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test euler coord

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Kseninia Mikhaylova 2024-11-20 09:49:06 +03:00
parent 7a2dcc70ab
commit 93d7fe77b1
2 changed files with 655 additions and 17 deletions
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app.log
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@ -87065,3 +87065,628 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
2024-11-20 09:26:57,134 - logger - INFO - connected - robot.py - 52
2024-11-20 09:26:58,018 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 324
2024-11-20 09:26:58,022 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 324
2024-11-20 09:30:47,772 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - None - robot.py - 52
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:30:47,773 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:30:48,813 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:30:51,710 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:30:52,011 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83
2024-11-20 09:30:54,250 - logger - INFO - connected - robot.py - 52
2024-11-20 09:30:57,446 - logger - INFO - Координаты осей [19.827459, -16.925392, 20.893847, -48.088753, 3.533186, 51.218143] - client_socket.py - 324
2024-11-20 09:30:57,640 - logger - INFO - Мировые координаты [1501.524292, 548.898621, 1380.585938, 24.479879, 83.04895, 47.111809] - client_socket.py - 324
2024-11-20 09:31:13,462 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - None - robot.py - 52
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:31:13,463 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:31:14,506 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:31:16,508 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:31:16,808 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83
2024-11-20 09:31:19,448 - logger - INFO - connected - robot.py - 52
2024-11-20 09:31:20,787 - logger - INFO - Координаты осей [19.827459, -16.925392, 20.893847, -48.088753, 3.533186, 51.218143] - client_socket.py - 324
2024-11-20 09:31:20,985 - logger - INFO - Мировые координаты [1501.524292, 548.898621, 1380.585938, 24.479879, 83.04895, 47.111809] - client_socket.py - 324
2024-11-20 09:31:22,952 - logger - INFO - (False,) - main.py - 144
2024-11-20 09:31:22,953 - logger - INFO - {} - main.py - 145
2024-11-20 09:31:22,967 - logger - INFO - Старт одиночного цикла - client_socket.py - 324
2024-11-20 09:31:22,990 - logger - INFO - ------- - client_socket.py - 274
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 0 19.480882494949828 - client_socket.py - 277
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 1 -16.48652570906254 - client_socket.py - 277
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 2 20.128278756479574 - client_socket.py - 277
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 3 -47.2512989461456 - client_socket.py - 277
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 4 3.4507315705412878 - client_socket.py - 277
2024-11-20 09:31:22,991 - logger - INFO - delta by JOINT 5 50.32421776789271 - client_socket.py - 277
2024-11-20 09:31:25,245 - logger - INFO - Команд в очереди ['13'] - client_socket.py - 324
2024-11-20 09:31:46,778 - logger - INFO - Координаты осей [19.827459, -17.702913, 24.374582, -97.389519, 2.649889, 100.58107] - client_socket.py - 324
2024-11-20 09:31:46,965 - logger - INFO - Мировые координаты [1501.517334, 548.89502, 1433.708374, 24.480003, 83.048836, 47.111458] - client_socket.py - 324
2024-11-20 09:31:49,024 - logger - INFO - ------- - client_socket.py - 274
2024-11-20 09:31:49,024 - logger - INFO - Координаты осей [19.827459, -20.233862, 33.046692, -157.872604, 6.992974, 161.205154] - client_socket.py - 324
2024-11-20 09:31:49,027 - logger - INFO - delta by JOINT 0 19.479787070244722 - client_socket.py - 277
2024-11-20 09:31:49,027 - logger - INFO - delta by JOINT 1 -17.22253568282588 - client_socket.py - 277
2024-11-20 09:31:49,027 - logger - INFO - delta by JOINT 2 23.50444199286169 - client_socket.py - 277
2024-11-20 09:31:49,027 - logger - INFO - delta by JOINT 3 -95.6916912523751 - client_socket.py - 277
2024-11-20 09:31:49,028 - logger - INFO - delta by JOINT 4 2.6146080618869205 - client_socket.py - 277
2024-11-20 09:31:49,028 - logger - INFO - delta by JOINT 5 98.8255991633211 - client_socket.py - 277
2024-11-20 09:31:49,214 - logger - INFO - Мировые координаты [1501.518311, 548.89624, 1565.486816, 24.474714, 83.048698, 47.106533] - client_socket.py - 324
2024-11-20 09:31:51,198 - logger - INFO - Команд в очереди ['8'] - client_socket.py - 324
2024-11-20 09:31:51,382 - logger - INFO - ------- - client_socket.py - 274
2024-11-20 09:31:51,383 - logger - INFO - delta by JOINT 0 19.479265770836307 - client_socket.py - 277
2024-11-20 09:31:51,383 - logger - INFO - delta by JOINT 1 -19.63339363842775 - client_socket.py - 277
2024-11-20 09:31:51,383 - logger - INFO - delta by JOINT 2 31.900564455410645 - client_socket.py - 277
2024-11-20 09:31:51,383 - logger - INFO - delta by JOINT 3 -155.12004451765392 - client_socket.py - 277
2024-11-20 09:31:51,383 - logger - INFO - delta by JOINT 4 6.952133077231393 - client_socket.py - 277
2024-11-20 09:31:51,385 - logger - INFO - delta by JOINT 5 158.39159329151548 - client_socket.py - 277
2024-11-20 09:31:52,767 - logger - INFO - Координаты осей [19.827459, -18.281399, 26.609217, -127.209198, 3.301118, 130.438492] - client_socket.py - 324
2024-11-20 09:31:52,951 - logger - INFO - Мировые координаты [1501.519165, 548.897095, 1452.959229, 24.482372, 83.048531, 47.114475] - client_socket.py - 324
2024-11-20 09:31:53,688 - logger - INFO - Команд в очереди ['8'] - client_socket.py - 324
2024-11-20 09:31:54,963 - logger - INFO - ------- - client_socket.py - 274
2024-11-20 09:31:54,964 - logger - INFO - delta by JOINT 0 19.479127079489498 - client_socket.py - 277
2024-11-20 09:31:54,966 - logger - INFO - delta by JOINT 1 -17.78396499641381 - client_socket.py - 277
2024-11-20 09:31:54,967 - logger - INFO - delta by JOINT 2 25.69891623913634 - client_socket.py - 277
2024-11-20 09:31:54,967 - logger - INFO - delta by JOINT 3 -124.99086343294671 - client_socket.py - 277
2024-11-20 09:31:54,967 - logger - INFO - delta by JOINT 4 3.2779857357951485 - client_socket.py - 277
2024-11-20 09:31:54,968 - logger - INFO - delta by JOINT 5 128.1619108432637 - client_socket.py - 277
2024-11-20 09:31:56,646 - logger - INFO - (False,) - main.py - 144
2024-11-20 09:31:56,646 - logger - INFO - {} - main.py - 145
2024-11-20 09:31:56,663 - logger - INFO - Старт одиночного цикла - client_socket.py - 324
2024-11-20 09:31:56,985 - logger - INFO - Команд в очереди ['7'] - client_socket.py - 324
2024-11-20 09:36:56,299 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:36:56,300 - logger - INFO - None - robot.py - 52
2024-11-20 09:36:56,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:36:56,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:36:56,300 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:36:56,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:36:56,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:36:56,301 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:36:57,354 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:36:58,265 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:36:58,565 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:37:00,933 - logger - INFO - connected - robot.py - 52
2024-11-20 09:37:01,138 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 325
2024-11-20 09:37:01,141 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 325
2024-11-20 09:37:03,314 - logger - INFO - ((0.08437859860675131, 0.0004105935014230358, 2.1730642246665237), (0.0014362030047621393, -0.7124221820923918, 0.0014450142928930953, 0.7017481626034635), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.08437860012054443, 0.00041059349314309657, 2.1730642318725586), (0.0014362031361088157, -0.712422251701355, 0.0014450143789872527, 0.7017481327056885)) - client_socket.py - 268
2024-11-20 09:37:03,316 - logger - INFO - [84.37859860675131, 0.4105935014230358, 2173.064224666524, 0.08228837069687786, -40.81878426539467, 0.08279322031885535, 40.20720799823869] - client_socket.py - 270
2024-11-20 09:37:03,317 - logger - INFO - delta by WORLD 0 12.126598606751315 - client_socket.py - 273
2024-11-20 09:37:03,317 - logger - INFO - delta by WORLD 1 -1.2854064985769642 - client_socket.py - 273
2024-11-20 09:37:03,317 - logger - INFO - delta by WORLD 2 -277.499775333476 - client_socket.py - 273
2024-11-20 09:37:03,318 - logger - INFO - delta by WORLD 3 0.08228837069687786 - client_socket.py - 273
2024-11-20 09:37:03,318 - logger - INFO - delta by WORLD 4 -40.81878426539467 - client_socket.py - 273
2024-11-20 09:37:03,318 - logger - INFO - delta by WORLD 5 0.08279322031885535 - client_socket.py - 273
2024-11-20 09:37:03,318 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:03,318 - logger - INFO - delta by JOINT 0 -0.0031549159220569797 - client_socket.py - 278
2024-11-20 09:37:03,507 - logger - INFO - delta by JOINT 1 -0.05238306020802097 - client_socket.py - 278
2024-11-20 09:37:03,509 - logger - INFO - delta by JOINT 2 88.52046485937606 - client_socket.py - 278
2024-11-20 09:37:03,509 - logger - INFO - delta by JOINT 3 0.0030639041124328843 - client_socket.py - 278
2024-11-20 09:37:03,509 - logger - INFO - delta by JOINT 4 -0.05597353184200803 - client_socket.py - 278
2024-11-20 09:37:03,510 - logger - INFO - delta by JOINT 5 -0.0009825467074800567 - client_socket.py - 278
2024-11-20 09:37:05,756 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:06,723 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 325
2024-11-20 09:37:06,727 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 325
2024-11-20 09:37:08,607 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 325
2024-11-20 09:37:08,611 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 325
2024-11-20 09:37:08,805 - logger - INFO - ((1.2788622749797656, 0.0017151175722398132, 1.4391494181297273), (0.0002882879545502255, -0.7710759034089605, 0.0005783736233362619, 0.6367429100948534), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2788622379302979, 0.0017151175998151302, 1.4391493797302246), (0.0002882879925891757, -0.7710759043693542, 0.000578373612370342, 0.636742889881134)) - client_socket.py - 268
2024-11-20 09:37:08,806 - logger - INFO - [1278.8622749797655, 1.715117572239813, 1439.1494181297273, 0.01651768308018722, -44.179394949570565, 0.03313836759885699, 36.48268138331312] - client_socket.py - 270
2024-11-20 09:37:08,808 - logger - INFO - delta by WORLD 0 -0.6767250202344712 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - delta by WORLD 1 -0.0008824277601868769 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - delta by WORLD 2 -0.5755818702725719 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - delta by WORLD 3 0.01251768308018722 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - delta by WORLD 4 -44.18439494957057 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - delta by WORLD 5 0.032138367598856986 - client_socket.py - 273
2024-11-20 09:37:08,809 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 0 0.0006773648240302869 - client_socket.py - 278
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 1 0.10350986580349866 - client_socket.py - 278
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 2 -0.36986968090073014 - client_socket.py - 278
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 3 89.99954355052893 - client_socket.py - 278
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 4 -1.4986985930028143 - client_socket.py - 278
2024-11-20 09:37:08,809 - logger - INFO - delta by JOINT 5 0.0 - client_socket.py - 278
2024-11-20 09:37:09,949 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 325
2024-11-20 09:37:09,953 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 325
2024-11-20 09:37:10,670 - logger - INFO - ((1.3962325092730656, 0.0017036525972586175, 1.3225562118072913), (0.7015388622581903, -0.08785480365571345, 0.08870937467517591, 0.701609154060036), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3962324857711792, 0.0017036525532603264, 1.3225562572479248), (0.7015388607978821, -0.08785480260848999, 0.08870936930179596, 0.7016091346740723)) - client_socket.py - 268
2024-11-20 09:37:10,670 - logger - INFO - [1396.2325092730657, 1.7036525972586176, 1322.5562118072912, 40.195215971803904, -5.033709459422897, 5.0826727721322875, 40.19924339538403] - client_socket.py - 270
2024-11-20 09:37:10,673 - logger - INFO - delta by WORLD 0 -0.285490726934313 - client_socket.py - 273
2024-11-20 09:37:10,673 - logger - INFO - delta by WORLD 1 -0.00034740274138234106 - client_socket.py - 273
2024-11-20 09:37:10,674 - logger - INFO - delta by WORLD 2 -0.18678819270871827 - client_socket.py - 273
2024-11-20 09:37:10,674 - logger - INFO - delta by WORLD 3 -49.80678402819609 - client_socket.py - 273
2024-11-20 09:37:10,674 - logger - INFO - delta by WORLD 4 -5.027709459422897 - client_socket.py - 273
2024-11-20 09:37:10,674 - logger - INFO - delta by WORLD 5 -84.91732722786772 - client_socket.py - 273
2024-11-20 09:37:10,674 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 0 -0.0002410719061274279 - client_socket.py - 278
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 1 0.08779517607280335 - client_socket.py - 278
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 2 -0.3115072216616113 - client_socket.py - 278
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 3 0.00430770844869334 - client_socket.py - 278
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 4 89.96835940895718 - client_socket.py - 278
2024-11-20 09:37:10,674 - logger - INFO - delta by JOINT 5 -1.5708486866724565 - client_socket.py - 278
2024-11-20 09:37:10,859 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:12,108 - logger - INFO - ((1.3964670642396286, 0.0017039380181294514, 1.322709668597086), (0.7015294939711318, -0.08792777040212912, 0.0887822740169089, 0.7016001597071544), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3964670896530151, 0.001703938003629446, 1.3227096796035767), (0.7015295624732971, -0.08792778849601746, 0.08878228068351746, 0.7016001343727112)) - client_socket.py - 268
2024-11-20 09:37:12,109 - logger - INFO - [1396.4670642396286, 1.7039380181294514, 1322.709668597086, 40.194679208494186, -5.037890146037316, 5.08684959674287, 40.19872805692446] - client_socket.py - 270
2024-11-20 09:37:12,111 - logger - INFO - delta by WORLD 0 -0.05093576037143066 - client_socket.py - 273
2024-11-20 09:37:12,111 - logger - INFO - delta by WORLD 1 -6.19818705485109e-05 - client_socket.py - 273
2024-11-20 09:37:12,111 - logger - INFO - delta by WORLD 2 -0.03333140291397285 - client_socket.py - 273
2024-11-20 09:37:12,112 - logger - INFO - delta by WORLD 3 -49.80732079150581 - client_socket.py - 273
2024-11-20 09:37:12,112 - logger - INFO - delta by WORLD 4 -5.031890146037316 - client_socket.py - 273
2024-11-20 09:37:12,112 - logger - INFO - delta by WORLD 5 -84.91315040325713 - client_socket.py - 273
2024-11-20 09:37:12,112 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:12,112 - logger - INFO - delta by JOINT 0 -0.0012410653823671917 - client_socket.py - 278
2024-11-20 09:37:12,112 - logger - INFO - delta by JOINT 1 0.08919666557232869 - client_socket.py - 278
2024-11-20 09:37:12,112 - logger - INFO - delta by JOINT 2 -0.3110621832123342 - client_socket.py - 278
2024-11-20 09:37:12,112 - logger - INFO - delta by JOINT 3 0.002308368249732164 - client_socket.py - 278
2024-11-20 09:37:12,112 - logger - INFO - delta by JOINT 4 -0.02969503257212466 - client_socket.py - 278
2024-11-20 09:37:12,113 - logger - INFO - delta by JOINT 5 88.43215131332754 - client_socket.py - 278
2024-11-20 09:37:12,464 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 325
2024-11-20 09:37:12,468 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 325
2024-11-20 09:37:12,807 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:14,229 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:14,559 - logger - INFO - ((1.1317523436389691, -0.5885851015743528, 1.277654522994048), (0.439775288992756, 0.02808487484377746, 0.0719955184461703, 0.8947768326907076), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.131752371788025, -0.5885850787162781, 1.2776545286178589), (0.439775288105011, 0.028084874153137207, 0.07199551910161972, 0.8947768211364746)) - client_socket.py - 268
2024-11-20 09:37:14,562 - logger - INFO - [1131.7523436389693, -588.5851015743528, 1277.654522994048, 25.197267993431005, 1.6091447967015857, 4.125039350821825, 51.26693611926093] - client_socket.py - 270
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 0 -0.20700736103071904 - client_socket.py - 273
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 1 0.10483942564712834 - client_socket.py - 273
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 2 -0.15053100595196156 - client_socket.py - 273
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 3 19.016036993431005 - client_socket.py - 273
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 4 -52.61865720329841 - client_socket.py - 273
2024-11-20 09:37:14,563 - logger - INFO - delta by WORLD 5 104.73002735082183 - client_socket.py - 273
2024-11-20 09:37:14,564 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:14,564 - logger - INFO - delta by JOINT 0 -41.083183199685635 - client_socket.py - 278
2024-11-20 09:37:14,564 - logger - INFO - delta by JOINT 1 31.698435858554646 - client_socket.py - 278
2024-11-20 09:37:14,743 - logger - INFO - delta by JOINT 2 -26.911272411853304 - client_socket.py - 278
2024-11-20 09:37:14,745 - logger - INFO - delta by JOINT 3 73.51681904688665 - client_socket.py - 278
2024-11-20 09:37:14,745 - logger - INFO - delta by JOINT 4 -44.714614781490184 - client_socket.py - 278
2024-11-20 09:37:14,746 - logger - INFO - delta by JOINT 5 -20.49921584950404 - client_socket.py - 278
2024-11-20 09:37:15,976 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 325
2024-11-20 09:37:15,980 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 325
2024-11-20 09:37:16,918 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:18,022 - logger - INFO - ((1.2607337504780893, -0.0742724748507131, 1.7449658826202619), (0.3871175615354813, 0.03923393858203722, 0.5220246191368071, 0.759006580096138), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.260733723640442, -0.07427247613668442, 1.74496591091156), (0.38711756467819214, 0.03923392668366432, 0.5220246315002441, 0.7590065598487854)) - client_socket.py - 268
2024-11-20 09:37:18,023 - logger - INFO - [1260.7337504780894, -74.2724748507131, 1744.965882620262, 22.180202451379017, 2.247939094426218, 29.909807478463275, 43.487873662166976] - client_socket.py - 270
2024-11-20 09:37:18,025 - logger - INFO - delta by WORLD 0 -21.51024952191051 - client_socket.py - 273
2024-11-20 09:37:18,025 - logger - INFO - delta by WORLD 1 1.1545251492869113 - client_socket.py - 273
2024-11-20 09:37:18,025 - logger - INFO - delta by WORLD 2 -27.510117379738176 - client_socket.py - 273
2024-11-20 09:37:18,025 - logger - INFO - delta by WORLD 3 -62.44879754862099 - client_socket.py - 273
2024-11-20 09:37:18,025 - logger - INFO - delta by WORLD 4 -32.27106090557378 - client_socket.py - 273
2024-11-20 09:37:18,026 - logger - INFO - delta by WORLD 5 -124.08919252153672 - client_socket.py - 273
2024-11-20 09:37:18,026 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 0 -8.358816630729127 - client_socket.py - 278
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 1 -8.27367840024247 - client_socket.py - 278
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 2 31.922221579581674 - client_socket.py - 278
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 3 86.46625608412408 - client_socket.py - 278
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 4 -73.94599117023812 - client_socket.py - 278
2024-11-20 09:37:18,026 - logger - INFO - delta by JOINT 5 -10.38158851123428 - client_socket.py - 278
2024-11-20 09:37:19,553 - logger - INFO - Координаты осей [22.493, -30.696, 35.997, -77.419, -23.007, 76.362] - client_socket.py - 325
2024-11-20 09:37:19,557 - logger - INFO - Мировые координаты [1630.006, 628.326, 1322.554, 0.0, 90.0, 0.0] - client_socket.py - 325
2024-11-20 09:37:20,111 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:21,717 - logger - INFO - ((1.6117537295899522, 0.621318849051113, 1.3103572329419166), (0.0391340433269503, -0.14086495543970876, 0.030175699363805254, 0.988794730037412), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.6117537021636963, 0.6213188767433167, 1.3103572130203247), (0.03913404420018196, -0.14086495339870453, 0.030175700783729553, 0.98879474401474)) - client_socket.py - 268
2024-11-20 09:37:21,718 - logger - INFO - [1611.7537295899522, 621.318849051113, 1310.3572329419167, 2.242215517916355, -8.07096742799372, 1.7289402174016444, 56.653764835921315] - client_socket.py - 270
2024-11-20 09:37:21,721 - logger - INFO - delta by WORLD 0 -18.252270410047913 - client_socket.py - 273
2024-11-20 09:37:21,721 - logger - INFO - delta by WORLD 1 -7.007150948886988 - client_socket.py - 273
2024-11-20 09:37:21,721 - logger - INFO - delta by WORLD 2 -12.196767058083424 - client_socket.py - 273
2024-11-20 09:37:21,721 - logger - INFO - delta by WORLD 3 2.242215517916355 - client_socket.py - 273
2024-11-20 09:37:21,722 - logger - INFO - delta by WORLD 4 -98.07096742799372 - client_socket.py - 273
2024-11-20 09:37:21,722 - logger - INFO - delta by WORLD 5 1.7289402174016444 - client_socket.py - 273
2024-11-20 09:37:21,905 - logger - INFO - ------- - client_socket.py - 275
2024-11-20 09:37:21,905 - logger - INFO - delta by JOINT 0 22.10739181491703 - client_socket.py - 278
2024-11-20 09:37:21,908 - logger - INFO - delta by JOINT 1 -30.003325609864294 - client_socket.py - 278
2024-11-20 09:37:21,908 - logger - INFO - delta by JOINT 2 34.93584826475198 - client_socket.py - 278
2024-11-20 09:37:21,908 - logger - INFO - delta by JOINT 3 -76.04961990723359 - client_socket.py - 278
2024-11-20 09:37:21,908 - logger - INFO - delta by JOINT 4 -22.679220277249236 - client_socket.py - 278
2024-11-20 09:37:21,908 - logger - INFO - delta by JOINT 5 75.02923167659209 - client_socket.py - 278
2024-11-20 09:37:23,940 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 325
2024-11-20 09:37:49,769 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:37:49,769 - logger - INFO - None - robot.py - 52
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:37:49,770 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:37:50,802 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:37:52,011 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:37:52,311 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:37:54,552 - logger - INFO - connected - robot.py - 52
2024-11-20 09:37:54,753 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 323
2024-11-20 09:37:54,757 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 323
2024-11-20 09:37:56,205 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 323
2024-11-20 09:37:56,208 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 323
2024-11-20 09:37:56,904 - logger - INFO - delta by WORLD 0 -0.2853964624650871 - client_socket.py - 271
2024-11-20 09:37:56,905 - logger - INFO - delta by WORLD 1 -0.00034382199153637494 - client_socket.py - 271
2024-11-20 09:37:56,905 - logger - INFO - delta by WORLD 2 -0.18671333342990692 - client_socket.py - 271
2024-11-20 09:37:56,907 - logger - INFO - delta by WORLD 3 -0.0038822963882542603 - client_socket.py - 271
2024-11-20 09:37:56,907 - logger - INFO - delta by WORLD 4 -97.15174076899311 - client_socket.py - 271
2024-11-20 09:37:56,907 - logger - INFO - delta by WORLD 5 0.03413775652399559 - client_socket.py - 271
2024-11-20 09:37:58,327 - logger - INFO - delta by WORLD 0 -0.05091382058549243 - client_socket.py - 271
2024-11-20 09:37:58,327 - logger - INFO - delta by WORLD 1 -6.133684039744125e-05 - client_socket.py - 271
2024-11-20 09:37:58,329 - logger - INFO - delta by WORLD 2 -0.03331469148361066 - client_socket.py - 271
2024-11-20 09:37:58,329 - logger - INFO - delta by WORLD 3 -0.003897459657155892 - client_socket.py - 271
2024-11-20 09:37:58,329 - logger - INFO - delta by WORLD 4 -97.15764816733152 - client_socket.py - 271
2024-11-20 09:37:58,329 - logger - INFO - delta by WORLD 5 0.03413490341256558 - client_socket.py - 271
2024-11-20 09:37:59,050 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:00,440 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:10,183 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 323
2024-11-20 09:38:10,187 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 323
2024-11-20 09:38:12,508 - logger - INFO - delta by WORLD 0 -0.2854898090995448 - client_socket.py - 271
2024-11-20 09:38:12,509 - logger - INFO - delta by WORLD 1 -0.00035842259038254554 - client_socket.py - 271
2024-11-20 09:38:12,509 - logger - INFO - delta by WORLD 2 -0.1867895692946604 - client_socket.py - 271
2024-11-20 09:38:12,509 - logger - INFO - delta by WORLD 3 -0.0031930683896540715 - client_socket.py - 271
2024-11-20 09:38:12,511 - logger - INFO - delta by WORLD 4 -97.15350318901417 - client_socket.py - 271
2024-11-20 09:38:12,512 - logger - INFO - delta by WORLD 5 0.03543691501039619 - client_socket.py - 271
2024-11-20 09:38:14,616 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:18,189 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 323
2024-11-20 09:38:18,191 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 323
2024-11-20 09:38:20,318 - logger - INFO - delta by WORLD 0 0.0003352504085654129 - client_socket.py - 271
2024-11-20 09:38:20,318 - logger - INFO - delta by WORLD 1 -0.2854245780540623 - client_socket.py - 271
2024-11-20 09:38:20,320 - logger - INFO - delta by WORLD 2 -0.1867320610679144 - client_socket.py - 271
2024-11-20 09:38:20,320 - logger - INFO - delta by WORLD 3 95.05123705532799 - client_socket.py - 271
2024-11-20 09:38:20,320 - logger - INFO - delta by WORLD 4 -95.06098879452826 - client_socket.py - 271
2024-11-20 09:38:20,320 - logger - INFO - delta by WORLD 5 40.22078735651687 - client_socket.py - 271
2024-11-20 09:38:22,373 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:24,944 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 323
2024-11-20 09:38:24,948 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 323
2024-11-20 09:38:27,067 - logger - INFO - delta by WORLD 0 0.031193881144858437 - client_socket.py - 271
2024-11-20 09:38:27,068 - logger - INFO - delta by WORLD 1 -1.4726198859394035 - client_socket.py - 271
2024-11-20 09:38:27,069 - logger - INFO - delta by WORLD 2 -1.8711783561243465 - client_socket.py - 271
2024-11-20 09:38:27,069 - logger - INFO - delta by WORLD 3 -0.08852039878739497 - client_socket.py - 271
2024-11-20 09:38:27,069 - logger - INFO - delta by WORLD 4 -60.09009264241609 - client_socket.py - 271
2024-11-20 09:38:27,069 - logger - INFO - delta by WORLD 5 -0.10547463722175206 - client_socket.py - 271
2024-11-20 09:38:29,133 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:35,373 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 323
2024-11-20 09:38:35,375 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 323
2024-11-20 09:38:37,532 - logger - INFO - delta by WORLD 0 12.126598606751315 - client_socket.py - 271
2024-11-20 09:38:37,533 - logger - INFO - delta by WORLD 1 -1.2854064985769642 - client_socket.py - 271
2024-11-20 09:38:37,537 - logger - INFO - delta by WORLD 2 -277.499775333476 - client_socket.py - 271
2024-11-20 09:38:37,537 - logger - INFO - delta by WORLD 3 0.08228837069687786 - client_socket.py - 271
2024-11-20 09:38:37,537 - logger - INFO - delta by WORLD 4 -40.81878426539467 - client_socket.py - 271
2024-11-20 09:38:37,538 - logger - INFO - delta by WORLD 5 0.08279322031885535 - client_socket.py - 271
2024-11-20 09:38:39,581 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:38:48,925 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:38:48,926 - logger - INFO - None - robot.py - 52
2024-11-20 09:38:48,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:38:48,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:38:48,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:38:48,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:38:48,927 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:38:48,927 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:38:49,958 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:38:51,080 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:38:51,381 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:38:53,634 - logger - INFO - connected - robot.py - 52
2024-11-20 09:38:54,380 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 323
2024-11-20 09:38:54,384 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 323
2024-11-20 09:38:56,630 - logger - INFO - [1396.2457640149332, 1.7475977427041882, 1322.50782930321, 40.26283025577031, -4.522968548803787, 4.529312065180828, 40.25840207372257] - client_socket.py - 269
2024-11-20 09:38:56,631 - logger - INFO - delta by WORLD 0 -0.29623598506668714 - client_socket.py - 271
2024-11-20 09:38:56,632 - logger - INFO - delta by WORLD 1 -0.00040225729581178093 - client_socket.py - 271
2024-11-20 09:38:56,632 - logger - INFO - delta by WORLD 2 -0.19417069679002452 - client_socket.py - 271
2024-11-20 09:38:56,633 - logger - INFO - delta by WORLD 3 -49.741169744229694 - client_socket.py - 271
2024-11-20 09:38:56,633 - logger - INFO - delta by WORLD 4 -4.523968548803787 - client_socket.py - 271
2024-11-20 09:38:56,633 - logger - INFO - delta by WORLD 5 -85.47368793481917 - client_socket.py - 271
2024-11-20 09:38:58,745 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:39:18,770 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 323
2024-11-20 09:39:18,773 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 323
2024-11-20 09:39:20,894 - logger - INFO - [1278.8622749797655, 1.715117572239813, 1439.1494181297273, 0.01651768308018722, -44.179394949570565, 0.03313836759885699, 36.48268138331312] - client_socket.py - 269
2024-11-20 09:39:20,895 - logger - INFO - delta by WORLD 0 -0.6767250202344712 - client_socket.py - 271
2024-11-20 09:39:20,896 - logger - INFO - delta by WORLD 1 -0.0008824277601868769 - client_socket.py - 271
2024-11-20 09:39:20,896 - logger - INFO - delta by WORLD 2 -0.5755818702725719 - client_socket.py - 271
2024-11-20 09:39:20,896 - logger - INFO - delta by WORLD 3 0.01251768308018722 - client_socket.py - 271
2024-11-20 09:39:20,897 - logger - INFO - delta by WORLD 4 -44.18439494957057 - client_socket.py - 271
2024-11-20 09:39:20,897 - logger - INFO - delta by WORLD 5 0.032138367598856986 - client_socket.py - 271
2024-11-20 09:39:23,008 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:39:28,059 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 323
2024-11-20 09:39:28,062 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 323
2024-11-20 09:39:30,214 - logger - INFO - [1396.2325092730657, 1.7036525972586176, 1322.5562118072912, 40.195215971803904, -5.033709459422897, 5.0826727721322875, 40.19924339538403] - client_socket.py - 269
2024-11-20 09:39:30,214 - logger - INFO - delta by WORLD 0 -0.285490726934313 - client_socket.py - 271
2024-11-20 09:39:30,214 - logger - INFO - delta by WORLD 1 -0.00034740274138234106 - client_socket.py - 271
2024-11-20 09:39:30,215 - logger - INFO - delta by WORLD 2 -0.18678819270871827 - client_socket.py - 271
2024-11-20 09:39:30,215 - logger - INFO - delta by WORLD 3 -49.80678402819609 - client_socket.py - 271
2024-11-20 09:39:30,216 - logger - INFO - delta by WORLD 4 -5.027709459422897 - client_socket.py - 271
2024-11-20 09:39:30,216 - logger - INFO - delta by WORLD 5 -84.91732722786772 - client_socket.py - 271
2024-11-20 09:39:32,357 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:39:32,540 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 323
2024-11-20 09:39:32,543 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 323
2024-11-20 09:39:34,620 - logger - INFO - [1131.7523436389693, -588.5851015743528, 1277.654522994048, 25.197267993431005, 1.6091447967015857, 4.125039350821825, 51.26693611926093] - client_socket.py - 269
2024-11-20 09:39:34,620 - logger - INFO - delta by WORLD 0 -0.20700736103071904 - client_socket.py - 271
2024-11-20 09:39:34,622 - logger - INFO - delta by WORLD 1 0.10483942564712834 - client_socket.py - 271
2024-11-20 09:39:34,622 - logger - INFO - delta by WORLD 2 -0.15053100595196156 - client_socket.py - 271
2024-11-20 09:39:34,622 - logger - INFO - delta by WORLD 3 19.016036993431005 - client_socket.py - 271
2024-11-20 09:39:34,622 - logger - INFO - delta by WORLD 4 -52.61865720329841 - client_socket.py - 271
2024-11-20 09:39:34,622 - logger - INFO - delta by WORLD 5 104.73002735082183 - client_socket.py - 271
2024-11-20 09:39:36,697 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:39:39,150 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 323
2024-11-20 09:39:39,153 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 323
2024-11-20 09:39:41,288 - logger - INFO - [1260.7337504780894, -74.2724748507131, 1744.965882620262, 22.180202451379017, 2.247939094426218, 29.909807478463275, 43.487873662166976] - client_socket.py - 269
2024-11-20 09:39:41,289 - logger - INFO - delta by WORLD 0 -21.51024952191051 - client_socket.py - 271
2024-11-20 09:39:41,290 - logger - INFO - delta by WORLD 1 1.1545251492869113 - client_socket.py - 271
2024-11-20 09:39:41,291 - logger - INFO - delta by WORLD 2 -27.510117379738176 - client_socket.py - 271
2024-11-20 09:39:41,291 - logger - INFO - delta by WORLD 3 -62.44879754862099 - client_socket.py - 271
2024-11-20 09:39:41,291 - logger - INFO - delta by WORLD 4 -32.27106090557378 - client_socket.py - 271
2024-11-20 09:39:41,291 - logger - INFO - delta by WORLD 5 -124.08919252153672 - client_socket.py - 271
2024-11-20 09:39:43,466 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 323
2024-11-20 09:40:22,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:40:22,205 - logger - INFO - None - robot.py - 52
2024-11-20 09:40:22,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:40:22,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:40:22,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:40:22,205 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:40:22,206 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:40:22,206 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:40:23,252 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:40:24,804 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:40:25,105 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:40:27,405 - logger - INFO - connected - robot.py - 52
2024-11-20 09:40:28,105 - logger - INFO - Координаты осей [22.493, -30.696, 35.997, -77.419, -23.007, 76.362] - client_socket.py - 328
2024-11-20 09:40:28,108 - logger - INFO - Мировые координаты [1630.006, 628.326, 1322.554, 0.0, 90.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:30,229 - logger - INFO - [1614.153251795168, 622.7160192350487, 1312.1119524861317, 2.1075488490520473, -7.806256290433435, 0.8078877385990889, 56.71661368585481] - client_socket.py - 274
2024-11-20 09:40:30,229 - logger - INFO - delta by WORLD 0 -15.852748204832096 - client_socket.py - 276
2024-11-20 09:40:30,231 - logger - INFO - delta by WORLD 1 -5.609980764951274 - client_socket.py - 276
2024-11-20 09:40:30,232 - logger - INFO - delta by WORLD 2 -10.442047513868374 - client_socket.py - 276
2024-11-20 09:40:30,232 - logger - INFO - delta by WORLD 3 2.1075488490520473 - client_socket.py - 276
2024-11-20 09:40:30,412 - logger - INFO - delta by WORLD 4 -97.80625629043344 - client_socket.py - 276
2024-11-20 09:40:30,414 - logger - INFO - delta by WORLD 5 0.8078877385990889 - client_socket.py - 276
2024-11-20 09:40:31,966 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 328
2024-11-20 09:40:31,970 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 328
2024-11-20 09:40:32,483 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:34,225 - logger - INFO - [1052.794191062046, -1028.8838233396039, 334.40741926503745, 28.575908384384118, 10.722373816350101, -31.717635220865475, 36.677597055390535] - client_socket.py - 274
2024-11-20 09:40:34,226 - logger - INFO - delta by WORLD 0 0.03719106204584932 - client_socket.py - 276
2024-11-20 09:40:34,228 - logger - INFO - delta by WORLD 1 -0.03782333960384676 - client_socket.py - 276
2024-11-20 09:40:34,228 - logger - INFO - delta by WORLD 2 -0.009580734962526094 - client_socket.py - 276
2024-11-20 09:40:34,228 - logger - INFO - delta by WORLD 3 -133.79809161561587 - client_socket.py - 276
2024-11-20 09:40:34,228 - logger - INFO - delta by WORLD 4 -9.744626183649897 - client_socket.py - 276
2024-11-20 09:40:34,229 - logger - INFO - delta by WORLD 5 -106.78263522086547 - client_socket.py - 276
2024-11-20 09:40:35,933 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 328
2024-11-20 09:40:35,936 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:36,287 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:38,059 - logger - INFO - [1396.2123688509457, 1.6968149976426192, 1322.4940900529675, -0.12007882430772944, -7.108604313213808, -0.8922425739390054, 56.84596361216076] - client_socket.py - 274
2024-11-20 09:40:38,060 - logger - INFO - delta by WORLD 0 -0.3126311490543685 - client_socket.py - 276
2024-11-20 09:40:38,062 - logger - INFO - delta by WORLD 1 0.009814997642619172 - client_socket.py - 276
2024-11-20 09:40:38,062 - logger - INFO - delta by WORLD 2 -0.2029099470323672 - client_socket.py - 276
2024-11-20 09:40:38,062 - logger - INFO - delta by WORLD 3 -0.12007882430772944 - client_socket.py - 276
2024-11-20 09:40:38,062 - logger - INFO - delta by WORLD 4 -97.1086043132138 - client_socket.py - 276
2024-11-20 09:40:38,063 - logger - INFO - delta by WORLD 5 -0.8922425739390054 - client_socket.py - 276
2024-11-20 09:40:39,465 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:39,469 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:40,199 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:41,634 - logger - INFO - [1396.2002776914371, 1.767802174077744, 1322.5460145693864, -0.1214200614988027, -7.110324855286643, -0.8909555538596158, 56.84576576873382] - client_socket.py - 274
2024-11-20 09:40:41,634 - logger - INFO - delta by WORLD 0 -0.3127223085627975 - client_socket.py - 276
2024-11-20 09:40:41,636 - logger - INFO - delta by WORLD 1 0.009802174077744086 - client_socket.py - 276
2024-11-20 09:40:41,636 - logger - INFO - delta by WORLD 2 -0.20298543061358032 - client_socket.py - 276
2024-11-20 09:40:41,637 - logger - INFO - delta by WORLD 3 -0.1194200614988027 - client_socket.py - 276
2024-11-20 09:40:41,637 - logger - INFO - delta by WORLD 4 -97.11032485528665 - client_socket.py - 276
2024-11-20 09:40:41,637 - logger - INFO - delta by WORLD 5 -0.8909555538596158 - client_socket.py - 276
2024-11-20 09:40:42,665 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 328
2024-11-20 09:40:42,668 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:43,729 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:44,791 - logger - INFO - [-1.645738937304457, 1396.3916335501, 1322.606519815897, 4.7908191096354, -4.826222981988278, 40.122590320990646, 40.33286153910446] - client_socket.py - 274
2024-11-20 09:40:44,792 - logger - INFO - delta by WORLD 0 -0.0007389373044570657 - client_socket.py - 276
2024-11-20 09:40:44,793 - logger - INFO - delta by WORLD 1 -0.14136644989980596 - client_socket.py - 276
2024-11-20 09:40:44,793 - logger - INFO - delta by WORLD 2 -0.09348018410310033 - client_socket.py - 276
2024-11-20 09:40:44,794 - logger - INFO - delta by WORLD 3 94.7888191096354 - client_socket.py - 276
2024-11-20 09:40:44,794 - logger - INFO - delta by WORLD 4 -94.82622298198828 - client_socket.py - 276
2024-11-20 09:40:44,794 - logger - INFO - delta by WORLD 5 40.122590320990646 - client_socket.py - 276
2024-11-20 09:40:46,942 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:52,233 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 328
2024-11-20 09:40:52,237 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 328
2024-11-20 09:40:54,241 - logger - INFO - [-65.37281811756715, 40.465174003299225, 1954.0154352068319, 1.7516847946468, -34.89808834748452, 2.197377208427075, 45.354524730031045] - client_socket.py - 274
2024-11-20 09:40:54,244 - logger - INFO - delta by WORLD 0 -3.39081811756715 - client_socket.py - 276
2024-11-20 09:40:54,244 - logger - INFO - delta by WORLD 1 38.776174003299225 - client_socket.py - 276
2024-11-20 09:40:54,245 - logger - INFO - delta by WORLD 2 -1.755564793168105 - client_socket.py - 276
2024-11-20 09:40:54,245 - logger - INFO - delta by WORLD 3 1.7516847946468 - client_socket.py - 276
2024-11-20 09:40:54,245 - logger - INFO - delta by WORLD 4 -59.89808834748452 - client_socket.py - 276
2024-11-20 09:40:54,245 - logger - INFO - delta by WORLD 5 2.194377208427075 - client_socket.py - 276
2024-11-20 09:40:56,365 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:40:56,551 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 328
2024-11-20 09:40:56,554 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 328
2024-11-20 09:40:58,844 - logger - INFO - [86.730786089463, 32.197964113512185, 2177.1665742352675, -2.808072957893253, -40.58707102944156, -2.7899645658857093, 40.24707243076273] - client_socket.py - 274
2024-11-20 09:40:58,845 - logger - INFO - delta by WORLD 0 14.478786089463 - client_socket.py - 276
2024-11-20 09:40:58,847 - logger - INFO - delta by WORLD 1 30.501964113512184 - client_socket.py - 276
2024-11-20 09:40:58,848 - logger - INFO - delta by WORLD 2 -273.39742576473236 - client_socket.py - 276
2024-11-20 09:40:58,848 - logger - INFO - delta by WORLD 3 -2.808072957893253 - client_socket.py - 276
2024-11-20 09:40:58,848 - logger - INFO - delta by WORLD 4 -40.58707102944156 - client_socket.py - 276
2024-11-20 09:40:58,848 - logger - INFO - delta by WORLD 5 -2.7899645658857093 - client_socket.py - 276
2024-11-20 09:41:00,986 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:41:02,745 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 328
2024-11-20 09:41:02,749 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 328
2024-11-20 09:41:04,835 - logger - INFO - [1396.217623788441, 1.7581436721974577, 1322.4910723010244, 40.19322689702716, -5.172958690364815, 3.783013416552259, 40.32666821712155] - client_socket.py - 274
2024-11-20 09:41:04,836 - logger - INFO - delta by WORLD 0 -0.32437621155895613 - client_socket.py - 276
2024-11-20 09:41:04,838 - logger - INFO - delta by WORLD 1 0.01014367219745771 - client_socket.py - 276
2024-11-20 09:41:04,838 - logger - INFO - delta by WORLD 2 -0.21092769897563812 - client_socket.py - 276
2024-11-20 09:41:04,838 - logger - INFO - delta by WORLD 3 -49.810773102972846 - client_socket.py - 276
2024-11-20 09:41:04,839 - logger - INFO - delta by WORLD 4 -5.173958690364815 - client_socket.py - 276
2024-11-20 09:41:04,839 - logger - INFO - delta by WORLD 5 -86.21998658344774 - client_socket.py - 276
2024-11-20 09:41:06,846 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:43:48,796 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:48,797 - logger - INFO - None - robot.py - 52
2024-11-20 09:43:48,797 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:48,797 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:48,798 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:48,799 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:43:48,799 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:43:48,799 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:43:49,830 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:43:50,284 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:43:50,585 - logger - INFO - trying connect to ('192.168.70.55', 9760) - client_socket.py - 83
2024-11-20 09:43:52,791 - logger - INFO - connected - robot.py - 52
2024-11-20 09:43:54,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:54,953 - logger - INFO - None - robot.py - 52
2024-11-20 09:43:54,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:54,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:54,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:43:54,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:43:54,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:43:54,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:43:55,986 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:43:56,255 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:43:56,555 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:43:58,833 - logger - INFO - connected - robot.py - 52
2024-11-20 09:43:59,521 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 328
2024-11-20 09:43:59,524 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 328
2024-11-20 09:44:01,602 - logger - INFO - ((1.278810576273537, 0.0017409731065903752, 1.4391107041505338), (-0.012213247520574259, -0.7691672324514754, -0.011485470501194648, 0.6388275894756781), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2788106203079224, 0.001740973093546927, 1.4391107559204102), (-0.012213248759508133, -0.7691672444343567, -0.01148547139018774, 0.6388275623321533)) - client_socket.py - 273
2024-11-20 09:44:01,603 - logger - INFO - delta by WORLD 0 -0.7284237264630065 - client_socket.py - 276
2024-11-20 09:44:01,604 - logger - INFO - delta by WORLD 1 0.024973106590375327 - client_socket.py - 276
2024-11-20 09:44:01,604 - logger - INFO - delta by WORLD 2 -0.6142958494660888 - client_socket.py - 276
2024-11-20 09:44:01,604 - logger - INFO - delta by WORLD 3 -0.7037675370775222 - client_socket.py - 276
2024-11-20 09:44:01,604 - logger - INFO - delta by WORLD 4 -44.07503615922748 - client_socket.py - 276
2024-11-20 09:44:01,605 - logger - INFO - delta by WORLD 5 -0.6590689854404597 - client_socket.py - 276
2024-11-20 09:44:03,763 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 328
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - None - robot.py - 52
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
2024-11-20 09:45:36,030 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
2024-11-20 09:45:37,066 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 133
2024-11-20 09:45:37,328 - logger - INFO - not_connected - robot.py - 52
2024-11-20 09:45:37,629 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 83
2024-11-20 09:45:39,905 - logger - INFO - connected - robot.py - 52
2024-11-20 09:45:40,089 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 335
2024-11-20 09:45:40,092 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 335
2024-11-20 09:45:41,152 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 335
2024-11-20 09:45:41,155 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 335
2024-11-20 09:45:42,203 - logger - INFO - ((1.131709510297773, -0.5885541362895846, 1.2776238586640756), (0.4420359045222139, 0.020501775213380057, 0.0565339912699895, 0.8949792423053247), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.1317094564437866, -0.5885541439056396, 1.2776238918304443), (0.4420359134674072, 0.02050177752971649, 0.056533992290496826, 0.8949792385101318)) - client_socket.py - 277
2024-11-20 09:45:42,206 - logger - INFO - delta by WORLD 0 -0.24984070222694754 - client_socket.py - 283
2024-11-20 09:45:42,206 - logger - INFO - delta by WORLD 1 0.13580471041530018 - client_socket.py - 283
2024-11-20 09:45:42,206 - logger - INFO - delta by WORLD 2 -0.18119533592425796 - client_socket.py - 283
2024-11-20 09:45:42,207 - logger - INFO - delta by WORLD 3 46.34331111617779 - client_socket.py - 283
2024-11-20 09:45:42,207 - logger - INFO - delta by WORLD 4 -54.988871697472206 - client_socket.py - 283
2024-11-20 09:45:42,207 - logger - INFO - delta by WORLD 5 107.45837066895145 - client_socket.py - 283
2024-11-20 09:45:43,252 - logger - INFO - ((1.1319130117102103, -0.5886647520658875, 1.277771441555645), (0.44201730391640875, 0.02042515219329602, 0.05653863073724597, 0.8949898878929903), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.1319130659103394, -0.5886647701263428, 1.2777714729309082), (0.4420173168182373, 0.02042515203356743, 0.05653863027691841, 0.8949899077415466)) - client_socket.py - 277
2024-11-20 09:45:43,253 - logger - INFO - delta by WORLD 0 -0.04633928978955737 - client_socket.py - 283
2024-11-20 09:45:43,256 - logger - INFO - delta by WORLD 1 0.02518893411240697 - client_socket.py - 283
2024-11-20 09:45:43,256 - logger - INFO - delta by WORLD 2 -0.033612444354957915 - client_socket.py - 283
2024-11-20 09:45:43,256 - logger - INFO - delta by WORLD 3 46.340402255908614 - client_socket.py - 283
2024-11-20 09:45:43,256 - logger - INFO - delta by WORLD 4 -54.996820216798305 - client_socket.py - 283
2024-11-20 09:45:43,256 - logger - INFO - delta by WORLD 5 107.45497882152415 - client_socket.py - 283
2024-11-20 09:45:44,352 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:45:45,314 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:47:07,350 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 335
2024-11-20 09:47:07,353 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 335
2024-11-20 09:47:09,489 - logger - INFO - ((1.2594286851774414, -0.07339962575462868, 1.743533236038535), (0.3910263022559852, 0.03023358028108466, 0.5066477454943341, 0.7677840995702546), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2594287395477295, -0.0733996257185936, 1.7435332536697388), (0.3910262882709503, 0.030233584344387054, 0.5066477656364441, 0.7677841186523438)) - client_socket.py - 277
2024-11-20 09:47:09,490 - logger - INFO - delta by WORLD 0 -22.81531482255855 - client_socket.py - 283
2024-11-20 09:47:09,491 - logger - INFO - delta by WORLD 1 2.027374245371334 - client_socket.py - 283
2024-11-20 09:47:09,492 - logger - INFO - delta by WORLD 2 -28.94276396146506 - client_socket.py - 283
2024-11-20 09:47:09,492 - logger - INFO - delta by WORLD 3 -42.280324715877775 - client_socket.py - 283
2024-11-20 09:47:09,492 - logger - INFO - delta by WORLD 4 -54.99404996220548 - client_socket.py - 283
2024-11-20 09:47:09,492 - logger - INFO - delta by WORLD 5 -95.16236547940724 - client_socket.py - 283
2024-11-20 09:47:11,666 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:47:54,277 - logger - INFO - Координаты осей [22.493, -30.696, 35.997, -77.419, -23.007, 76.362] - client_socket.py - 335
2024-11-20 09:47:54,281 - logger - INFO - Мировые координаты [1630.006, 628.326, 1322.554, 0.0, 90.0, 0.0] - client_socket.py - 335
2024-11-20 09:47:56,350 - logger - INFO - ((1.614153251795168, 0.6227160192350487, 1.3121119524861318), (0.0367836665625752, -0.13624487452258216, 0.014100301025045383, 0.9898916493998433), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.614153265953064, 0.6227160096168518, 1.3121119737625122), (0.03678366541862488, -0.13624487817287445, 0.014100301079452038, 0.9898916482925415)) - client_socket.py - 277
2024-11-20 09:47:56,350 - logger - INFO - delta by WORLD 0 -15.852748204832096 - client_socket.py - 283
2024-11-20 09:47:56,352 - logger - INFO - delta by WORLD 1 -5.609980764951274 - client_socket.py - 283
2024-11-20 09:47:56,352 - logger - INFO - delta by WORLD 2 -10.442047513868374 - client_socket.py - 283
2024-11-20 09:47:56,352 - logger - INFO - delta by WORLD 3 4.1092470335892015 - client_socket.py - 283
2024-11-20 09:47:56,352 - logger - INFO - delta by WORLD 4 -105.71024911215142 - client_socket.py - 283
2024-11-20 09:47:56,352 - logger - INFO - delta by WORLD 5 1.0650011307295861 - client_socket.py - 283
2024-11-20 09:47:58,510 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:00,562 - logger - INFO - Координаты осей [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362] - client_socket.py - 335
2024-11-20 09:48:00,565 - logger - INFO - Мировые координаты [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065] - client_socket.py - 335
2024-11-20 09:48:02,884 - logger - INFO - ((1.052794191062046, -1.0288838233396038, 0.3344074192650374), (0.4987436880557562, 0.18714072672493906, -0.5535771655506214, 0.6401448303363418), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.0527942180633545, -1.0288838148117065, 0.33440741896629333), (0.4987437129020691, 0.18714073300361633, -0.5535772442817688, 0.6401448249816895)) - client_socket.py - 277
2024-11-20 09:48:02,886 - logger - INFO - delta by WORLD 0 0.03719106204584932 - client_socket.py - 283
2024-11-20 09:48:02,886 - logger - INFO - delta by WORLD 1 -0.03782333960384676 - client_socket.py - 283
2024-11-20 09:48:02,887 - logger - INFO - delta by WORLD 2 -0.009580734962526094 - client_socket.py - 283
2024-11-20 09:48:02,887 - logger - INFO - delta by WORLD 3 -117.44851707055207 - client_socket.py - 283
2024-11-20 09:48:02,887 - logger - INFO - delta by WORLD 4 31.88522142185367 - client_socket.py - 283
2024-11-20 09:48:02,887 - logger - INFO - delta by WORLD 5 -133.79396262921804 - client_socket.py - 283
2024-11-20 09:48:04,974 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:05,143 - logger - INFO - Координаты осей [0.0, -0.002, -0.002, 0.003, -0.001, 0.0] - client_socket.py - 335
2024-11-20 09:48:05,145 - logger - INFO - Мировые координаты [1396.525, 1.687, 1322.697, 0.0, 90.0, 0.0] - client_socket.py - 335
2024-11-20 09:48:07,284 - logger - INFO - ((1.3962123688509458, 0.0016968149976426192, 1.3224940900529676), (-0.0020957708460936793, -0.1240685504870512, -0.015572570641704595, 0.9921492315010941), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3962123394012451, 0.0016968150157481432, 1.3224941492080688), (-0.002095770789310336, -0.12406854331493378, -0.015572570264339447, 0.9921492338180542)) - client_socket.py - 277
2024-11-20 09:48:07,285 - logger - INFO - delta by WORLD 0 -0.3126311490543685 - client_socket.py - 283
2024-11-20 09:48:07,287 - logger - INFO - delta by WORLD 1 0.009814997642619172 - client_socket.py - 283
2024-11-20 09:48:07,287 - logger - INFO - delta by WORLD 2 -0.2029099470323672 - client_socket.py - 283
2024-11-20 09:48:07,287 - logger - INFO - delta by WORLD 3 -0.01740987382528901 - client_socket.py - 283
2024-11-20 09:48:07,288 - logger - INFO - delta by WORLD 4 -104.25597149501897 - client_socket.py - 283
2024-11-20 09:48:07,288 - logger - INFO - delta by WORLD 5 -1.7962807548636317 - client_socket.py - 283
2024-11-20 09:48:09,404 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:09,584 - logger - INFO - Координаты осей [0.002, -0.001, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 335
2024-11-20 09:48:09,587 - logger - INFO - Мировые координаты [1396.513, 1.758, 1322.749, -0.002, 90.0, 0.0] - client_socket.py - 335
2024-11-20 09:48:11,723 - logger - INFO - ((1.396200277691437, 0.0017678021740777441, 1.3225460145693864), (-0.002119179851128108, -0.12409857961114125, -0.015550107903779968, 0.9921457784818906), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3962002992630005, 0.0017678021686151624, 1.3225460052490234), (-0.00211917981505394, -0.12409858405590057, -0.015550109557807446, 0.9921457767486572)) - client_socket.py - 277
2024-11-20 09:48:11,723 - logger - INFO - delta by WORLD 0 -0.3127223085627975 - client_socket.py - 283
2024-11-20 09:48:11,724 - logger - INFO - delta by WORLD 1 0.009802174077744086 - client_socket.py - 283
2024-11-20 09:48:11,725 - logger - INFO - delta by WORLD 2 -0.20298543061358032 - client_socket.py - 283
2024-11-20 09:48:11,725 - logger - INFO - delta by WORLD 3 -0.018429598395311067 - client_socket.py - 283
2024-11-20 09:48:11,725 - logger - INFO - delta by WORLD 4 -104.2594808749475 - client_socket.py - 283
2024-11-20 09:48:11,725 - logger - INFO - delta by WORLD 5 -1.7933149739289278 - client_socket.py - 283
2024-11-20 09:48:13,843 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:15,429 - logger - INFO - Координаты осей [89.998, -0.002, -0.001, 0.001, -0.001, -0.001] - client_socket.py - 335
2024-11-20 09:48:15,432 - logger - INFO - Мировые координаты [-1.645, 1396.533, 1322.7, -89.998, 90.0, 0.0] - client_socket.py - 335
2024-11-20 09:48:17,536 - logger - INFO - ((-0.001645738937304457, 1.3963916335501, 1.322606519815897), (0.08361556733060092, -0.08423348147111444, 0.7002713055300953, 0.7039412306083604), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (-0.0016457389574497938, 1.3963916301727295, 1.3226065635681152), (0.08361556380987167, -0.08423348516225815, 0.7002713084220886, 0.7039412260055542)) - client_socket.py - 277
2024-11-20 09:48:17,537 - logger - INFO - delta by WORLD 0 -0.0007389373044570657 - client_socket.py - 283
2024-11-20 09:48:17,538 - logger - INFO - delta by WORLD 1 -0.14136644989980596 - client_socket.py - 283
2024-11-20 09:48:17,539 - logger - INFO - delta by WORLD 2 -0.09348018410310033 - client_socket.py - 283
2024-11-20 09:48:17,539 - logger - INFO - delta by WORLD 3 89.98316119918755 - client_socket.py - 283
2024-11-20 09:48:17,539 - logger - INFO - delta by WORLD 4 -103.63277141173246 - client_socket.py - 283
2024-11-20 09:48:17,539 - logger - INFO - delta by WORLD 5 89.70228809211523 - client_socket.py - 283
2024-11-20 09:48:19,679 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:20,045 - logger - INFO - Координаты осей [0.003, 65.0, -0.001, 0.001, 0.0, -0.001] - client_socket.py - 335
2024-11-20 09:48:20,047 - logger - INFO - Мировые координаты [-61.982, 1.689, 1955.771, 0.0, 25.0, 0.003] - client_socket.py - 335
2024-11-20 09:48:22,185 - logger - INFO - ((-0.06537281811756715, 0.04046517400329923, 1.954015435206832), (0.0305726671237074, -0.6090865443154718, 0.038351467195334145, 0.7915857872162341), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (-0.06537281721830368, 0.04046517238020897, 1.9540154933929443), (0.030572671443223953, -0.6090866327285767, 0.03835147246718407, 0.7915857434272766)) - client_socket.py - 277
2024-11-20 09:48:22,186 - logger - INFO - delta by WORLD 0 -3.39081811756715 - client_socket.py - 283
2024-11-20 09:48:22,188 - logger - INFO - delta by WORLD 1 38.776174003299225 - client_socket.py - 283
2024-11-20 09:48:22,188 - logger - INFO - delta by WORLD 2 -1.755564793168105 - client_socket.py - 283
2024-11-20 09:48:22,188 - logger - INFO - delta by WORLD 3 0.3764492457844168 - client_socket.py - 283
2024-11-20 09:48:22,188 - logger - INFO - delta by WORLD 4 -100.15747196844082 - client_socket.py - 283
2024-11-20 09:48:22,188 - logger - INFO - delta by WORLD 5 5.254815236365366 - client_socket.py - 283
2024-11-20 09:48:24,283 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:25,160 - logger - INFO - Координаты осей [0.002, -0.001, 89.999, 0.002, 0.0, -0.001] - client_socket.py - 335
2024-11-20 09:48:25,163 - logger - INFO - Мировые координаты [72.252, 1.696, 2450.564, 0.0, 0.0, 0.0] - client_socket.py - 335
2024-11-20 09:48:27,356 - logger - INFO - ((0.086730786089463, 0.03219796411351219, 2.1771665742352675), (-0.049010118751453356, -0.7083780232045596, -0.04869406768867989, 0.7024439282054471), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.08673078566789627, 0.03219796344637871, 2.17716646194458), (-0.049010127782821655, -0.7083780765533447, -0.04869407042860985, 0.7024438977241516)) - client_socket.py - 277
2024-11-20 09:48:27,357 - logger - INFO - delta by WORLD 0 14.478786089463 - client_socket.py - 283
2024-11-20 09:48:27,359 - logger - INFO - delta by WORLD 1 30.501964113512184 - client_socket.py - 283
2024-11-20 09:48:27,359 - logger - INFO - delta by WORLD 2 -273.39742576473236 - client_socket.py - 283
2024-11-20 09:48:27,359 - logger - INFO - delta by WORLD 3 179.0871028654837 - client_socket.py - 283
2024-11-20 09:48:27,359 - logger - INFO - delta by WORLD 4 -89.51848646277443 - client_socket.py - 283
2024-11-20 09:48:27,359 - logger - INFO - delta by WORLD 5 172.98969501725796 - client_socket.py - 283
2024-11-20 09:48:29,473 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:29,807 - logger - INFO - Координаты осей [0.002, -0.003, 0.0, 89.999, -0.001, 0.0] - client_socket.py - 335
2024-11-20 09:48:29,812 - logger - INFO - Мировые координаты [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003] - client_socket.py - 335
2024-11-20 09:48:31,816 - logger - INFO - ((1.396217623788441, 0.0017581436721974576, 1.3224910723010244), (0.7015041463542678, -0.09028516121651989, 0.06602603976595667, 0.7038331367481225), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3962175846099854, 0.001758143655024469, 1.3224910497665405), (0.7015042304992676, -0.09028516709804535, 0.06602603942155838, 0.7038331031799316)) - client_socket.py - 277
2024-11-20 09:48:31,818 - logger - INFO - delta by WORLD 0 -0.32437621155895613 - client_socket.py - 283
2024-11-20 09:48:31,818 - logger - INFO - delta by WORLD 1 0.01014367219745771 - client_socket.py - 283
2024-11-20 09:48:31,818 - logger - INFO - delta by WORLD 2 -0.21092769897563812 - client_socket.py - 283
2024-11-20 09:48:31,818 - logger - INFO - delta by WORLD 3 0.026478809934303627 - client_socket.py - 283
2024-11-20 09:48:31,819 - logger - INFO - delta by WORLD 4 -12.693967056792294 - client_socket.py - 283
2024-11-20 09:48:31,819 - logger - INFO - delta by WORLD 5 -91.98428840452402 - client_socket.py - 283
2024-11-20 09:48:33,085 - logger - INFO - Координаты осей [0.001, -0.002, -0.001, 0.004, 89.998, 0.0] - client_socket.py - 335
2024-11-20 09:48:33,089 - logger - INFO - Мировые координаты [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001] - client_socket.py - 335
2024-11-20 09:48:33,849 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:35,126 - logger - INFO - ((1.278810576273537, 0.0017409731065903752, 1.4391107041505338), (-0.012213247520574259, -0.7691672324514754, -0.011485470501194648, 0.6388275894756781), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2788106203079224, 0.001740973093546927, 1.4391107559204102), (-0.012213248759508133, -0.7691672444343567, -0.01148547139018774, 0.6388275623321533)) - client_socket.py - 277
2024-11-20 09:48:35,128 - logger - INFO - delta by WORLD 0 -0.7284237264630065 - client_socket.py - 283
2024-11-20 09:48:35,128 - logger - INFO - delta by WORLD 1 0.024973106590375327 - client_socket.py - 283
2024-11-20 09:48:35,128 - logger - INFO - delta by WORLD 2 -0.6142958494660888 - client_socket.py - 283
2024-11-20 09:48:35,129 - logger - INFO - delta by WORLD 3 179.35163390084574 - client_socket.py - 283
2024-11-20 09:48:35,129 - logger - INFO - delta by WORLD 4 -79.42860402858761 - client_socket.py - 283
2024-11-20 09:48:35,304 - logger - INFO - delta by WORLD 5 178.7147960535319 - client_socket.py - 283
2024-11-20 09:48:37,427 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:37,624 - logger - INFO - Координаты осей [0.0, -0.001, 0.0, 0.002, 0.0, 90.003] - client_socket.py - 335
2024-11-20 09:48:37,627 - logger - INFO - Мировые координаты [1396.518, 1.704, 1322.743, 90.002, -0.006, 90.0] - client_socket.py - 335
2024-11-20 09:48:39,723 - logger - INFO - ((1.3962052692845426, 0.0017138143995616487, 1.3225400111186059), (0.7000835558587694, -0.09875540892192254, 0.07674432939194155, 0.7030225401301059), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.3962053060531616, 0.0017138144467025995, 1.322540044784546), (0.7000834941864014, -0.09875541180372238, 0.07674432545900345, 0.7030225396156311)) - client_socket.py - 277
2024-11-20 09:48:39,726 - logger - INFO - delta by WORLD 0 -0.3127307154575192 - client_socket.py - 283
2024-11-20 09:48:39,726 - logger - INFO - delta by WORLD 1 0.009814399561648646 - client_socket.py - 283
2024-11-20 09:48:39,726 - logger - INFO - delta by WORLD 2 -0.2029888813940488 - client_socket.py - 283
2024-11-20 09:48:39,726 - logger - INFO - delta by WORLD 3 -0.017415852154755385 - client_socket.py - 283
2024-11-20 09:48:39,727 - logger - INFO - delta by WORLD 4 -14.25323093862175 - client_socket.py - 283
2024-11-20 09:48:39,727 - logger - INFO - delta by WORLD 5 -91.79556736828366 - client_socket.py - 283
2024-11-20 09:48:41,745 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:47,009 - logger - INFO - Координаты осей [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335] - client_socket.py - 335
2024-11-20 09:48:47,012 - logger - INFO - Мировые координаты [1131.959351, -588.689941, 1277.805054, 6.181231, 54.227802, -100.604988] - client_socket.py - 335
2024-11-20 09:48:49,181 - logger - INFO - ((1.131709510297773, -0.5885541362895846, 1.2776238586640756), (0.4420359045222139, 0.020501775213380057, 0.0565339912699895, 0.8949792423053247), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.1317094564437866, -0.5885541439056396, 1.2776238918304443), (0.4420359134674072, 0.02050177752971649, 0.056533992290496826, 0.8949792385101318)) - client_socket.py - 277
2024-11-20 09:48:49,183 - logger - INFO - delta by WORLD 0 -0.24984070222694754 - client_socket.py - 283
2024-11-20 09:48:49,184 - logger - INFO - delta by WORLD 1 0.13580471041530018 - client_socket.py - 283
2024-11-20 09:48:49,185 - logger - INFO - delta by WORLD 2 -0.18119533592425796 - client_socket.py - 283
2024-11-20 09:48:49,357 - logger - INFO - delta by WORLD 3 46.34331111617779 - client_socket.py - 283
2024-11-20 09:48:49,359 - logger - INFO - delta by WORLD 4 -54.988871697472206 - client_socket.py - 283
2024-11-20 09:48:49,359 - logger - INFO - delta by WORLD 5 107.45837066895145 - client_socket.py - 283
2024-11-20 09:48:51,494 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 335
2024-11-20 09:48:52,913 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 335
2024-11-20 09:48:52,915 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 335
2024-11-20 09:48:54,998 - logger - INFO - ((1.2594286851774414, -0.07339962575462868, 1.743533236038535), (0.3910263022559852, 0.03023358028108466, 0.5066477454943341, 0.7677840995702546), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.2594287395477295, -0.0733996257185936, 1.7435332536697388), (0.3910262882709503, 0.030233584344387054, 0.5066477656364441, 0.7677841186523438)) - client_socket.py - 277
2024-11-20 09:48:54,999 - logger - INFO - delta by WORLD 0 -22.81531482255855 - client_socket.py - 283
2024-11-20 09:48:55,000 - logger - INFO - delta by WORLD 1 2.027374245371334 - client_socket.py - 283
2024-11-20 09:48:55,000 - logger - INFO - delta by WORLD 2 -28.94276396146506 - client_socket.py - 283
2024-11-20 09:48:55,000 - logger - INFO - delta by WORLD 3 -42.280324715877775 - client_socket.py - 283
2024-11-20 09:48:55,001 - logger - INFO - delta by WORLD 4 -54.99404996220548 - client_socket.py - 283
2024-11-20 09:48:55,001 - logger - INFO - delta by WORLD 5 -95.16236547940724 - client_socket.py - 283

47
robot/client_socket.py
View File

@ -194,7 +194,12 @@ class SocketRobotArm:
self.q_app = None
self.imitate_point = None
robot_start_position = [0, 0, 0]
robot_start_position = [
-0.008700576263427698,
0.04579925857591629,
0.0036192361602783203,
]
# robot_start_position = [0, 0, 0]
self.prepare_data = PrepareRobotData()
self.socket_manager = SocketManager()
@ -247,8 +252,10 @@ class SocketRobotArm:
num_joints = p.getNumJoints(self.urdf_manager.body_id)
axisJointPoses = self.axis_coordinates
for i in range(num_joints):
p.resetJointState(self.urdf_manager.body_id, i, math.radians(axisJointPoses[i]))
p.resetJointState(
self.urdf_manager.body_id, i, math.radians(axisJointPoses[i])
)
time.sleep(2)
coordinates = self.world_coordinates[:3]
@ -263,21 +270,25 @@ class SocketRobotArm:
)
for i in range(num_joints):
p.resetJointState(self.urdf_manager.body_id, i, worldJointPoses[i])
calcWorldPosition = p.getLinkState(self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True)
# logger.info(calcWorldPosition)
calcWorldPosition = list([p * 1000 for p in calcWorldPosition[0]] + np.degrees(calcWorldPosition[1]))
for i, pos in enumerate(zip(calcWorldPosition, self.world_coordinates)):
calcWorldPosition = p.getLinkState(
self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True
)
logger.info(calcWorldPosition)
calcWorldPosition = list(
[p * 1000 for p in calcWorldPosition[0]]
+ [np.degrees(p) for p in p.getEulerFromQuaternion(calcWorldPosition[1])]
)
for i, pos in enumerate(zip(calcWorldPosition, self.world_coordinates)):
logger.info(f"delta by WORLD {i} {pos[0] - pos[1]}")
logger.info('-------')
for i, pos in enumerate(zip(axisJointPoses, worldJointPoses)):
logger.info(f"delta by JOINT {i} {pos[0] - pos[1]}")
# logger.info('-------')
# for i, pos in enumerate(zip(axisJointPoses, worldJointPoses)):
# logger.info(f"delta by JOINT {i} {pos[0] - pos[1]}")
time.sleep(2)
self._get_command_count()
self.set_text(text=f"Команд в очереди {self.remote_command_count}")
time.sleep(0.5)
@ -413,7 +424,9 @@ class SocketRobotArm:
point["m4"],
point["m5"],
]
jointPoses = self.convert_to_joint_base([float(p) * 0.001 for p in points], angles)
jointPoses = self.convert_to_joint_base(
[float(p) * 0.001 for p in points], angles
)
num_joints = p.getNumJoints(self.urdf_manager.body_id)
@ -445,7 +458,7 @@ class SocketRobotArm:
# maxNumIterations=100,
# residualThreshold=0.001,
)
return joint_angles
def convert_file_to_joint(self):