-0.8950934151761856, 1.2791821602214306, 1.5293545571874874, -0.34309608489369026, -0.00581928673094857, 0.0010531553800516606) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:03,852 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:05,492 - logger - INFO - convrt to joint (-0.8391307050137402, 1.2892447995583527, 1.5332644530059016, -0.3430834053453679, -0.005263091607718354, 0.0010524091104205018) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:05,493 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:07,145 - logger - INFO - convrt to joint (-0.8402611760698209, 1.3507403110763203, 1.5481663630777363, -0.3430819244523987, -0.0031524346652894225, 0.001059936635548173) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:07,146 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:08,899 - logger - INFO - convrt to joint (-0.8409433743048689, 1.4124236962118195, 1.5576314791849488, -0.34308193516822555, -0.0018203987582686935, 0.0010598790521962448) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:08,900 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:10,548 - logger - INFO - convrt to joint (-0.8970021550891839, 1.4054374743475537, 1.5514847438351314, -0.34308193480776916, -0.002704238120138182, 0.0010598762961678057) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:10,549 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:12,326 - logger - INFO - convrt to joint (-0.9570547670344021, 1.3997851351121284, 1.5496357745214762, -0.34309674830809933, -0.0029679841822988235, 0.00106287059889718) - client_socket.py - 202
|
||||||
|
2024-10-29 15:44:12,327 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:44:52,953 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:44:53,955 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
|
||||||
|
2024-10-29 15:44:53,955 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
|
||||||
|
2024-10-29 15:45:01,675 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:45:03,044 - logger - INFO - connected - robot.py - 52
|
||||||
|
2024-10-29 15:45:04,898 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:45:04,898 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:05,399 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:06,109 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:06,638 - logger - INFO - convrt to joint (-0.984102074311883, 0.6384053450194992, -0.17881071509036794, -0.8900242169547399, -1.2193727373549483, 0.03596806030944103) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:06,639 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:07,377 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:10,887 - logger - INFO - convrt to joint (-0.9841021810063693, 0.6384137537696029, -0.17881461314243297, -0.8901180592181525, -1.2194552919532458, 0.03592233837283593) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:10,888 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:12,718 - logger - INFO - convrt to joint (-0.984102186378831, 0.6384136392162075, -0.17881445016248085, -0.8901134805511951, -1.2194490939379494, 0.03592716213214678) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:12,719 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:14,523 - logger - INFO - convrt to joint (-0.9841021863886417, 0.6384136399402052, -0.1788144551300518, -0.8901137218052404, -1.2194495777716203, 0.035926640018204746) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:14,524 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:16,277 - logger - INFO - convrt to joint (-0.9841021863884211, 0.6384136399710117, -0.1788144550074099, -0.8901137115928829, -1.2194495473678417, 0.035926685913007815) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:16,278 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:18,063 - logger - INFO - convrt to joint (-0.9841021863878191, 0.6384136398853442, -0.17881445501374038, -0.8901137124992771, -1.219449551625992, 0.03592667741621197) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:18,064 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:19,965 - logger - INFO - convrt to joint (-0.9841021863878522, 0.638413639890984, -0.17881445501358836, -0.890113712457874, -1.2194495513112147, 0.035926678287253176) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:19,967 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:21,845 - logger - INFO - convrt to joint (-0.9841021863878495, 0.6384136398906077, -0.178814455013593, -0.8901137124600054, -1.2194495513363826, 0.03592667819240119) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:21,845 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:23,663 - logger - INFO - convrt to joint (-0.9841021863878496, 0.6384136398906274, -0.1788144550135929, -0.8901137124599033, -1.219449551334594, 0.03592667820168616) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:23,664 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:25,533 - logger - INFO - convrt to joint (-0.9841021863878494, 0.6384136398906254, -0.1788144550135929, -0.8901137124599093, -1.2194495513347365, 0.035926678200676104) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:25,534 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:38,164 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:45:38,164 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:38,665 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:39,372 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:39,888 - logger - INFO - convrt to joint (-1.0438954186577714, 0.6933693418443272, -0.1749946324788137, -1.0236221849130207, -1.2885117290553307, 0.012525689890786455) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:39,889 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:40,635 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:41,849 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:45:41,849 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:42,350 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:43,038 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
|
||||||
|
2024-10-29 15:45:43,575 - logger - INFO - convrt to joint (-1.0470054177664179, 0.6977525078087701, -0.17457444978090494, -1.0432734393334928, -1.304321007934263, 0.004355306485133866) - client_socket.py - 202
|
||||||
|
2024-10-29 15:45:43,576 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:45:59,877 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:46:00,879 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
|
||||||
|
2024-10-29 15:46:00,879 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
|
||||||
|
2024-10-29 15:46:02,993 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:46:04,352 - logger - INFO - connected - robot.py - 52
|
||||||
|
2024-10-29 15:46:06,151 - logger - INFO - UPDATE - client_socket.py - 132
|
||||||
|
2024-10-29 15:46:06,151 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 207
|
||||||
|
2024-10-29 15:46:06,652 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:07,317 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 207
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||||||
|
2024-10-29 15:46:07,839 - logger - INFO - convrt to joint (-0.955351537775095, 1.3850824462023585, 1.4937405684999912, -0.3423684728223803, -0.0110223880899111, 0.0010515865173754695) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:07,840 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:08,638 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 207
|
||||||
|
2024-10-29 15:46:10,857 - logger - INFO - convrt to joint (-0.9535449282590336, 1.3969654829816152, 1.5407189283677707, -0.3500117184599049, -0.0042125107348649805, 0.0010565938416084101) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:10,857 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:12,631 - logger - INFO - convrt to joint (-0.9529052821810217, 1.3323433032829468, 1.5346989533134707, -0.34972604997739376, -0.005039674676782317, 0.0010566642294611538) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:12,633 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:14,424 - logger - INFO - convrt to joint (-0.9517371194002296, 1.2681899444176494, 1.523269799225613, -0.34973672691828667, -0.0066306199636610216, 0.001056754457836344) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:14,425 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:16,214 - logger - INFO - convrt to joint (-0.892205644198131, 1.2798947427759866, 1.5343059156654342, -0.34973605111733036, -0.005068643130290777, 0.001056942783055872) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:16,217 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:18,018 - logger - INFO - convrt to joint (-0.8362214351258173, 1.289973125647105, 1.5381181575681508, -0.34972492650551346, -0.0045318272251304, 0.0010576739259408458) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:18,076 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:19,836 - logger - INFO - convrt to joint (-0.8372453425886485, 1.3513274634365178, 1.551826106915168, -0.34972240252553066, -0.0026103762532385982, 0.0010636879043305796) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:19,837 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:21,546 - logger - INFO - convrt to joint (-0.8378642164601436, 1.4128575437068889, 1.5602138610489733, -0.34972246479973973, -0.0014426567181804993, 0.0010636092375362104) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:21,546 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:23,349 - logger - INFO - convrt to joint (-0.8939371602692505, 1.405832088132053, 1.554134419734993, -0.3497224612522377, -0.0023063163815775444, 0.0010636442383421547) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:23,350 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:46:25,133 - logger - INFO - convrt to joint (-0.9539944832296754, 1.4001459813851749, 1.5522389971458002, -0.3497348147770597, -0.0025738927350080153, 0.001064188611641746) - client_socket.py - 202
|
||||||
|
2024-10-29 15:46:25,133 - logger - INFO - set joints - client_socket.py - 210
|
||||||
|
2024-10-29 15:50:18,366 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-29 15:50:19,367 - logger - INFO - SHARED_MEMORY - client_socket.py - 56
|
||||||
|
2024-10-29 15:50:19,368 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67
|
||||||
|
|
|
||||||
|
|
@ -1,9 +1,9 @@
|
||||||
X0 Y0
|
X0 Z0
|
||||||
X0 Y50
|
X0 Z100
|
||||||
X0 Y100
|
X0 Z200
|
||||||
X50 Y100
|
X100 Z200
|
||||||
X100 Y100
|
X200 Z200
|
||||||
X100 Y50
|
X200 Z100
|
||||||
X100 Y0
|
X200 Z0
|
||||||
X50 Y0
|
X100 Z0
|
||||||
X0 Y0
|
X0 Z0
|
||||||
|
|
@ -95,9 +95,9 @@ class SocketRobotArm:
|
||||||
width=500,
|
width=500,
|
||||||
height=500,
|
height=500,
|
||||||
viewMatrix=p.computeViewMatrix(
|
viewMatrix=p.computeViewMatrix(
|
||||||
cameraEyePosition=[2, -2, 2],
|
cameraEyePosition=[3, -3, 3],
|
||||||
cameraTargetPosition=[0, 0, 0],
|
cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
|
||||||
cameraUpVector=[0, 0, 1],
|
cameraUpVector=[0, 0, 1], # Направление вверх
|
||||||
),
|
),
|
||||||
projectionMatrix=p.computeProjectionMatrixFOV(
|
projectionMatrix=p.computeProjectionMatrixFOV(
|
||||||
fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
|
fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue