From a6f60083c56277745206c93d9379eb44038e40c3 Mon Sep 17 00:00:00 2001 From: user Date: Mon, 11 Nov 2024 18:51:58 +0300 Subject: [PATCH] poetry --- .gitignore | 3 +- app.log | 2163 ++++++++++++++++++++++++++++++++++++++++ data/test.nc.result | 25 +- gui/visualize.py | 4 +- robot/client_socket.py | 6 +- run_local.py | 36 +- 6 files changed, 2201 insertions(+), 36 deletions(-) diff --git a/.gitignore b/.gitignore index 6d516dc..50fc446 100644 --- a/.gitignore +++ b/.gitignore @@ -6,4 +6,5 @@ data/* /dist/**/* app.log dist.zip -.venv \ No newline at end of file +.venv +*.log \ No newline at end of file diff --git a/app.log b/app.log index 7e8768b..447f235 100644 --- a/app.log +++ b/app.log @@ -66316,3 +66316,2166 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 - 2024-11-11 13:46:10,791 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 2024-11-11 13:46:10,791 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 2024-11-11 13:46:11,820 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:47:00,304 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:47:00,304 - logger - INFO - None - robot.py - 52 +2024-11-11 13:47:00,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:47:00,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:47:00,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:47:00,306 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:47:00,306 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:47:00,306 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:47:01,330 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - None - robot.py - 52 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:52:18,218 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:52:19,267 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - None - robot.py - 52 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:52:45,337 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:52:46,387 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:53:18,455 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:53:18,456 - logger - INFO - None - robot.py - 52 +2024-11-11 13:53:18,456 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:53:18,457 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:53:18,457 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:53:18,457 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:53:18,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:53:18,458 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:53:19,485 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:56:01,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:01,961 - logger - INFO - None - robot.py - 52 +2024-11-11 13:56:01,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:01,962 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:01,962 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:01,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:56:01,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:56:01,963 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:56:02,995 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:56:21,032 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:21,033 - logger - INFO - None - robot.py - 52 +2024-11-11 13:56:21,033 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:21,033 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:21,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:21,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:56:21,034 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:56:21,035 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:56:22,063 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:56:48,683 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:48,684 - logger - INFO - None - robot.py - 52 +2024-11-11 13:56:48,684 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:48,684 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:48,684 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:56:48,685 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:56:48,685 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:56:48,685 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:56:49,715 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 13:57:21,130 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:57:21,130 - logger - INFO - None - robot.py - 52 +2024-11-11 13:57:21,131 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:57:21,131 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:57:21,131 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 13:57:21,131 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 13:57:21,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 13:57:21,132 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 13:57:22,166 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - None - robot.py - 52 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:06:48,545 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:06:49,586 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:07:05,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:05,425 - logger - INFO - None - robot.py - 52 +2024-11-11 14:07:05,425 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:05,426 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:05,426 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:05,427 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:07:05,427 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:07:05,427 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:07:06,456 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:07:28,473 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - None - robot.py - 52 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:07:28,474 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:07:29,499 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:08:22,529 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:08:22,530 - logger - INFO - None - robot.py - 52 +2024-11-11 14:08:22,530 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:08:22,530 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:08:22,530 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:08:22,531 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:08:22,531 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:08:22,531 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:08:23,566 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:10:36,003 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:36,004 - logger - INFO - None - robot.py - 52 +2024-11-11 14:10:36,004 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:36,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:36,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:36,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:10:36,006 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:10:36,006 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:10:37,026 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:10:53,448 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:53,449 - logger - INFO - None - robot.py - 52 +2024-11-11 14:10:53,449 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:53,449 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:53,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:10:53,450 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:10:53,451 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:10:53,451 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:10:54,477 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:10:56,632 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 14:10:56,952 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 14:10:59,228 - logger - INFO - connected - robot.py - 52 +2024-11-11 14:11:04,905 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 14:11:04,905 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327 +2024-11-11 14:11:05,418 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:11:06,532 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327 +2024-11-11 14:11:07,130 - logger - INFO - convrt to joint (-0.14275081981596224, -0.1451467380177465, 0.5010553274991076, 1.2519215225490725, -0.9396521950622952, -0.38388467439989665) - client_socket.py - 322 +2024-11-11 14:11:07,163 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:11:09,092 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327 +2024-11-11 14:11:09,665 - logger - INFO - Вычисленное положение [1273.5008001327515, -68.78644973039627, 1777.7771949768066] - client_socket.py - 265 +2024-11-11 14:11:09,702 - logger - INFO - Вычисленная ориентация [45.6833799 1.98006526 46.71926513] - client_socket.py - 268 +2024-11-11 14:11:12,222 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 14:11:12,222 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327 +2024-11-11 14:11:12,733 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:11:13,863 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327 +2024-11-11 14:11:14,557 - logger - INFO - convrt to joint (-0.15519887026757578, -0.18169374633519833, 0.5346743275858324, 1.4866798144304318, -1.2173435875927716, -0.25387333866611966) - client_socket.py - 322 +2024-11-11 14:11:14,601 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:11:16,621 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327 +2024-11-11 14:11:16,932 - logger - INFO - convrt to joint (-0.10677895682131583, -0.4247444043708548, 0.8892459552773454, 1.0488198878074246, -2.8129796480895544, -0.43755307987509945) - client_socket.py - 322 +2024-11-11 14:11:16,932 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:11:17,217 - logger - INFO - Вычисленное положение [1277.1114110946655, -60.888808220624924, 1779.2565822601318] - client_socket.py - 265 +2024-11-11 14:11:17,232 - logger - INFO - Вычисленная ориентация [55.74665181 -2.66826141 62.14150619] - client_socket.py - 268 +2024-11-11 14:11:19,831 - logger - INFO - convrt to joint (-0.10593430662034224, -0.47438783901907267, 0.9734918272077836, 1.1659325601903123, -2.8286425604210117, -0.8966098086795923) - client_socket.py - 322 +2024-11-11 14:11:19,847 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:08,495 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:31:08,496 - logger - INFO - None - robot.py - 52 +2024-11-11 14:31:08,496 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:31:08,496 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:31:08,496 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 14:31:08,497 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 14:31:08,497 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 14:31:08,497 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 14:31:09,528 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 14:31:17,391 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 14:31:17,767 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 14:31:20,164 - logger - INFO - connected - robot.py - 52 +2024-11-11 14:31:22,064 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 14:31:22,064 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327 +2024-11-11 14:31:22,589 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:23,793 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327 +2024-11-11 14:31:24,524 - logger - INFO - convrt to joint (-0.0860299402431469, -0.07939828276415593, 0.3918782534334849, -0.0004228414988736622, 0.0368907255239517, 0.0) - client_socket.py - 322 +2024-11-11 14:31:24,571 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:26,762 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327 +2024-11-11 14:31:26,778 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 14:31:26,778 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327 +2024-11-11 14:31:27,289 - logger - INFO - Вычисленное положение [1318.4599876403809, 40.6470000743866, 1405.243992805481] - client_socket.py - 265 +2024-11-11 14:31:27,289 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:27,289 - logger - INFO - Вычисленная ориентация [ 0. -0. 0.] - client_socket.py - 268 +2024-11-11 14:31:28,549 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327 +2024-11-11 14:31:29,282 - logger - INFO - convrt to joint (-0.0860299402431469, -0.07939828276415593, 0.3918782534334849, -0.0004228414988736622, 0.0368907255239517, 0.0) - client_socket.py - 322 +2024-11-11 14:31:29,345 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:30,793 - logger - INFO - convrt to joint (-0.11162168601305943, -0.36017544804704693, 0.7771513986044156, 0.8730941913321136, -2.7907916397855677, -0.6230526139679481) - client_socket.py - 322 +2024-11-11 14:31:30,793 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:31,556 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327 +2024-11-11 14:31:32,213 - logger - INFO - Вычисленное положение [1318.4599876403809, 40.6470000743866, 1405.243992805481] - client_socket.py - 265 +2024-11-11 14:31:32,276 - logger - INFO - Вычисленная ориентация [ 0. -0. 0.] - client_socket.py - 268 +2024-11-11 14:31:34,069 - logger - INFO - convrt to joint (-0.11041740143447402, -0.36662943894203726, 0.7890368566743224, 0.8981987739873407, -2.7927757863290936, -1.1782464004785538) - client_socket.py - 322 +2024-11-11 14:31:34,122 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:37,328 - logger - INFO - convrt to joint (-0.10439265263893958, -0.5032388922893106, 0.9473459146791257, 0.9284689993513374, -2.80034016910495, -1.1420077206337764) - client_socket.py - 322 +2024-11-11 14:31:37,390 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:40,708 - logger - INFO - convrt to joint (-0.09871051141691511, -0.6281766690186228, 1.0927923201869687, 0.9608131347629739, -2.8062355046314016, -1.103922440801463) - client_socket.py - 322 +2024-11-11 14:31:40,755 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:44,274 - logger - INFO - convrt to joint (-0.03615611602172759, -0.6195923710640449, 1.0830323440342573, 1.0216591342863892, -2.755282730776593, -1.01062343276429) - client_socket.py - 322 +2024-11-11 14:31:44,336 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:47,669 - logger - INFO - convrt to joint (0.026543678509708308, -0.6210955466630252, 1.0867647087973467, 1.0720771170748749, -2.7048571783162654, -0.9267230347066528) - client_socket.py - 322 +2024-11-11 14:31:47,715 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:51,068 - logger - INFO - convrt to joint (0.0286979796779762, -0.49230676462072775, 0.9350606996841012, 1.0429410699167714, -2.694031524782145, -0.9590781222551961) - client_socket.py - 322 +2024-11-11 14:31:51,118 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:54,343 - logger - INFO - convrt to joint (0.03135473305904292, -0.35296382219331585, 0.7723286232840527, 1.0165122267520166, -2.6813548643883793, -0.9885963565749124) - client_socket.py - 322 +2024-11-11 14:31:54,384 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:31:57,642 - logger - INFO - convrt to joint (-0.039772343345164614, -0.35357124592680494, 0.772614797301737, 0.9630074675967552, -2.737151252786746, -1.0783739743903047) - client_socket.py - 322 +2024-11-11 14:31:57,705 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:32:00,942 - logger - INFO - convrt to joint (-0.11041740143447402, -0.36662943894203726, 0.7890368566743224, 0.8981987739873407, -2.7927757863290936, -1.1782464004785538) - client_socket.py - 322 +2024-11-11 14:32:00,985 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:32:04,226 - logger - INFO - convrt to joint (-0.13368570238120858, -0.27389218870174764, 0.5957940376019388, 1.041670132264646, -2.295911188940672, -0.19388707812244727) - client_socket.py - 322 +2024-11-11 14:32:04,273 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 14:32:07,572 - logger - INFO - convrt to joint (-0.12490127942888829, -0.4253522501739714, 0.7775706913142396, 1.064317089778383, -2.3025372569888023, -0.15504207191121164) - client_socket.py - 322 +2024-11-11 14:32:07,635 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - None - robot.py - 52 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:15:02,081 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:15:03,108 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:15:05,834 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - None - robot.py - 52 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:15:39,399 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:15:40,472 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:15:43,064 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:17:33,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:33,598 - logger - INFO - None - robot.py - 52 +2024-11-11 15:17:33,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:33,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:33,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:33,598 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:17:33,607 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:17:33,607 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:17:34,644 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - None - robot.py - 52 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:17:47,778 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:17:48,811 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:17:54,771 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:17:55,073 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 15:17:59,196 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:18:04,249 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 15:18:04,271 - logger - INFO - Координаты осей [76.592125, 38.43911, -57.222309, -120.0588, 18.58017, 79.398743] - client_socket.py - 327 +2024-11-11 15:18:04,775 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:18:05,583 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 15:18:05,598 - logger - INFO - Координаты осей [76.592125, 38.43911, -57.222309, -120.0588, 18.58017, 79.398743] - client_socket.py - 327 +2024-11-11 15:18:05,647 - logger - INFO - Мировые координаты [122.412903, 1202.815674, 607.990784, -9.943915, -29.980921, 19.667433] - client_socket.py - 327 +2024-11-11 15:18:06,111 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:18:06,162 - logger - INFO - convrt to joint (1.3931762623061237, -0.022829837980764867, -0.6698902465777365, -1.9504991537937681, 0.22962770425504977, 1.3610490806896898) - client_socket.py - 322 +2024-11-11 15:18:06,163 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:18:07,225 - logger - INFO - Мировые координаты [122.412903, 1202.815674, 607.990784, -9.943915, -29.980921, 19.667433] - client_socket.py - 327 +2024-11-11 15:18:07,225 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 327 +2024-11-11 15:18:07,854 - logger - INFO - convrt to joint (1.3917645922836783, -0.023914612168376266, -0.6682291360174243, -1.9693286688865688, 0.24999686262966928, 1.3688474768280054) - client_socket.py - 322 +2024-11-11 15:18:07,854 - logger - INFO - Вычисленное положение [120.6669732928276, 1165.9542322158813, 634.6163153648376] - client_socket.py - 265 +2024-11-11 15:18:07,902 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:18:07,912 - logger - INFO - Вычисленная ориентация [-22.52948373 42.41212808 97.86059312] - client_socket.py - 268 +2024-11-11 15:18:09,881 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 327 +2024-11-11 15:18:10,465 - logger - INFO - Вычисленное положение [122.62315303087234, 1200.9143829345703, 609.510064125061] - client_socket.py - 265 +2024-11-11 15:18:10,514 - logger - INFO - Вычисленная ориентация [-22.30270899 43.67661828 97.87387616] - client_socket.py - 268 +2024-11-11 15:18:28,155 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:18:28,170 - logger - INFO - {} - main.py - 140 +2024-11-11 15:18:28,192 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:18:28,709 - logger - INFO - convrt to joint (1.1927612683859667, 0.8726244678870995, -2.2237731370928393, -1.9405363377401914, -1.4905939861054558, 2.9358708702453846) - client_socket.py - 322 +2024-11-11 15:18:28,709 - logger - INFO - convrt to joint (1.180838150281529, 0.855586738992189, -2.216793316721473, -1.9531974756960915, -1.491629521883139, 2.365412485590176) - client_socket.py - 322 +2024-11-11 15:18:28,709 - logger - INFO - convrt to joint (0.9755945911256172, 0.9035644944633493, -2.1938048458659316, -1.5837369015568434, -1.5672656340660915, 2.860784171284452) - client_socket.py - 322 +2024-11-11 15:18:28,709 - logger - INFO - convrt to joint (1.1523930999502618, 1.0020712357888777, -2.2930768715803054, -2.131068252281712, -2.020254662212369, 2.8561346221938413) - client_socket.py - 322 +2024-11-11 15:18:37,476 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:18:37,476 - logger - INFO - {} - main.py - 140 +2024-11-11 15:18:37,500 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:18:38,012 - logger - INFO - convrt to joint (1.1927612683755897, 0.8726244678985703, -2.2237731370979916, -1.9405363377522236, -1.4905939860900763, 2.9358708702816423) - client_socket.py - 322 +2024-11-11 15:18:38,012 - logger - INFO - convrt to joint (1.1808381502908096, 0.8555867389982531, -2.2167933167240568, -1.9531974756883481, -1.4916295218839128, 2.3654124855839154) - client_socket.py - 322 +2024-11-11 15:18:38,012 - logger - INFO - convrt to joint (0.9755945911122258, 0.9035644944676455, -2.193804845864765, -1.583736901569683, -1.5672656340628122, 2.8607841712811917) - client_socket.py - 322 +2024-11-11 15:18:38,012 - logger - INFO - convrt to joint (1.1523930999242469, 1.002071235786839, -2.2930768715760763, -2.131068252330192, -2.02025466221414, 2.856134622159038) - client_socket.py - 322 +2024-11-11 15:18:42,075 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:18:42,075 - logger - INFO - {} - main.py - 140 +2024-11-11 15:18:42,092 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:18:42,603 - logger - INFO - convrt to joint (1.1927612683755897, 0.8726244678985703, -2.2237731370979916, -1.9405363377522236, -1.4905939860900763, 2.9358708702816423) - client_socket.py - 322 +2024-11-11 15:18:42,603 - logger - INFO - convrt to joint (1.1808381502908103, 0.8555867389982531, -2.2167933167240568, -1.9531974756883477, -1.491629521883913, 2.365412485583915) - client_socket.py - 322 +2024-11-11 15:18:42,603 - logger - INFO - convrt to joint (0.9755945911122264, 0.9035644944676456, -2.193804845864765, -1.5837369015696825, -1.5672656340628122, 2.860784171281192) - client_socket.py - 322 +2024-11-11 15:18:42,603 - logger - INFO - convrt to joint (1.152393099924247, 1.0020712357868393, -2.2930768715760763, -2.1310682523301914, -2.02025466221414, 2.8561346221590385) - client_socket.py - 322 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - None - robot.py - 52 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:19:05,603 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:19:06,658 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - None - robot.py - 52 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:19:17,036 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:19:18,080 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:19:21,102 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:19:21,403 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 15:19:23,724 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:19:27,530 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 15:19:27,552 - logger - INFO - Координаты осей [76.592125, 38.438782, -57.222309, -120.0588, 18.58017, 79.398743] - client_socket.py - 327 +2024-11-11 15:19:28,058 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:30,206 - logger - INFO - Мировые координаты [122.413033, 1202.816284, 607.984985, -9.944226, -29.980743, 19.667591] - client_socket.py - 327 +2024-11-11 15:19:30,962 - logger - INFO - convrt to joint (1.3996823757716597, -0.019401623362574685, -0.6784185769561706, -1.6125608397849094, 0.13845884069117942, 1.3256419264680745) - client_socket.py - 322 +2024-11-11 15:19:31,002 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:31,886 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 15:19:31,909 - logger - INFO - Координаты осей [76.592125, 38.438782, -57.222309, -120.0588, 18.58017, 79.398743] - client_socket.py - 327 +2024-11-11 15:19:32,407 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 327 +2024-11-11 15:19:32,422 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:33,715 - logger - INFO - Вычисленное положение [133.65469872951508, 988.9718294143677, 851.6605496406555] - client_socket.py - 265 +2024-11-11 15:19:33,731 - logger - INFO - Вычисленная ориентация [-24.67996151 24.80129277 89.0730436 ] - client_socket.py - 268 +2024-11-11 15:19:34,594 - logger - INFO - Мировые координаты [122.413033, 1202.816284, 607.984985, -9.944226, -29.980743, 19.667591] - client_socket.py - 327 +2024-11-11 15:19:35,436 - logger - INFO - convrt to joint (1.3941441719159822, -0.02245487894874213, -0.6702960815433737, -1.9607028589141162, 0.21770588087478332, 1.3629954263206991) - client_socket.py - 322 +2024-11-11 15:19:35,489 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:40,711 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 327 +2024-11-11 15:19:41,621 - logger - INFO - Вычисленное положение [119.87175047397614, 1167.404294013977, 631.116509437561] - client_socket.py - 265 +2024-11-11 15:19:41,683 - logger - INFO - Вычисленная ориентация [-23.33124764 42.64671234 97.23440388] - client_socket.py - 268 +2024-11-11 15:19:45,211 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:19:45,211 - logger - INFO - {} - main.py - 140 +2024-11-11 15:19:45,233 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:19:53,459 - logger - INFO - convrt to joint (1.476258263029634, -0.17810876929002217, -0.6341921199749996, -2.231960840360048, -1.681048682094212, 2.29058045901664) - client_socket.py - 322 +2024-11-11 15:19:53,459 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:55,842 - logger - INFO - convrt to joint (1.4762602226008408, -0.17818550507911154, -0.6341362460867065, -2.2319548706483556, -1.6810728348200068, 2.2906014359223392) - client_socket.py - 322 +2024-11-11 15:19:55,905 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:19:55,905 - logger - INFO - convrt to joint (1.4762612785354092, -0.1782261503279445, -0.6341068320913001, -2.231951664294701, -1.6810858412471619, 2.2906127943004053) - client_socket.py - 322 +2024-11-11 15:19:55,905 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:00,038 - logger - INFO - convrt to joint (1.4327392944077788, -0.1856250632124646, -0.6257171814558434, -2.261735554939726, -1.6571828743043273, 2.3087085757974495) - client_socket.py - 322 +2024-11-11 15:20:00,053 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:01,766 - logger - INFO - convrt to joint (1.4327399271429737, -0.18564347193388012, -0.6257032090191711, -2.2617340994662425, -1.6571883999128192, 2.3087125931921566) - client_socket.py - 322 +2024-11-11 15:20:01,766 - logger - INFO - convrt to joint (1.4327399271429737, -0.18564347193388012, -0.6257032090191711, -2.2617340994662425, -1.6571883999128192, 2.3087125931921566) - client_socket.py - 322 +2024-11-11 15:20:01,831 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:01,834 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:06,606 - logger - INFO - convrt to joint (1.389725690594213, -0.19498285153639833, -0.6147310411759813, -2.2915579072047216, -1.6335741118065208, 2.3267463578389362) - client_socket.py - 322 +2024-11-11 15:20:06,622 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:06,629 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:20:06,629 - logger - INFO - {} - main.py - 140 +2024-11-11 15:20:06,639 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:20:07,952 - logger - INFO - convrt to joint (1.389739358190888, -0.1949998757335111, -0.6147156542845365, -2.2915388451368632, -1.6335887017564716, 2.326736470725598) - client_socket.py - 322 +2024-11-11 15:20:08,017 - logger - INFO - convrt to joint (1.3897366180332058, -0.19500042380485297, -0.614713899645532, -2.2915426115595294, -1.633584733697997, 2.3267369233643618) - client_socket.py - 322 +2024-11-11 15:20:08,030 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:08,031 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:10,427 - logger - INFO - convrt to joint (1.4762805144728812, -0.1789774025926735, -0.6335673415552512, -2.23189226151402, -1.6813305153857083, 1.7090583689644112) - client_socket.py - 322 +2024-11-11 15:20:10,485 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:13,797 - logger - INFO - convrt to joint (1.476280442289283, -0.17899486610048654, -0.633556754116638, -2.231891342375261, -1.6813378157607135, 1.7090665594738754) - client_socket.py - 322 +2024-11-11 15:20:13,797 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:14,126 - logger - INFO - convrt to joint (1.4762802637465613, -0.1789776758305976, -0.6335684227906889, -2.231892433748709, -1.6813317361521147, 1.7090604597484353) - client_socket.py - 322 +2024-11-11 15:20:14,261 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:14,715 - logger - INFO - convrt to joint (1.4824917360758874, -0.2359185131114808, -0.5660080090816132, -1.8594660325941417, -2.0367246134443215, 2.089913013680725) - client_socket.py - 322 +2024-11-11 15:20:14,715 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:16,523 - logger - INFO - convrt to joint (1.4824911339520834, -0.2359251761587745, -0.5659996833907924, -1.8594689581921977, -2.036723828435138, 2.0899090922488233) - client_socket.py - 322 +2024-11-11 15:20:16,650 - logger - INFO - convrt to joint (1.4824908610024448, -0.23592622335566601, -0.5659977783746817, -1.8594703126910137, -2.0367232989408226, 2.089907282400018) - client_socket.py - 322 +2024-11-11 15:20:16,650 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:16,661 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:17,465 - logger - INFO - convrt to joint (1.4437213302214167, -0.24153664463672925, -0.6058448155194389, -2.647905768007142, -2.135304327884967, 2.194890911368565) - client_socket.py - 322 +2024-11-11 15:20:17,567 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:19,060 - logger - INFO - convrt to joint (1.443725504779148, -0.2413762681306103, -0.6059653254279581, -2.6479078013371504, -2.1352435504490686, 2.1948662758457766) - client_socket.py - 322 +2024-11-11 15:20:19,060 - logger - INFO - convrt to joint (1.443725504779148, -0.2413762681306103, -0.6059653254279581, -2.6479078013371504, -2.1352435504490686, 2.1948662758457766) - client_socket.py - 322 +2024-11-11 15:20:19,060 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:20:19,060 - logger - INFO - set joints - client_socket.py - 330 +2024-11-11 15:21:14,371 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:21:14,371 - logger - INFO - {} - main.py - 140 +2024-11-11 15:21:14,389 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:21:19,229 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:21:19,229 - logger - INFO - {} - main.py - 140 +2024-11-11 15:21:19,245 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:22:03,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:22:03,775 - logger - INFO - None - robot.py - 52 +2024-11-11 15:22:03,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:22:03,775 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:22:03,783 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:22:03,783 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:22:03,783 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:22:03,783 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:22:04,816 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 15:22:09,585 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:22:09,894 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 15:22:12,802 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:22:15,415 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:22:15,415 - logger - INFO - {} - main.py - 140 +2024-11-11 15:22:15,437 - logger - INFO - Старт одиночного цикла - client_socket.py - 327 +2024-11-11 15:24:10,853 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:10,855 - logger - INFO - None - robot.py - 52 +2024-11-11 15:24:10,856 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:10,856 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:10,856 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:10,856 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:24:10,856 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:24:10,857 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:24:11,899 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:26,434 - logger - INFO - None - robot.py - 52 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:24:26,434 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:24:26,437 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:24:27,472 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:24:29,043 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:24:29,359 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:24:31,772 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:24:32,910 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:24:32,941 - logger - INFO - Координаты осей [76.592369, 38.437149, -57.223454, -120.057869, 18.579449, 79.397285] - client_socket.py - 328 +2024-11-11 15:24:33,449 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:24:35,142 - logger - INFO - Мировые координаты [122.410614, 1202.813354, 607.929871, -9.946523, -29.980104, 19.668758] - client_socket.py - 328 +2024-11-11 15:24:36,011 - logger - INFO - convrt to joint (1.3983918026843447, -0.01978829901930183, -0.6781768099981126, -1.6121343395050458, 0.15401737277337976, 1.3140843871440533) - client_socket.py - 323 +2024-11-11 15:24:36,054 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:24:37,885 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:24:37,885 - logger - INFO - {} - main.py - 140 +2024-11-11 15:24:37,909 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:24:38,274 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:38,420 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:39,407 - logger - INFO - Вычисленное положение [126.26489996910095, 1188.032627105713, 623.2885122299194] - client_socket.py - 266 +2024-11-11 15:24:39,457 - logger - INFO - Вычисленная ориентация [-9.96319357 39.12105203 92.3081641 ] - client_socket.py - 269 +2024-11-11 15:24:56,855 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:24:56,855 - logger - INFO - {} - main.py - 140 +2024-11-11 15:24:56,874 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:24:57,384 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - None - robot.py - 52 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:26:59,844 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:27:00,885 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:27:05,307 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:27:05,808 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:27:10,408 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:27:12,231 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:27:12,244 - logger - INFO - Координаты осей [0.002201, 0.0, -0.001429, 0.0, -0.002159, -0.002209] - client_socket.py - 328 +2024-11-11 15:27:12,746 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:14,227 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:27:14,244 - logger - INFO - Координаты осей [0.002201, 0.0, -0.001429, 0.0, -0.002159, -0.002209] - client_socket.py - 328 +2024-11-11 15:27:14,296 - logger - INFO - Мировые координаты [1750.266602, 10.964644, 1356.534424, 20.752127, 0.361634, -91.617645] - client_socket.py - 328 +2024-11-11 15:27:14,746 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:14,798 - logger - INFO - convrt to joint (-0.016365322534850592, -0.6447473747944639, 0.7215721726195111, -0.0008867692812982647, 0.07142411058733765, -5.0028368643747225e-05) - client_socket.py - 323 +2024-11-11 15:27:14,799 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:16,987 - logger - INFO - Мировые координаты [1750.266602, 10.964644, 1356.534424, 20.752127, 0.361634, -91.617645] - client_socket.py - 328 +2024-11-11 15:27:17,755 - logger - INFO - convrt to joint (-0.016363755920099837, -0.6541879348707529, 0.7384376972943368, -0.0008342490005959188, 0.04049431204259601, 0.0803719856587521) - client_socket.py - 323 +2024-11-11 15:27:17,809 - logger - INFO - Команд в очереди ['3'] - client_socket.py - 328 +2024-11-11 15:27:17,815 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:17,827 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:27:17,843 - logger - INFO - Координаты осей [0.002201, 0.0, -0.001429, 0.0, -0.002159, -0.002209] - client_socket.py - 328 +2024-11-11 15:27:18,338 - logger - INFO - Вычисленное положение [1740.0892972946167, 11.285044252872467, 1357.7067852020264] - client_socket.py - 266 +2024-11-11 15:27:18,338 - logger - INFO - Вычисленная ориентация [ 8.4138644 -6.74693183 -0.93092262] - client_socket.py - 269 +2024-11-11 15:27:18,353 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:18,481 - logger - INFO - Команд в очереди ['3'] - client_socket.py - 328 +2024-11-11 15:27:19,614 - logger - INFO - Вычисленное положение [1423.9094257354736, 35.58146208524704, 1498.7202882766724] - client_socket.py - 266 +2024-11-11 15:27:19,677 - logger - INFO - Вычисленная ориентация [17.81438619 -6.12902985 -0.19463076] - client_socket.py - 269 +2024-11-11 15:27:20,597 - logger - INFO - Мировые координаты [1750.266602, 10.964644, 1356.534424, 20.752127, 0.361634, -91.617645] - client_socket.py - 328 +2024-11-11 15:27:21,497 - logger - INFO - convrt to joint (-0.016365710191389892, -0.6457889544199875, 0.7228343450749466, -0.0009353154415632008, 0.07536043931537287, 0.11993645667577953) - client_socket.py - 323 +2024-11-11 15:27:21,512 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:27:22,445 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:27:22,445 - logger - INFO - {} - main.py - 140 +2024-11-11 15:27:22,460 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:27:22,971 - logger - INFO - Команд в очереди ['3'] - client_socket.py - 328 +2024-11-11 15:27:22,995 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:22,995 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:22,995 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:23,003 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:23,003 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:23,003 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:27:24,053 - logger - INFO - Вычисленное положение [1726.8133163452148, 12.005848810076714, 1353.538155555725] - client_socket.py - 266 +2024-11-11 15:27:24,116 - logger - INFO - Вычисленная ориентация [11.7284484 -6.2905271 -0.91450647] - client_socket.py - 269 +2024-11-11 15:29:38,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:38,280 - logger - INFO - None - robot.py - 52 +2024-11-11 15:29:38,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:38,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:38,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:38,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:29:38,291 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:29:38,291 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:29:39,326 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:29:50,261 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:50,261 - logger - INFO - None - robot.py - 52 +2024-11-11 15:29:50,261 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:50,261 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:50,261 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:29:50,261 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:29:50,268 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:29:50,268 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:29:51,305 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:29:53,677 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:29:53,986 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:29:56,385 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:29:58,472 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:29:58,492 - logger - INFO - Координаты осей [0.002445, -0.003595, -0.000286, 0.003744, -0.002878, 0.006441] - client_socket.py - 328 +2024-11-11 15:29:59,008 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:30:00,804 - logger - INFO - Мировые координаты [1750.318359, 10.964807, 1356.462891, 20.74861, 0.373934, -91.617416] - client_socket.py - 328 +2024-11-11 15:30:01,529 - logger - INFO - convrt to joint (-0.016364596947972994, -0.6448228836824406, 0.721615274252702, -0.0008418759012859023, 0.07142867981597772, 7.79166751121058e-05) - client_socket.py - 323 +2024-11-11 15:30:01,546 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:30:02,512 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:30:02,534 - logger - INFO - Координаты осей [0.002445, -0.003595, -0.000286, 0.003744, -0.002878, 0.006441] - client_socket.py - 328 +2024-11-11 15:30:03,009 - logger - INFO - Команд в очереди ['3'] - client_socket.py - 328 +2024-11-11 15:30:03,041 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:30:04,148 - logger - INFO - Вычисленное положение [1425.2588748931885, 35.26375815272331, 1492.2810792922974] - client_socket.py - 266 +2024-11-11 15:30:04,196 - logger - INFO - Вычисленная ориентация [11.313584 -7.58379266 -0.20605819] - client_socket.py - 269 +2024-11-11 15:30:05,131 - logger - INFO - Мировые координаты [1750.318359, 10.964807, 1356.462891, 20.74861, 0.373934, -91.617416] - client_socket.py - 328 +2024-11-11 15:30:06,012 - logger - INFO - convrt to joint (-0.016365580811495164, -0.6458148528157569, 0.7216689731636327, -0.000875925985408993, 0.08927476504277243, 0.06875684800702828) - client_socket.py - 323 +2024-11-11 15:30:06,063 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:30:10,133 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:30:10,133 - logger - INFO - {} - main.py - 140 +2024-11-11 15:30:10,159 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:30:10,214 - logger - INFO - Команд в очереди ['3'] - client_socket.py - 328 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,663 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:10,727 - logger - INFO - Вычисленное положение [1737.4072074890137, 11.233274824917316, 1355.6729555130005] - client_socket.py - 266 +2024-11-11 15:30:10,727 - logger - INFO - Вычисленная ориентация [10.91637232 -7.88526345 -0.93278358] - client_socket.py - 269 +2024-11-11 15:30:46,352 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:30:46,352 - logger - INFO - {} - main.py - 140 +2024-11-11 15:30:46,370 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:30:46,871 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:46,871 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:46,871 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:46,871 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:30:46,871 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:03,276 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:31:03,276 - logger - INFO - {} - main.py - 140 +2024-11-11 15:31:03,276 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:31:03,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:03,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:03,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:03,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:03,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:05,712 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:31:05,712 - logger - INFO - {} - main.py - 140 +2024-11-11 15:31:05,731 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:31:06,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:06,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:06,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:06,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:06,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - None - robot.py - 52 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:31:21,362 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:31:22,392 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:31:25,676 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:31:26,038 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:31:29,972 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:31:29,988 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:31:30,492 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:31:34,765 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:31:35,245 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:31:39,181 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:31:39,195 - logger - INFO - Координаты осей [0.002201, -0.006537, -0.000572, 13.052281, -0.003958, -12.809514] - client_socket.py - 328 +2024-11-11 15:31:39,706 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:40,194 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:31:40,212 - logger - INFO - Координаты осей [0.002201, -0.006537, -0.000572, 13.052281, -0.003958, -12.809514] - client_socket.py - 328 +2024-11-11 15:31:40,345 - logger - INFO - Мировые координаты [1750.36377, 10.827416, 1356.402954, 20.737833, 0.606304, -91.616898] - client_socket.py - 328 +2024-11-11 15:31:40,721 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:40,866 - logger - INFO - convrt to joint (-0.015681198420372272, -0.6449502311599159, 0.7222151458322313, 0.21173226619829064, 0.06949517837402049, -0.18685117696969875) - client_socket.py - 323 +2024-11-11 15:31:40,866 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:42,147 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:31:42,163 - logger - INFO - Координаты осей [0.002201, -0.006537, -0.000572, 13.052281, -0.003958, -12.809514] - client_socket.py - 328 +2024-11-11 15:31:42,197 - logger - INFO - Мировые координаты [1750.36377, 10.827416, 1356.402954, 20.737833, 0.606304, -91.616898] - client_socket.py - 328 +2024-11-11 15:31:42,304 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:31:42,683 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:42,713 - logger - INFO - convrt to joint (-0.015974743844511363, -0.6571179071736829, 0.74276536118218, 0.21267798544567193, 0.04383757933075983, -0.05829290323499903) - client_socket.py - 323 +2024-11-11 15:31:42,713 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:42,820 - logger - INFO - Вычисленное положение [1730.9237718582153, 12.965726666152477, 1356.2121391296387] - client_socket.py - 266 +2024-11-11 15:31:42,820 - logger - INFO - Вычисленная ориентация [ 7.08837789 -6.74669407 -1.4199766 ] - client_socket.py - 269 +2024-11-11 15:31:43,154 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:31:43,173 - logger - INFO - Координаты осей [0.002201, -0.006537, -0.000572, 13.052281, -0.003958, -12.809514] - client_socket.py - 328 +2024-11-11 15:31:43,349 - logger - INFO - Мировые координаты [1750.36377, 10.827416, 1356.402954, 20.737833, 0.606304, -91.616898] - client_socket.py - 328 +2024-11-11 15:31:43,349 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:31:43,688 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:43,865 - logger - INFO - Вычисленное положение [1658.754587173462, 34.19998660683632, 1455.7552337646484] - client_socket.py - 266 +2024-11-11 15:31:43,865 - logger - INFO - convrt to joint (-0.013889518592939853, -0.6563547625920547, 0.726859300130173, 0.21207847488032316, 0.22740425528278943, -0.8257945643133486) - client_socket.py - 323 +2024-11-11 15:31:43,865 - logger - INFO - Вычисленная ориентация [-34.50576215 -18.85378373 -2.92566609] - client_socket.py - 269 +2024-11-11 15:31:43,865 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:45,788 - logger - INFO - Мировые координаты [1750.36377, 10.827416, 1356.402954, 20.737833, 0.606304, -91.616898] - client_socket.py - 328 +2024-11-11 15:31:46,577 - logger - INFO - convrt to joint (-0.015032978409837024, -0.6545030090638515, 0.7323382926764315, 0.21471863686504541, 0.12477238898409307, -0.6777821425615553) - client_socket.py - 323 +2024-11-11 15:31:46,632 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:31:47,505 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:31:48,340 - logger - INFO - Вычисленное положение [1733.7807416915894, 12.19999510794878, 1332.851767539978] - client_socket.py - 266 +2024-11-11 15:31:48,355 - logger - INFO - Вычисленная ориентация [-31.38373916 -12.44090424 -3.00582081] - client_socket.py - 269 +2024-11-11 15:31:49,174 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:31:49,174 - logger - INFO - {} - main.py - 140 +2024-11-11 15:31:49,201 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:31:49,476 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:31:49,714 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:49,714 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:49,714 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:49,714 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:49,714 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:31:50,696 - logger - INFO - Вычисленное положение [1747.2162246704102, 10.798174887895584, 1355.0357818603516] - client_socket.py - 266 +2024-11-11 15:31:50,743 - logger - INFO - Вычисленная ориентация [-27.08118359 -11.74444924 -2.49790934] - client_socket.py - 269 +2024-11-11 15:31:51,526 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:32:31,584 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:32:31,599 - logger - INFO - {} - main.py - 140 +2024-11-11 15:32:31,615 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:32:32,129 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:32:32,129 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:32:32,129 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:32:32,129 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:32:32,129 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:13,215 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:33:13,231 - logger - INFO - Координаты осей [0.004401, 5.607045, -8.989995, 9.769556, -0.006476, -9.589876] - client_socket.py - 328 +2024-11-11 15:33:13,760 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:33:15,791 - logger - INFO - Мировые координаты [1328.83374, 1.79732, 1246.773804, 176.967834, 86.60598, 176.968018] - client_socket.py - 328 +2024-11-11 15:33:16,640 - logger - INFO - convrt to joint (-0.02716712601077927, -0.011322097104716882, -0.12423102117324407, 0.1809526852538994, 0.06028088090581566, -0.5360915763237998) - client_socket.py - 323 +2024-11-11 15:33:16,688 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:33:20,215 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:33:20,238 - logger - INFO - Координаты осей [0.004401, 5.607045, -8.989995, 9.769556, -0.006476, -9.589876] - client_socket.py - 328 +2024-11-11 15:33:20,370 - logger - INFO - Команд в очереди ['5'] - client_socket.py - 328 +2024-11-11 15:33:20,740 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:33:20,900 - logger - INFO - Вычисленное положение [1319.7884559631348, 17.654122784733772, 1254.6182870864868] - client_socket.py - 266 +2024-11-11 15:33:20,900 - logger - INFO - Вычисленная ориентация [-28.91955303 2.90476515 -1.73344506] - client_socket.py - 269 +2024-11-11 15:33:22,977 - logger - INFO - Мировые координаты [1328.83374, 1.79732, 1246.773804, 176.967834, 86.60598, 176.968018] - client_socket.py - 328 +2024-11-11 15:33:23,650 - logger - INFO - convrt to joint (-0.027773769814617547, -0.011493776454390321, -0.12031927436369534, 0.17256734812658886, 0.013128303629358008, -0.25753531207704494) - client_socket.py - 323 +2024-11-11 15:33:23,698 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:33:23,706 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:33:23,706 - logger - INFO - {} - main.py - 140 +2024-11-11 15:33:23,730 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:33:24,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:24,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:24,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:24,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:24,242 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:33:24,386 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:33:25,084 - logger - INFO - Вычисленное положение [1320.6716775894165, 5.273732822388411, 1249.7074604034424] - client_socket.py - 266 +2024-11-11 15:33:25,099 - logger - INFO - Вычисленная ориентация [-6.76395249 6.37615562 -1.64 ] - client_socket.py - 269 +2024-11-11 15:34:10,281 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:34:10,299 - logger - INFO - Координаты осей [0.004401, 5.603123, -8.988851, 9.721825, -0.007556, -9.498917] - client_socket.py - 328 +2024-11-11 15:34:10,811 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:12,049 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:34:12,073 - logger - INFO - Координаты осей [0.004401, 5.603123, -8.988851, 9.721825, -0.007556, -9.498917] - client_socket.py - 328 +2024-11-11 15:34:12,131 - logger - INFO - Мировые координаты [1684.039429, 10.904427, 1259.547974, 17.357399, 0.489945, -91.646072] - client_socket.py - 328 +2024-11-11 15:34:12,581 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:12,649 - logger - INFO - convrt to joint (-0.016494671647492624, -0.5188553825285682, 0.47557348394996524, 0.16887468557565147, 0.058296409589019195, -0.14062214874657536) - client_socket.py - 323 +2024-11-11 15:34:12,649 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:13,050 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:34:13,071 - logger - INFO - Координаты осей [0.004401, 5.603123, -8.988851, 9.721825, -0.007556, -9.498917] - client_socket.py - 328 +2024-11-11 15:34:13,250 - logger - INFO - Мировые координаты [1684.039429, 10.904427, 1259.547974, 17.357399, 0.489945, -91.646072] - client_socket.py - 328 +2024-11-11 15:34:13,304 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:34:13,579 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:13,762 - logger - INFO - convrt to joint (-0.01498356753271788, -0.5220297951992501, 0.4670986017203247, 0.16849212262407107, 0.21941342400460692, -0.8174438114562772) - client_socket.py - 323 +2024-11-11 15:34:13,762 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:13,826 - logger - INFO - Вычисленное положение [1514.0801668167114, 26.625720784068108, 1446.4412927627563] - client_socket.py - 266 +2024-11-11 15:34:13,826 - logger - INFO - Вычисленная ориентация [-15.69364964 -11.1195454 -1.87010659] - client_socket.py - 269 +2024-11-11 15:34:15,636 - logger - INFO - Мировые координаты [1684.039429, 10.904427, 1259.547974, 17.357399, 0.489945, -91.646072] - client_socket.py - 328 +2024-11-11 15:34:16,445 - logger - INFO - convrt to joint (-0.01579850506054866, -0.5210758262764849, 0.47284440546200635, 0.16841550189104773, 0.1322402605038087, -0.5576044272184336) - client_socket.py - 323 +2024-11-11 15:34:16,461 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:34:17,422 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:34:18,224 - logger - INFO - Вычисленное положение [1665.2644872665405, 12.631985358893871, 1227.782130241394] - client_socket.py - 266 +2024-11-11 15:34:18,237 - logger - INFO - Вычисленная ориентация [-28.04014689 -4.53265377 -2.44883094] - client_socket.py - 269 +2024-11-11 15:34:21,000 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:34:21,000 - logger - INFO - {} - main.py - 140 +2024-11-11 15:34:21,021 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:34:21,078 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:34:21,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:34:21,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:34:21,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:34:21,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:34:21,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:34:21,583 - logger - INFO - Вычисленное положение [1682.784080505371, 10.854457505047321, 1258.8132619857788] - client_socket.py - 266 +2024-11-11 15:34:21,583 - logger - INFO - Вычисленная ориентация [-23.63560585 -4.95198001 -2.23019208] - client_socket.py - 269 +2024-11-11 15:35:11,823 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:35:12,269 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:35:16,687 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - None - robot.py - 52 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:35:54,736 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:35:55,781 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - None - robot.py - 52 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 15:36:05,975 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 15:36:07,018 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 15:36:24,848 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 15:36:25,473 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 15:36:30,132 - logger - INFO - connected - robot.py - 52 +2024-11-11 15:36:32,012 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:36:32,038 - logger - INFO - Координаты осей [0.00489, 5.601816, -8.988565, 19.673885, -0.011154, -19.430996] - client_socket.py - 328 +2024-11-11 15:36:32,549 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:36:34,554 - logger - INFO - Мировые координаты [1328.901245, 1.81409, 1246.690308, 175.911652, 86.594063, 175.913086] - client_socket.py - 328 +2024-11-11 15:36:35,347 - logger - INFO - convrt to joint (-0.02793125484274463, -0.011706272994625438, -0.11913344475587835, 0.25605183437002227, 0.0009716843990615075, -0.10478850074080136) - client_socket.py - 323 +2024-11-11 15:36:35,394 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:36:40,064 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:36:40,786 - logger - INFO - Вычисленное положение [1323.0383396148682, 5.363358650356531, 1248.644232749939] - client_socket.py - 266 +2024-11-11 15:36:40,839 - logger - INFO - Вычисленная ориентация [-0.06539548 6.90595917 -1.60140972] - client_socket.py - 269 +2024-11-11 15:36:45,308 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:36:45,328 - logger - INFO - Координаты осей [0.00489, 5.601816, -8.988565, 19.673885, -0.011154, -19.430996] - client_socket.py - 328 +2024-11-11 15:36:45,832 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:36:48,036 - logger - INFO - Мировые координаты [1328.901245, 1.81409, 1246.690308, 175.911652, 86.594063, 175.913086] - client_socket.py - 328 +2024-11-11 15:36:48,876 - logger - INFO - convrt to joint (-0.02809426644905948, -0.011781884679104139, -0.1185061237816282, 0.3159539212105478, -0.005535853877002859, -0.1298023661641588) - client_socket.py - 323 +2024-11-11 15:36:48,922 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:36:51,376 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:36:51,376 - logger - INFO - {} - main.py - 140 +2024-11-11 15:36:51,395 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:36:51,650 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:36:51,910 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:36:51,910 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:36:51,910 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:36:51,910 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:36:51,910 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:36:52,980 - logger - INFO - Вычисленное положение [1326.6336917877197, 2.941396553069353, 1247.118592262268] - client_socket.py - 266 +2024-11-11 15:36:52,996 - logger - INFO - Вычисленная ориентация [ 7.95473306 7.55658064 -1.53000092] - client_socket.py - 269 +2024-11-11 15:38:46,052 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:38:46,072 - logger - INFO - Координаты осей [-0.000245, -0.001961, 0.0, 0.001872, -0.00036, 0.002881] - client_socket.py - 328 +2024-11-11 15:38:46,580 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:38:47,756 - logger - INFO - Мировые координаты [1750.292236, 10.885844, 1356.535767, 20.753202, 0.36863, -91.620079] - client_socket.py - 328 +2024-11-11 15:38:48,380 - logger - INFO - convrt to joint (-0.01616389481407329, -0.6448276339209835, 0.7228098680278752, 0.07932189856190164, 0.05866300596126267, 0.046653921193329256) - client_socket.py - 323 +2024-11-11 15:38:48,425 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:38:50,002 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:38:50,021 - logger - INFO - Координаты осей [-0.000245, -0.001961, 0.0, 0.001872, -0.00036, 0.002881] - client_socket.py - 328 +2024-11-11 15:38:50,396 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:38:50,526 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:38:50,911 - logger - INFO - Вычисленное положение [1465.6270742416382, 32.42570906877518, 1515.8334970474243] - client_socket.py - 266 +2024-11-11 15:38:50,911 - logger - INFO - Вычисленная ориентация [18.63317429 -9.87223629 -0.51236715] - client_socket.py - 269 +2024-11-11 15:38:52,545 - logger - INFO - Мировые координаты [1750.292236, 10.885844, 1356.535767, 20.753202, 0.36863, -91.620079] - client_socket.py - 328 +2024-11-11 15:38:53,381 - logger - INFO - convrt to joint (-0.016332518745147417, -0.6456040183692977, 0.7218526664075837, 0.016327163354342505, 0.08408450466059034, 0.07263559047104833) - client_socket.py - 323 +2024-11-11 15:38:53,397 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:38:55,107 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:38:55,107 - logger - INFO - {} - main.py - 140 +2024-11-11 15:38:55,123 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:38:55,479 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:38:55,627 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:38:55,627 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:38:55,627 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:38:55,627 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:38:55,627 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:38:56,685 - logger - INFO - Вычисленное положение [1731.4331531524658, 11.218582279980183, 1353.1662225723267] - client_socket.py - 266 +2024-11-11 15:38:56,725 - logger - INFO - Вычисленная ориентация [14.03077287 -6.74117077 -0.97970619] - client_socket.py - 269 +2024-11-11 15:40:21,293 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:40:21,309 - logger - INFO - Координаты осей [7.420841, 10.878112, -9.302163, 8.254309, -0.003958, -0.443427] - client_socket.py - 328 +2024-11-11 15:40:21,837 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:40:24,603 - logger - INFO - Мировые координаты [1593.985107, 213.887375, 1387.778687, 22.120962, 8.21346, -83.988739] - client_socket.py - 328 +2024-11-11 15:40:25,439 - logger - INFO - convrt to joint (0.10473972672383844, -0.40560896177018024, 0.4347859937166902, 0.11682547346713276, 0.09117875527223626, -0.034107435932713814) - client_socket.py - 323 +2024-11-11 15:40:25,491 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:40:28,197 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:40:28,197 - logger - INFO - {} - main.py - 140 +2024-11-11 15:40:28,221 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:40:28,487 - logger - INFO - Команд в очереди ['6'] - client_socket.py - 328 +2024-11-11 15:40:28,725 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:40:28,725 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:40:28,725 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:40:28,725 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:40:28,725 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:40:29,666 - logger - INFO - Вычисленное положение [1581.0045003890991, 212.7179503440857, 1387.309193611145] - client_socket.py - 266 +2024-11-11 15:40:29,746 - logger - INFO - Вычисленная ориентация [ 8.15256897 -5.63428807 5.5083056 ] - client_socket.py - 269 +2024-11-11 15:41:19,984 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:41:20,002 - logger - INFO - Координаты осей [7.421575, 10.875824, -9.301306, 26.882307, -0.005037, 8.389573] - client_socket.py - 328 +2024-11-11 15:41:20,522 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:41:21,696 - logger - INFO - Мировые координаты [1596.198608, 197.545059, 1385.914185, 21.536354, 35.658672, -83.443489] - client_socket.py - 328 +2024-11-11 15:41:22,411 - logger - INFO - convrt to joint (0.09600135389255114, -0.4062560588499194, 0.4355008195455816, 0.39497011053944614, 0.08177312849213578, 0.06199261081893974) - client_socket.py - 323 +2024-11-11 15:41:22,427 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:41:23,726 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:41:23,726 - logger - INFO - {} - main.py - 140 +2024-11-11 15:41:23,748 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:41:24,005 - logger - INFO - Команд в очереди ['5'] - client_socket.py - 328 +2024-11-11 15:41:24,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:41:24,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:41:24,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:41:24,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:41:24,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:41:25,211 - logger - INFO - Вычисленное положение [1583.0738544464111, 197.48054444789886, 1382.9482793807983] - client_socket.py - 266 +2024-11-11 15:41:25,262 - logger - INFO - Вычисленная ориентация [27.96897648 -5.12178146 3.93167497] - client_socket.py - 269 +2024-11-11 15:44:05,269 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:44:05,317 - logger - INFO - Координаты осей [25.626474, -0.415724, 20.191469, 40.016949, -72.265167, -48.968021] - client_socket.py - 328 +2024-11-11 15:44:05,822 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:44:06,968 - logger - INFO - Мировые координаты [1166.342407, 904.616211, 1444.916138, -14.904028, -1.306004, -16.485958] - client_socket.py - 328 +2024-11-11 15:44:07,644 - logger - INFO - convrt to joint (0.5815931128755952, -0.23013703375853323, 0.3342304255301655, 0.6492185229892201, -0.8769313594230599, -0.4870849168300104) - client_socket.py - 323 +2024-11-11 15:44:07,687 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:44:11,985 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:44:12,853 - logger - INFO - Вычисленное положение [1150.5423784255981, 869.8264360427856, 1479.0886640548706] - client_socket.py - 266 +2024-11-11 15:44:12,912 - logger - INFO - Вычисленная ориентация [10.91922801 35.69918112 71.37199406] - client_socket.py - 269 +2024-11-11 15:44:14,553 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:44:14,553 - logger - INFO - {} - main.py - 140 +2024-11-11 15:44:14,569 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:44:15,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:15,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:15,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:15,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:15,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:31,795 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:44:31,795 - logger - INFO - {} - main.py - 140 +2024-11-11 15:44:31,853 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:44:32,360 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:32,360 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:32,360 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:32,360 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:32,360 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:35,297 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:44:35,297 - logger - INFO - {} - main.py - 140 +2024-11-11 15:44:35,449 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:44:35,959 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:35,959 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:35,959 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:35,959 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:35,959 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:44:47,487 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:44:47,511 - logger - INFO - Координаты осей [25.626474, -0.415397, 20.191183, 40.016479, -72.264809, -48.967289] - client_socket.py - 328 +2024-11-11 15:44:48,027 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:44:49,117 - logger - INFO - Мировые координаты [1166.34314, 904.612732, 1444.916504, -14.904101, -1.305886, -16.486759] - client_socket.py - 328 +2024-11-11 15:44:49,737 - logger - INFO - convrt to joint (0.5738607565030625, -0.26097891099779597, 0.3787592057821964, 0.6997986282155476, -1.1297379502946732, -0.7390891681284525) - client_socket.py - 323 +2024-11-11 15:44:49,785 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:44:53,353 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:44:54,266 - logger - INFO - Вычисленное положение [1153.0184745788574, 878.4466981887817, 1473.246455192566] - client_socket.py - 266 +2024-11-11 15:44:54,332 - logger - INFO - Вычисленная ориентация [11.26073973 39.99015017 82.84301213] - client_socket.py - 269 +2024-11-11 15:45:04,029 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:04,029 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:04,105 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:04,607 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:04,607 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:04,607 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:04,607 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:04,607 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:14,157 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:14,157 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:14,174 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:14,678 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:14,678 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:14,678 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:14,678 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:14,678 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:23,224 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:23,224 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:23,257 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:23,778 - logger - INFO - convrt to joint (0.5155766995703425, 0.8663226912220223, -2.2195936893300225, 0.5271532346052538, 1.3818152087503537, -0.1091731308126308) - client_socket.py - 323 +2024-11-11 15:45:23,778 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:23,778 - logger - INFO - convrt to joint (1.60757794116252, -1.3089158532639047, 0.9571428108127056, 0.7040743315973177, 0.39500116171970356, -0.7516781808390508) - client_socket.py - 323 +2024-11-11 15:45:23,778 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:23,778 - logger - INFO - convrt to joint (1.6237541351867464, -1.2487153479422433, 0.8393127313983623, 0.6211835239174561, 0.3577232433083509, -0.6750277034447395) - client_socket.py - 323 +2024-11-11 15:45:23,778 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:23,778 - logger - INFO - convrt to joint (1.60757794116252, -1.3089158532639047, 0.9571428108127056, 0.7040743315973177, 0.39500116171970356, -0.7516781808390508) - client_socket.py - 323 +2024-11-11 15:45:23,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:23,789 - logger - INFO - convrt to joint (0.5155766995703425, 0.8663226912220223, -2.2195936893300225, 0.5271532346052538, 1.3818152087503537, -0.1091731308126308) - client_socket.py - 323 +2024-11-11 15:45:23,789 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:33,481 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:33,481 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:33,602 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:34,112 - logger - INFO - convrt to joint (0.5155766993871091, 0.8663226911894323, -2.219593689307217, 0.5271532343849497, 1.3818152087441475, -0.10917313075798071) - client_socket.py - 323 +2024-11-11 15:45:34,112 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:34,112 - logger - INFO - convrt to joint (1.6075779413097109, -1.3089158526307543, 0.9571428095463295, 0.7040743321251928, 0.39500116222757314, -0.7516781812983813) - client_socket.py - 323 +2024-11-11 15:45:34,112 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:34,112 - logger - INFO - convrt to joint (1.6237541356704297, -1.248715346919003, 0.8393127288729998, 0.6211835247466887, 0.3577232444064593, -0.6750277047635289) - client_socket.py - 323 +2024-11-11 15:45:34,112 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:34,112 - logger - INFO - convrt to joint (1.6075779413097109, -1.3089158526307543, 0.9571428095463295, 0.7040743321251928, 0.39500116222757314, -0.7516781812983813) - client_socket.py - 323 +2024-11-11 15:45:34,123 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:34,124 - logger - INFO - convrt to joint (0.5155766993871091, 0.8663226911894323, -2.219593689307217, 0.5271532343849497, 1.3818152087441475, -0.10917313075798071) - client_socket.py - 323 +2024-11-11 15:45:34,125 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:37,961 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:37,961 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:38,017 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:38,527 - logger - INFO - convrt to joint (0.5155766993867994, 0.8663226911893579, -2.219593689307263, 0.5271532343835, 1.3818152087443683, -0.10917313075720705) - client_socket.py - 323 +2024-11-11 15:45:38,527 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:38,527 - logger - INFO - convrt to joint (1.6075779413098499, -1.3089158526299842, 0.9571428095444876, 0.7040743321242393, 0.3950011622281303, -0.7516781812970976) - client_socket.py - 323 +2024-11-11 15:45:38,527 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:38,527 - logger - INFO - convrt to joint (1.6237541356710292, -1.2487153469176913, 0.8393127288693517, 0.6211835247464232, 0.357723244408102, -0.6750277047637404) - client_socket.py - 323 +2024-11-11 15:45:38,527 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:38,527 - logger - INFO - convrt to joint (1.6075779413098499, -1.3089158526299842, 0.9571428095444876, 0.7040743321242393, 0.3950011622281303, -0.7516781812970976) - client_socket.py - 323 +2024-11-11 15:45:38,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:38,536 - logger - INFO - convrt to joint (0.5155766993867994, 0.8663226911893579, -2.219593689307263, 0.5271532343835, 1.3818152087443683, -0.10917313075720705) - client_socket.py - 323 +2024-11-11 15:45:38,536 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:42,450 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:45:42,450 - logger - INFO - {} - main.py - 140 +2024-11-11 15:45:42,534 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:45:43,061 - logger - INFO - convrt to joint (0.5155766993868027, 0.8663226911893583, -2.219593689307263, 0.527153234383504, 1.3818152087443685, -0.10917313075720816) - client_socket.py - 323 +2024-11-11 15:45:43,061 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:43,061 - logger - INFO - convrt to joint (1.6075779413098483, -1.3089158526299922, 0.957142809544506, 0.7040743321242459, 0.39500116222812376, -0.7516781812971044) - client_socket.py - 323 +2024-11-11 15:45:43,061 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:43,061 - logger - INFO - convrt to joint (1.623754135671016, -1.2487153469177208, 0.8393127288694253, 0.6211835247464077, 0.3577232444080698, -0.6750277047637048) - client_socket.py - 323 +2024-11-11 15:45:43,061 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:43,061 - logger - INFO - convrt to joint (1.6075779413098483, -1.3089158526299922, 0.957142809544506, 0.7040743321242459, 0.39500116222812376, -0.7516781812971044) - client_socket.py - 323 +2024-11-11 15:45:43,070 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:45:43,071 - logger - INFO - convrt to joint (0.5155766993868027, 0.8663226911893583, -2.219593689307263, 0.527153234383504, 1.3818152087443685, -0.10917313075720816) - client_socket.py - 323 +2024-11-11 15:45:43,072 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:00,448 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:48:00,535 - logger - INFO - Координаты осей [26.141899, 0.450695, 17.971985, 40.543869, -70.882835, -49.075397] - client_socket.py - 328 +2024-11-11 15:48:01,048 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:48:04,704 - logger - INFO - Мировые координаты [1159.797119, 916.321777, 1423.837891, -14.519925, -0.639968, -16.586834] - client_socket.py - 328 +2024-11-11 15:48:05,573 - logger - INFO - convrt to joint (0.5812149188163555, -0.26459179074272215, 0.3651008197804837, 0.7172921561719527, -1.1729704581798137, -0.8195943597867914) - client_socket.py - 323 +2024-11-11 15:48:05,620 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:48:10,639 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:48:11,523 - logger - INFO - Вычисленное положение [1146.191954612732, 882.0810914039612, 1458.7210416793823] - client_socket.py - 266 +2024-11-11 15:48:11,570 - logger - INFO - Вычисленная ориентация [11.01386104 40.61334012 85.88275229] - client_socket.py - 269 +2024-11-11 15:48:16,493 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:48:16,493 - logger - INFO - {} - main.py - 140 +2024-11-11 15:48:16,508 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,015 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,031 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:17,031 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:27,726 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:48:27,726 - logger - INFO - {} - main.py - 140 +2024-11-11 15:48:27,741 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,249 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:28,258 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:53,840 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:48:53,840 - logger - INFO - {} - main.py - 140 +2024-11-11 15:48:53,856 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,365 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:48:54,372 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:49:56,748 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:49:56,764 - logger - INFO - Координаты осей [26.142143, 0.450695, 17.971985, 40.542465, -70.882835, -49.073231] - client_socket.py - 328 +2024-11-11 15:49:57,268 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:49:58,405 - logger - INFO - Мировые координаты [1159.800049, 916.320679, 1423.831055, -14.520955, -0.639104, -16.588278] - client_socket.py - 328 +2024-11-11 15:49:59,037 - logger - INFO - convrt to joint (0.5809619963993329, -0.2655268048703815, 0.36627002657480556, 0.7202459868345079, -1.1799559802060018, -0.8421123621800574) - client_socket.py - 323 +2024-11-11 15:49:59,050 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:50:02,914 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:50:02,927 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:50:02,927 - logger - INFO - {} - main.py - 140 +2024-11-11 15:50:02,943 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:50:03,428 - logger - INFO - Вычисленное положение [1157.0545434951782, 910.3060364723206, 1429.908275604248] - client_socket.py - 266 +2024-11-11 15:50:03,428 - logger - INFO - Вычисленная ориентация [11.61275687 40.77880305 86.86639817] - client_socket.py - 269 +2024-11-11 15:50:03,456 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,456 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,456 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,456 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,462 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,462 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,462 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,462 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,467 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,467 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,467 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,470 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,470 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:03,470 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:16,785 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:50:16,785 - logger - INFO - {} - main.py - 140 +2024-11-11 15:50:16,803 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,311 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,321 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:17,321 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:40,638 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:50:40,658 - logger - INFO - Координаты осей [26.141899, 0.450368, 17.971985, 40.542465, -70.882835, -49.073231] - client_socket.py - 328 +2024-11-11 15:50:41,176 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:50:42,432 - logger - INFO - Мировые координаты [1159.808716, 916.318115, 1423.82373, -14.521172, -0.638864, -16.588512] - client_socket.py - 328 +2024-11-11 15:50:43,154 - logger - INFO - convrt to joint (0.5808640778883529, -0.2662012105918189, 0.36720217245770254, 0.7205019531493586, -1.184958737024315, -0.852357590172923) - client_socket.py - 323 +2024-11-11 15:50:43,164 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:50:47,696 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:50:48,484 - logger - INFO - Вычисленное положение [1147.694706916809, 885.6970071792603, 1454.7117948532104] - client_socket.py - 266 +2024-11-11 15:50:48,540 - logger - INFO - Вычисленная ориентация [10.60748124 40.82235754 86.73052561] - client_socket.py - 269 +2024-11-11 15:50:54,003 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:50:54,003 - logger - INFO - {} - main.py - 140 +2024-11-11 15:50:54,018 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:50:54,532 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,532 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,532 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,547 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,547 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,549 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,553 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,553 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,553 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:50:54,553 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:51:51,534 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:51:51,553 - logger - INFO - Координаты осей [26.141899, 0.450368, 17.971413, 40.542, -70.882118, -49.072495] - client_socket.py - 328 +2024-11-11 15:51:52,054 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:51:53,238 - logger - INFO - Мировые координаты [1159.817627, 916.317993, 1423.812134, -14.521409, -0.638454, -16.589542] - client_socket.py - 328 +2024-11-11 15:51:53,906 - logger - INFO - convrt to joint (0.5808916216167817, -0.26581965669002294, 0.36663208935146147, 0.7208743587739369, -1.1820093731680965, -0.8547992803223546) - client_socket.py - 323 +2024-11-11 15:51:53,942 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:51:56,129 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:51:56,129 - logger - INFO - {} - main.py - 140 +2024-11-11 15:51:56,151 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:51:56,422 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:51:56,654 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:51:56,654 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:51:56,654 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:51:56,670 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:51:57,515 - logger - INFO - Вычисленное положение [1156.1821699142456, 906.8002700805664, 1432.935357093811] - client_socket.py - 266 +2024-11-11 15:51:57,560 - logger - INFO - Вычисленная ориентация [10.98963661 40.80643654 86.94859377] - client_socket.py - 269 +2024-11-11 15:52:18,293 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:52:18,309 - logger - INFO - {} - main.py - 140 +2024-11-11 15:52:18,326 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:52:18,829 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:18,829 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:18,829 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:31,054 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:52:31,054 - logger - INFO - {} - main.py - 140 +2024-11-11 15:52:31,070 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:52:31,581 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:31,581 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:31,581 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:35,382 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:52:35,407 - logger - INFO - Координаты осей [26.141899, 0.450368, 17.971413, 40.541061, -70.88176, -49.071045] - client_socket.py - 328 +2024-11-11 15:52:35,921 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:52:38,122 - logger - INFO - Мировые координаты [1159.824707, 916.314331, 1423.809204, -14.521856, -0.63802, -16.590889] - client_socket.py - 328 +2024-11-11 15:52:38,122 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:52:38,122 - logger - INFO - {} - main.py - 140 +2024-11-11 15:52:38,140 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:52:38,629 - logger - INFO - convrt to joint (0.5808040743671345, -0.266775456912616, 0.36801506144492835, 0.7201389463929206, -1.189220590890528, -0.8562292778813588) - client_socket.py - 323 +2024-11-11 15:52:38,629 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:52:38,644 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:38,646 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:38,646 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:42,294 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:52:43,191 - logger - INFO - Вычисленное положение [1134.735107421875, 868.2820200920105, 1479.789137840271] - client_socket.py - 266 +2024-11-11 15:52:43,274 - logger - INFO - Вычисленная ориентация [ 9.55976712 40.4634853 86.08191095] - client_socket.py - 269 +2024-11-11 15:52:52,157 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:52:52,173 - logger - INFO - Координаты осей [26.141653, 0.450368, 17.971127, 40.541061, -70.88176, -49.071045] - client_socket.py - 328 +2024-11-11 15:52:52,699 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:52:54,008 - logger - INFO - Мировые координаты [1159.829468, 916.309814, 1423.802734, -14.522046, -0.63781, -16.591127] - client_socket.py - 328 +2024-11-11 15:52:54,707 - logger - INFO - convrt to joint (0.5808595152050523, -0.2659427820562024, 0.36678718297240226, 0.7210585388588566, -1.1829108893137845, -0.8562841620504631) - client_socket.py - 323 +2024-11-11 15:52:54,760 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:52:56,715 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:52:56,721 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:52:56,724 - logger - INFO - {} - main.py - 140 +2024-11-11 15:52:56,725 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:52:57,231 - logger - INFO - Вычисленное положение [1157.1617126464844, 909.364640712738, 1430.551290512085] - client_socket.py - 266 +2024-11-11 15:52:57,231 - logger - INFO - Вычисленная ориентация [10.97493671 40.78891551 86.98447063] - client_socket.py - 269 +2024-11-11 15:52:57,231 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:57,231 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:52:57,231 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:06,860 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:53:06,876 - logger - INFO - {} - main.py - 140 +2024-11-11 15:53:06,892 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:53:07,396 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:07,396 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:07,396 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:19,864 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:53:19,879 - logger - INFO - Координаты осей [26.141653, 0.450368, 17.97084, 40.541061, -70.881393, -49.071037] - client_socket.py - 328 +2024-11-11 15:53:20,396 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:53:21,541 - logger - INFO - Мировые координаты [1159.832764, 916.310669, 1423.797974, -14.522008, -0.637738, -16.591356] - client_socket.py - 328 +2024-11-11 15:53:22,158 - logger - INFO - convrt to joint (0.5808652648745215, -0.2658870139519104, 0.36670267840116233, 0.7210699953887744, -1.1824789122919297, -0.8563076622971366) - client_socket.py - 323 +2024-11-11 15:53:22,170 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:53:26,640 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:53:26,640 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:53:26,640 - logger - INFO - {} - main.py - 140 +2024-11-11 15:53:26,658 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:53:27,151 - logger - INFO - Вычисленное положение [1157.112717628479, 909.3149900436401, 1430.769443511963] - client_socket.py - 266 +2024-11-11 15:53:27,151 - logger - INFO - Вычисленная ориентация [10.96781826 40.7796666 86.98141465] - client_socket.py - 269 +2024-11-11 15:53:27,177 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:27,177 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:27,177 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:53:58,280 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:53:58,297 - logger - INFO - Координаты осей [26.141409, 0.450041, 17.97084, 40.541061, -70.881393, -49.071037] - client_socket.py - 328 +2024-11-11 15:53:58,807 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:00,027 - logger - INFO - Мировые координаты [1159.841431, 916.307983, 1423.790771, -14.522225, -0.637502, -16.591602] - client_socket.py - 328 +2024-11-11 15:54:00,735 - logger - INFO - convrt to joint (0.5808349891676577, -0.2662384415558225, 0.36720958872033876, 0.7207054560338249, -1.1850851618389708, -0.85634230745978) - client_socket.py - 323 +2024-11-11 15:54:00,783 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:02,275 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:54:02,275 - logger - INFO - {} - main.py - 140 +2024-11-11 15:54:02,291 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:54:02,571 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:54:02,800 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:02,800 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:02,800 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:02,800 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:03,806 - logger - INFO - Вычисленное положение [1155.7122468948364, 907.0974588394165, 1433.57515335083] - client_socket.py - 266 +2024-11-11 15:54:03,863 - logger - INFO - Вычисленная ориентация [10.96728995 40.8501082 87.08260917] - client_socket.py - 269 +2024-11-11 15:54:27,867 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:54:27,902 - logger - INFO - Координаты осей [21.645626, 3.596078, 14.903757, 42.961807, -73.780983, -52.353771] - client_socket.py - 328 +2024-11-11 15:54:28,420 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:29,877 - logger - INFO - Мировые координаты [1159.849365, 816.305542, 1423.77832, -14.522861, -0.637224, -16.592016] - client_socket.py - 328 +2024-11-11 15:54:30,547 - logger - INFO - convrt to joint (0.5206425273940344, -0.191764493733151, 0.2811446107141351, 0.7551887270511922, -1.2364580404420027, -0.899098214790205) - client_socket.py - 323 +2024-11-11 15:54:30,595 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:33,078 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:54:33,078 - logger - INFO - {} - main.py - 140 +2024-11-11 15:54:33,103 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:54:33,389 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:54:33,611 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:33,611 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:33,611 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:33,611 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:33,611 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:34,672 - logger - INFO - Вычисленное положение [1157.1791172027588, 810.3453516960144, 1430.4425716400146] - client_socket.py - 266 +2024-11-11 15:54:34,713 - logger - INFO - Вычисленная ориентация [12.94960567 40.94604814 88.77336208] - client_socket.py - 269 +2024-11-11 15:54:51,606 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:54:51,628 - logger - INFO - Координаты осей [21.645626, 3.596078, 14.903472, 42.961342, -73.780624, -52.353043] - client_socket.py - 328 +2024-11-11 15:54:52,139 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:53,283 - logger - INFO - Мировые координаты [1159.85498, 816.30426, 1423.771118, -14.52318, -0.636832, -16.592813] - client_socket.py - 328 +2024-11-11 15:54:53,931 - logger - INFO - convrt to joint (0.5202456391311172, -0.1926796221961213, 0.28202930976467044, 0.7612299139412847, -1.2436030388815602, -0.9095548502013465) - client_socket.py - 323 +2024-11-11 15:54:53,977 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:54:56,101 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:54:56,101 - logger - INFO - {} - main.py - 140 +2024-11-11 15:54:56,118 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:54:56,264 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:54:56,635 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,635 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,635 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,635 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,650 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,650 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:54:56,782 - logger - INFO - Вычисленное положение [1156.6660404205322, 808.8726997375488, 1431.9027662277222] - client_socket.py - 266 +2024-11-11 15:54:56,782 - logger - INFO - Вычисленная ориентация [12.87631976 40.8037999 89.32413368] - client_socket.py - 269 +2024-11-11 15:55:14,682 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:55:14,777 - logger - INFO - Координаты осей [21.645626, 6.507127, 6.661595, 44.166332, -69.916069, -56.218227] - client_socket.py - 328 +2024-11-11 15:55:15,292 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:55:16,714 - logger - INFO - Мировые координаты [1159.858765, 816.30304, 1323.764771, -14.523301, -0.63686, -16.593285] - client_socket.py - 328 +2024-11-11 15:55:17,391 - logger - INFO - convrt to joint (0.5202357465885338, -0.175398208587517, 0.17234889471662893, 0.7810276707662408, -1.1879513914622202, -0.958692541893869) - client_socket.py - 323 +2024-11-11 15:55:17,406 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:55:20,555 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:55:20,571 - logger - INFO - {} - main.py - 140 +2024-11-11 15:55:20,571 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:55:20,628 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:21,143 - logger - INFO - Вычисленное положение [1157.0372581481934, 809.6412420272827, 1331.2007188796997] - client_socket.py - 266 +2024-11-11 15:55:21,143 - logger - INFO - Вычисленная ориентация [14.22722012 41.22090822 89.93850446] - client_socket.py - 269 +2024-11-11 15:55:44,898 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:55:44,914 - logger - INFO - Координаты осей [21.645382, 6.5068, 6.661595, 44.166332, -69.916069, -56.217506] - client_socket.py - 328 +2024-11-11 15:55:45,425 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:55:46,608 - logger - INFO - Мировые координаты [1159.866943, 816.299866, 1323.758057, -14.523523, -0.63602, -16.593946] - client_socket.py - 328 +2024-11-11 15:55:47,196 - logger - INFO - convrt to joint (0.5203314601375197, -0.1735245987323912, 0.16971967577686076, 0.7846349848660344, -1.1733956404875507, -0.973301594491146) - client_socket.py - 323 +2024-11-11 15:55:47,243 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:55:47,960 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:55:47,960 - logger - INFO - {} - main.py - 140 +2024-11-11 15:55:47,976 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:55:48,367 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:48,498 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:55:49,620 - logger - INFO - Вычисленное положение [1156.346082687378, 808.1046938896179, 1332.3628902435303] - client_socket.py - 266 +2024-11-11 15:55:49,663 - logger - INFO - Вычисленная ориентация [12.96975028 40.78558618 89.05143967] - client_socket.py - 269 +2024-11-11 15:56:21,761 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:56:21,785 - logger - INFO - Координаты осей [21.645382, 6.506473, 6.661881, 44.165398, -69.916069, -56.216785] - client_socket.py - 328 +2024-11-11 15:56:22,307 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:56:23,467 - logger - INFO - Мировые координаты [1159.874146, 816.297424, 1323.752441, -14.524274, -0.635959, -16.594564] - client_socket.py - 328 +2024-11-11 15:56:24,130 - logger - INFO - convrt to joint (0.5203488659837556, -0.17318629839363786, 0.16924035734818782, 0.7852657466907298, -1.1707133680890607, -0.9786599475590246) - client_socket.py - 323 +2024-11-11 15:56:24,178 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:56:27,845 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:56:27,845 - logger - INFO - {} - main.py - 140 +2024-11-11 15:56:27,862 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:56:27,904 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,367 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,381 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,381 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,381 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:56:28,411 - logger - INFO - Вычисленное положение [1157.0117473602295, 808.4733486175537, 1331.7296504974365] - client_socket.py - 266 +2024-11-11 15:56:28,411 - logger - INFO - Вычисленная ориентация [12.63302087 40.70649072 88.88596377] - client_socket.py - 269 +2024-11-11 15:57:05,258 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:57:05,269 - logger - INFO - Координаты осей [21.645382, 6.5068, 6.661309, 44.165398, -69.915344, -56.216045] - client_socket.py - 328 +2024-11-11 15:57:05,794 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:57:06,967 - logger - INFO - Мировые координаты [1159.876587, 816.296387, 1323.74939, -14.524016, -0.635512, -16.595491] - client_socket.py - 328 +2024-11-11 15:57:07,580 - logger - INFO - convrt to joint (0.520368454949061, -0.17305397982234888, 0.16906729363041198, 0.7852323486779456, -1.1696631446313848, -0.9803338372780804) - client_socket.py - 323 +2024-11-11 15:57:07,611 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:57:11,035 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:57:11,856 - logger - INFO - Вычисленное положение [1148.2698917388916, 785.5257391929626, 1354.020118713379] - client_socket.py - 266 +2024-11-11 15:57:11,908 - logger - INFO - Вычисленная ориентация [11.82601027 40.56639126 88.24618096] - client_socket.py - 269 +2024-11-11 15:57:15,541 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:57:15,541 - logger - INFO - {} - main.py - 140 +2024-11-11 15:57:15,558 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,060 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,077 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,077 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:16,079 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:50,709 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:57:50,709 - logger - INFO - {} - main.py - 140 +2024-11-11 15:57:50,725 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:57:51,243 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,243 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,243 - logger - INFO - convrt to joint (3.1548926569104703, -1.3153632067315981, 0.9548930596185174, 0.2205784482813531, 0.26708120163109933, 0.06850550132476374) - client_socket.py - 323 +2024-11-11 15:57:51,243 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,243 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,243 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,243 - logger - INFO - convrt to joint (-1.5471396183362225, -1.4190980515148481, 1.2436365771990796, 1.049001548707895, 0.013143550687861383, -2.0942521251988664) - client_socket.py - 323 +2024-11-11 15:57:51,243 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,252 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,253 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,255 - logger - INFO - convrt to joint (0.5331457089808864, -2.8183690929744354, 1.0055956824775483, 1.2281552577031658, 0.07808301916453281, -1.8515934680066335) - client_socket.py - 323 +2024-11-11 15:57:51,255 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,257 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,260 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,261 - logger - INFO - convrt to joint (0.7089608404299994, 0.8954885095263573, -2.233477022953531, 0.7236774958069842, 1.394317065323252, 0.19367363617480385) - client_socket.py - 323 +2024-11-11 15:57:51,261 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,261 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,261 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,261 - logger - INFO - convrt to joint (0.5978604579762029, 0.8099673343711865, -2.1819681369781962, 0.654243297918443, 1.0599922644680915, -0.13086820051006012) - client_socket.py - 323 +2024-11-11 15:57:51,261 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,266 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,267 - logger - INFO - convrt to joint (0.9761955024517214, 0.8872502338238593, -2.251120293510546, 0.6390763292866832, 1.4027376890055194, -0.12521231370340297) - client_socket.py - 323 +2024-11-11 15:57:51,267 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:57:51,270 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:57:51,271 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,147 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:58:00,147 - logger - INFO - {} - main.py - 140 +2024-11-11 15:58:00,165 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:58:00,674 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,674 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,674 - logger - INFO - convrt to joint (3.1548926569104703, -1.3153632067315981, 0.9548930596185174, 0.2205784482813531, 0.26708120163109933, 0.06850550132476374) - client_socket.py - 323 +2024-11-11 15:58:00,674 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,674 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,674 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,674 - logger - INFO - convrt to joint (-1.5471396183362225, -1.4190980515148481, 1.2436365771990796, 1.049001548707895, 0.013143550687861383, -2.0942521251988664) - client_socket.py - 323 +2024-11-11 15:58:00,674 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,685 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,685 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,687 - logger - INFO - convrt to joint (0.5331457089808864, -2.8183690929744354, 1.0055956824775483, 1.2281552577031658, 0.07808301916453281, -1.8515934680066335) - client_socket.py - 323 +2024-11-11 15:58:00,687 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,689 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,689 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,691 - logger - INFO - convrt to joint (0.7089608404299994, 0.8954885095263573, -2.233477022953531, 0.7236774958069842, 1.394317065323252, 0.19367363617480385) - client_socket.py - 323 +2024-11-11 15:58:00,693 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,693 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,693 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,696 - logger - INFO - convrt to joint (0.5978604579762029, 0.8099673343711865, -2.1819681369781962, 0.654243297918443, 1.0599922644680915, -0.13086820051006012) - client_socket.py - 323 +2024-11-11 15:58:00,696 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,696 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,696 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,696 - logger - INFO - convrt to joint (0.9761955024517214, 0.8872502338238593, -2.251120293510546, 0.6390763292866832, 1.4027376890055194, -0.12521231370340297) - client_socket.py - 323 +2024-11-11 15:58:00,696 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:00,701 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:00,701 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,200 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:58:05,200 - logger - INFO - {} - main.py - 140 +2024-11-11 15:58:05,215 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:58:05,727 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,727 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,727 - logger - INFO - convrt to joint (3.1548926569104703, -1.3153632067315981, 0.9548930596185174, 0.2205784482813531, 0.26708120163109933, 0.06850550132476374) - client_socket.py - 323 +2024-11-11 15:58:05,727 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,727 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,727 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,727 - logger - INFO - convrt to joint (-1.5471396183362225, -1.4190980515148481, 1.2436365771990796, 1.049001548707895, 0.013143550687861383, -2.0942521251988664) - client_socket.py - 323 +2024-11-11 15:58:05,735 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,735 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,738 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,738 - logger - INFO - convrt to joint (0.5331457089808864, -2.8183690929744354, 1.0055956824775483, 1.2281552577031658, 0.07808301916453281, -1.8515934680066335) - client_socket.py - 323 +2024-11-11 15:58:05,739 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,740 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,740 - logger - INFO - convrt to joint (0.7089608404299994, 0.8954885095263573, -2.233477022953531, 0.7236774958069842, 1.394317065323252, 0.19367363617480385) - client_socket.py - 323 +2024-11-11 15:58:05,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,746 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,746 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,746 - logger - INFO - convrt to joint (0.5978604579762029, 0.8099673343711865, -2.1819681369781962, 0.654243297918443, 1.0599922644680915, -0.13086820051006012) - client_socket.py - 323 +2024-11-11 15:58:05,746 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,746 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,751 - logger - INFO - convrt to joint (0.9761955024517214, 0.8872502338238593, -2.251120293510546, 0.6390763292866832, 1.4027376890055194, -0.12521231370340297) - client_socket.py - 323 +2024-11-11 15:58:05,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:58:05,751 - logger - INFO - convrt to joint (0.6401801112009929, 0.8804328288469513, -2.226896854010638, 0.6534606782209138, 1.3911534275805046, -0.13680172136319504) - client_socket.py - 323 +2024-11-11 15:58:05,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:07,372 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 15:59:07,387 - logger - INFO - Координаты осей [22.285995, 7.386945, 4.433821, 44.818665, -68.523659, -56.35284] - client_socket.py - 328 +2024-11-11 15:59:07,911 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:59:10,042 - logger - INFO - Мировые координаты [1150.429565, 829.437256, 1300.836182, -14.078536, 0.059234, -16.689421] - client_socket.py - 328 +2024-11-11 15:59:10,937 - logger - INFO - convrt to joint (0.5314831076431673, -0.16872698380567447, 0.14328189065990113, 0.7946502804908081, -1.1487928389660973, -0.9817966666043462) - client_socket.py - 323 +2024-11-11 15:59:10,952 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 15:59:16,234 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 15:59:17,057 - logger - INFO - Вычисленное положение [1141.3930654525757, 808.6748123168945, 1321.619153022766] - client_socket.py - 266 +2024-11-11 15:59:17,085 - logger - INFO - Вычисленная ориентация [12.93037494 40.4361891 89.03795971] - client_socket.py - 269 +2024-11-11 15:59:28,668 - logger - INFO - (False,) - main.py - 139 +2024-11-11 15:59:28,668 - logger - INFO - {} - main.py - 140 +2024-11-11 15:59:28,688 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,195 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,203 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,203 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,203 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 15:59:29,205 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:00:59,362 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:00:59,380 - logger - INFO - Координаты осей [22.285507, 7.384004, 4.434393, 44.821472, -68.525459, -28.149738] - client_socket.py - 328 +2024-11-11 16:00:59,881 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:01:01,024 - logger - INFO - Мировые координаты [1166.975708, 825.179138, 1300.86731, -18.387474, 22.753651, -33.886303] - client_socket.py - 328 +2024-11-11 16:01:01,716 - logger - INFO - convrt to joint (0.5232740146545567, -0.18371868499347888, 0.15967420176060673, 0.7975994635588423, -1.1393161359307202, -0.6622914728282685) - client_socket.py - 323 +2024-11-11 16:01:01,763 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:01:04,788 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:01:04,788 - logger - INFO - {} - main.py - 140 +2024-11-11 16:01:04,807 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:01:04,955 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,310 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,314 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,314 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:01:05,470 - logger - INFO - Вычисленное положение [1162.7705097198486, 816.9699311256409, 1309.395670890808] - client_socket.py - 266 +2024-11-11 16:01:05,470 - logger - INFO - Вычисленная ориентация [32.43512847 40.08467712 88.12191523] - client_socket.py - 269 +2024-11-11 16:04:20,761 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:04:20,785 - logger - INFO - Координаты осей [22.284529, 7.382042, 4.434107, 44.82428, -68.525818, -28.1483] - client_socket.py - 328 +2024-11-11 16:04:21,301 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:04:23,560 - logger - INFO - Мировые координаты [1167.005493, 825.181274, 1300.832764, -18.388536, 22.7584, -33.887669] - client_socket.py - 328 +2024-11-11 16:04:24,366 - logger - INFO - convrt to joint (0.5233023214177931, -0.18326577333038907, 0.15899408678202476, 0.7985591625893799, -1.1354111319043585, -0.57302920035434) - client_socket.py - 323 +2024-11-11 16:04:24,423 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:04:29,506 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 16:04:30,426 - logger - INFO - Вычисленное положение [1156.2403440475464, 800.8221387863159, 1324.6937990188599] - client_socket.py - 266 +2024-11-11 16:04:30,457 - logger - INFO - Вычисленная ориентация [37.70889522 39.90482419 87.61583325] - client_socket.py - 269 +2024-11-11 16:04:36,729 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:04:36,729 - logger - INFO - {} - main.py - 140 +2024-11-11 16:04:36,749 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:04:37,251 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,251 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,251 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,266 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,272 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,272 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,272 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,275 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,276 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,276 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,277 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:04:37,277 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:08:47,918 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:08:47,974 - logger - INFO - Координаты осей [25.627697, -0.415397, 20.19347, 40.01461, -72.264809, -48.970177] - client_socket.py - 328 +2024-11-11 16:08:48,479 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:08:49,586 - logger - INFO - Мировые координаты [1166.321777, 904.625977, 1444.957153, -14.903826, -1.311109, -16.484493] - client_socket.py - 328 +2024-11-11 16:08:50,250 - logger - INFO - convrt to joint (0.5715842725566002, -0.267491716784325, 0.386613081612789, 0.7308798073351955, -1.1797550189607813, -0.7454413343948618) - client_socket.py - 323 +2024-11-11 16:08:50,265 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:08:54,284 - logger - INFO - Команд в очереди ['18'] - client_socket.py - 328 +2024-11-11 16:08:55,001 - logger - INFO - Вычисленное положение [1159.7673892974854, 888.2328867912292, 1459.6701860427856] - client_socket.py - 266 +2024-11-11 16:08:55,055 - logger - INFO - Вычисленная ориентация [14.66783683 39.94726469 86.14481916] - client_socket.py - 269 +2024-11-11 16:09:05,337 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:09:05,344 - logger - INFO - Координаты осей [25.627697, -0.417031, 20.192612, 40.015076, -72.265526, -48.968025] - client_socket.py - 328 +2024-11-11 16:09:05,862 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:09:08,031 - logger - INFO - Мировые координаты [1166.34375, 904.640137, 1444.901245, -14.905684, -1.306919, -16.485117] - client_socket.py - 328 +2024-11-11 16:09:08,822 - logger - INFO - convrt to joint (0.5719809856604189, -0.26938380391767536, 0.3899096341958764, 0.7178909399519988, -1.1923431116953844, -0.7965228457201138) - client_socket.py - 323 +2024-11-11 16:09:08,838 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:09:13,095 - logger - INFO - Команд в очереди ['18'] - client_socket.py - 328 +2024-11-11 16:09:13,782 - logger - INFO - Вычисленное положение [1152.396321296692, 873.8367557525635, 1479.3806076049805] - client_socket.py - 266 +2024-11-11 16:09:13,866 - logger - INFO - Вычисленная ориентация [11.45729722 40.32937583 85.57080262] - client_socket.py - 269 +2024-11-11 16:09:19,139 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:09:19,165 - logger - INFO - Координаты осей [25.627697, -0.417031, 20.192612, 40.015076, -72.265526, -48.968025] - client_socket.py - 328 +2024-11-11 16:09:19,677 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:09:21,814 - logger - INFO - Мировые координаты [1166.34375, 904.640137, 1444.901245, -14.905684, -1.306919, -16.485117] - client_socket.py - 328 +2024-11-11 16:09:22,608 - logger - INFO - convrt to joint (0.5720728844419478, -0.2703883478914743, 0.3915573823727214, 0.7135207100232945, -1.1994996177465098, -0.8267582366682579) - client_socket.py - 323 +2024-11-11 16:09:22,650 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:09:25,230 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:09:25,230 - logger - INFO - {} - main.py - 140 +2024-11-11 16:09:25,248 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:09:25,538 - logger - INFO - Команд в очереди ['18'] - client_socket.py - 328 +2024-11-11 16:09:25,763 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,763 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,763 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,779 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,779 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,779 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,779 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,779 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,783 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,784 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,784 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,784 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,786 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,786 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,787 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,788 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,788 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,789 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:25,789 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:09:26,059 - logger - INFO - Вычисленное положение [1163.3950471878052, 898.2409238815308, 1451.4012336730957] - client_socket.py - 266 +2024-11-11 16:09:26,059 - logger - INFO - Вычисленная ориентация [11.69754789 40.97398611 86.59262204] - client_socket.py - 269 +2024-11-11 16:12:49,099 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:12:49,257 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:54,406 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:12:54,406 - logger - INFO - {} - main.py - 140 +2024-11-11 16:12:54,406 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:54,406 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:12:54,931 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,931 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,931 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,931 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,931 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,947 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,947 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,948 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,948 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,948 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,951 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,952 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,952 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,953 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,954 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,954 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,954 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,954 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,954 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:12:54,959 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:55,011 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:55,067 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:55,122 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:55,184 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:12:55,248 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:03,712 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:13:03,712 - logger - INFO - {} - main.py - 140 +2024-11-11 16:13:03,712 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:03,712 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,216 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,224 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,224 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,227 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,227 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,228 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,229 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,229 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,229 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,229 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,234 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,235 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:13:04,235 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:04,299 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:04,364 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:04,418 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:04,473 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:04,534 - logger - ERROR - Error sending data: [WinError 10054] Удаленный хост принудительно разорвал существующее подключение - client_socket.py - 111 +2024-11-11 16:13:07,237 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:13:07,701 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - None - robot.py - 52 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:13:23,236 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:13:24,300 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - None - robot.py - 52 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:13:54,846 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:13:55,884 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 16:14:04,031 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:14:04,349 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 16:14:08,845 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:14:08,858 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:14:09,274 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 16:14:22,002 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:18:01,056 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:18:01,056 - logger - INFO - {} - main.py - 140 +2024-11-11 16:18:01,095 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:18:01,605 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:15,005 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - None - robot.py - 52 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:18:15,008 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:18:16,041 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 16:18:23,617 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:18:24,121 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 16:18:28,962 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:18:36,231 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:18:36,278 - logger - INFO - Координаты осей [25.629652, -0.418012, 20.193184, 40.01461, -72.265884, -48.971642] - client_socket.py - 328 +2024-11-11 16:18:36,789 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:18:39,012 - logger - INFO - Мировые координаты [1166.322876, 904.68396, 1444.887573, -14.906476, -1.309696, -16.48097] - client_socket.py - 328 +2024-11-11 16:18:39,804 - logger - INFO - convrt to joint (0.6123877371772282, -0.17349877802864072, 0.21459916202281384, -0.00010952825668760861, 0.02185141370654196, 0.0) - client_socket.py - 323 +2024-11-11 16:18:39,859 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:18:41,514 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:18:41,514 - logger - INFO - {} - main.py - 140 +2024-11-11 16:18:41,551 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:18:41,914 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,062 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,070 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,070 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,070 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,073 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,075 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,076 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,078 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,079 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,080 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,081 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:42,419 - logger - INFO - Вычисленное положение [1318.4599876403809, 40.6470000743866, 1405.243992805481] - client_socket.py - 266 +2024-11-11 16:18:42,419 - logger - INFO - Вычисленная ориентация [ 0. -0. 0.] - client_socket.py - 269 +2024-11-11 16:18:51,203 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:18:51,203 - logger - INFO - {} - main.py - 140 +2024-11-11 16:18:51,229 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,740 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,747 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,747 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,747 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:18:51,751 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - 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client_socket.py - 35 +2024-11-11 16:27:04,618 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,619 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,620 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,622 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,624 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,624 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,628 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,629 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,629 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,630 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,630 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:04,634 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:05,444 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:08,035 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:27:08,035 - logger - INFO - {} - main.py - 140 +2024-11-11 16:27:08,052 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:27:08,565 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,566 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,573 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,573 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,573 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,576 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,577 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,577 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,578 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,578 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,578 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,578 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:08,578 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:27:09,849 - logger - INFO - convrt to joint (0.03745056249986619, -0.799709945887897, 0.9465773670677097, 1.5667338902563555, 1.632534373450135, -1.0036850610567118) - client_socket.py - 323 +2024-11-11 16:27:09,898 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:15,907 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:15,907 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:22,551 - logger - INFO - convrt to joint (0.037418691016008386, -0.7677945895592442, 0.8947237120033926, 1.5677423659333265, 1.631318557208418, -1.6807216014789068) - client_socket.py - 323 +2024-11-11 16:27:22,566 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:29,127 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:29,127 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:35,763 - logger - INFO - convrt to joint (0.033852945435965454, -0.7686492105630867, 0.9234846569526103, 1.9137345848504534, 1.6747768245238248, -1.3291493584923535) - client_socket.py - 323 +2024-11-11 16:27:35,779 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:42,322 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:42,337 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:44,754 - logger - INFO - convrt to joint (0.03447941131578388, -0.7985072611732107, 0.9169149686778553, 1.2223350521713356, 1.5870333904210252, -1.3390274120921393) - client_socket.py - 323 +2024-11-11 16:27:44,870 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:47,470 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:47,571 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:50,175 - logger - INFO - convrt to joint (0.03521967070397813, -0.7284565498442709, 0.8430944595859323, 1.6079156264933283, 1.284165356831506, -1.3260807870959894) - client_socket.py - 323 +2024-11-11 16:27:50,193 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:27:52,753 - logger - INFO - convrt to joint (0.03744339054741164, -0.7912603222379302, 0.9328303246746187, 1.567006942097155, 1.6322286764038993, -1.347170178039262) - client_socket.py - 323 +2024-11-11 16:27:52,805 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - None - robot.py - 52 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:30:34,480 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:30:35,507 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 16:30:44,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:44,563 - logger - INFO - None - robot.py - 52 +2024-11-11 16:30:44,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:44,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:44,563 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:30:44,572 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:30:44,572 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:30:44,572 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:30:45,606 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 131 +2024-11-11 16:30:47,337 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:30:47,652 - logger - INFO - urdf\sample.urdf - client_socket.py - 137 +2024-11-11 16:30:50,002 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:30:51,147 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 237 +2024-11-11 16:30:51,165 - logger - INFO - Координаты осей [0.006846, -0.012093, -0.017724, -180.007477, -0.059726, 180.020477] - client_socket.py - 328 +2024-11-11 16:30:51,668 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:30:53,767 - logger - INFO - Мировые координаты [1750.448486, 11.097678, 1356.262695, 20.785189, 0.377776, -91.61277] - client_socket.py - 328 +2024-11-11 16:30:54,601 - logger - INFO - convrt to joint (-0.015144747003895481, -0.6450998089062678, 0.7230308327680482, -2.42410890708878, -0.05954801374248389, 1.701757780742851) - client_socket.py - 323 +2024-11-11 16:30:54,677 - logger - INFO - set joints - client_socket.py - 331 +2024-11-11 16:30:59,583 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 328 +2024-11-11 16:30:59,583 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:30:59,583 - logger - INFO - {} - main.py - 140 +2024-11-11 16:30:59,594 - logger - INFO - Старт одиночного цикла - client_socket.py - 328 +2024-11-11 16:31:00,101 - logger - INFO - Вычисленное положение [1735.7343435287476, 11.768976226449013, 1351.730465888977] - client_socket.py - 266 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,101 - logger - INFO - Вычисленная ориентация [-37.35333949 -6.33689961 -2.774851 ] - client_socket.py - 269 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,101 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,110 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,110 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,112 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,113 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,114 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,120 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,120 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:31:00,120 - logger - INFO - {'oneshot': '1', 'delay': '0.0', 'speed': '100.0', 'smooth': '9', 'coord': '0', 'tool': '1', 'ckStatus': '0x3F'} - client_socket.py - 35 +2024-11-11 16:33:45,494 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:33:45,494 - logger - INFO - None - robot.py - 52 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:33:45,501 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:33:46,539 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:36:31,109 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:31,109 - logger - INFO - None - robot.py - 52 +2024-11-11 16:36:31,109 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:31,111 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:31,111 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:31,112 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:36:31,112 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:36:31,112 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:36:32,152 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:36:42,281 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:42,281 - logger - INFO - None - robot.py - 52 +2024-11-11 16:36:42,281 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:42,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:42,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:36:42,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:36:42,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:36:42,288 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:36:43,320 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:36:46,468 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:36:46,776 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:36:49,377 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:36:54,682 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:36:54,697 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:36:55,211 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:36:56,417 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:36:57,021 - logger - INFO - convrt to joint (0.2667276717797334, -0.29052315663701134, 0.3479972781680147, 0.5369830171567213, -0.45131641190826555, -0.528357332966202) - client_socket.py - 324 +2024-11-11 16:36:57,077 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:36:57,417 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:36:57,433 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:36:57,928 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:36:57,944 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:36:58,673 - logger - INFO - Вычисленное положение [1189.1822814941406, 321.7560350894928, 1599.394679069519] - client_socket.py - 265 +2024-11-11 16:36:58,728 - logger - INFO - Вычисленная ориентация [ 3.6014575 13.43030701 28.00806917] - client_socket.py - 268 +2024-11-11 16:36:59,082 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:36:59,721 - logger - INFO - convrt to joint (0.2606347300241239, -0.2990413882917923, 0.3631131036549684, 0.6377148117648344, -0.5666148922578278, -0.6015352620520207) - client_socket.py - 324 +2024-11-11 16:36:59,771 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:01,853 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:37:02,199 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:37:02,199 - logger - INFO - {} - main.py - 140 +2024-11-11 16:37:02,215 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:37:02,370 - logger - INFO - Вычисленное положение [1431.0407638549805, 467.67863631248474, 1405.9593677520752] - client_socket.py - 265 +2024-11-11 16:37:02,370 - logger - INFO - Вычисленная ориентация [ 5.3269929 23.28946463 35.90579494] - client_socket.py - 268 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - None - robot.py - 52 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:37:12,915 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:37:13,962 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:37:20,175 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:37:20,636 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:37:24,985 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:37:25,004 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:37:25,470 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:37:29,701 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:37:29,719 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:37:30,225 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:30,716 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:37:30,734 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:37:30,855 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:37:31,246 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:31,380 - logger - INFO - convrt to joint (0.26252921723351774, -0.2971545490294051, 0.36043982138901415, 0.5957721429390284, -0.542436023602783, -0.6074674027220648) - client_socket.py - 324 +2024-11-11 16:37:31,380 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:33,398 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:37:34,159 - logger - INFO - convrt to joint (0.26073623319968453, -0.3015113685263962, 0.3681839996467877, 0.610325607398788, -0.5887725953700488, -0.6296053042491627) - client_socket.py - 324 +2024-11-11 16:37:34,232 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:34,240 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:37:34,948 - logger - INFO - Вычисленное положение [1412.865161895752, 457.5449824333191, 1407.4366092681885] - client_socket.py - 265 +2024-11-11 16:37:34,964 - logger - INFO - Вычисленная ориентация [ 2.63184004 23.88556736 34.59758897] - client_socket.py - 268 +2024-11-11 16:37:35,860 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:37:35,886 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:37:36,257 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:37:36,387 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:36,772 - logger - INFO - Вычисленное положение [1237.842321395874, 346.7302918434143, 1598.267674446106] - client_socket.py - 265 +2024-11-11 16:37:36,772 - logger - INFO - Вычисленная ориентация [ 0.33744402 15.96811107 31.30712836] - client_socket.py - 268 +2024-11-11 16:37:37,730 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:37:37,746 - logger - INFO - Координаты осей [10.672073, 9.973454, 2.05854, 36.963993, -41.2253, -36.933537] - client_socket.py - 329 +2024-11-11 16:37:37,799 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:37:38,251 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:38,316 - logger - INFO - convrt to joint (0.2583790417912003, -0.30348003611035884, 0.3708873933427349, 0.6584540120669329, -0.6197870405165322, -0.6421273068440375) - client_socket.py - 324 +2024-11-11 16:37:38,316 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:40,291 - logger - INFO - Мировые координаты [1450.545532, 477.520203, 1404.005249, -0.295724, 1.727883, -56.61174] - client_socket.py - 329 +2024-11-11 16:37:41,114 - logger - INFO - convrt to joint (0.2575575667791342, -0.3066579458572036, 0.37641578394018727, 0.6574748413412396, -0.6476153889967947, -0.6441157327235423) - client_socket.py - 324 +2024-11-11 16:37:41,125 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:37:41,125 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:37:41,125 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:37:41,976 - logger - INFO - Вычисленное положение [1411.7034673690796, 458.9432179927826, 1415.2488708496094] - client_socket.py - 265 +2024-11-11 16:37:41,993 - logger - INFO - Вычисленная ориентация [ 5.38425167 25.35741242 38.76762804] - client_socket.py - 268 +2024-11-11 16:37:46,153 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:37:46,956 - logger - INFO - Вычисленное положение [1446.63667678833, 475.2735495567322, 1405.4067134857178] - client_socket.py - 265 +2024-11-11 16:37:46,972 - logger - INFO - Вычисленная ориентация [ 5.26710609 24.70287703 38.50356109] - client_socket.py - 268 +2024-11-11 16:39:30,044 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:39:30,044 - logger - INFO - None - robot.py - 52 +2024-11-11 16:39:30,044 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:39:30,051 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:39:30,051 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:39:30,052 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:39:30,052 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:39:30,052 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:39:31,087 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:39:33,868 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:39:34,320 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:39:37,720 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:39:40,270 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:39:40,285 - logger - INFO - Координаты осей [10.671829, 9.972474, 2.05854, 36.964928, -41.225662, -36.934265] - client_socket.py - 329 +2024-11-11 16:39:40,801 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:39:42,920 - logger - INFO - Мировые координаты [1177.368042, 270.77124, 1498.86792, 174.518402, 68.907692, -150.084335] - client_socket.py - 329 +2024-11-11 16:39:43,705 - logger - INFO - convrt to joint (0.16873395680391076, 0.13229882430953083, -0.018036142992175805, 0.4623504904689831, -0.42654584706161025, -0.5009772588905352) - client_socket.py - 324 +2024-11-11 16:39:43,755 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:39:47,272 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:39:47,293 - logger - INFO - Координаты осей [10.671829, 9.972474, 2.05854, 36.964928, -41.225662, -36.934265] - client_socket.py - 329 +2024-11-11 16:39:47,434 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 329 +2024-11-11 16:39:47,810 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:39:47,949 - logger - INFO - Вычисленное положение [1169.6631908416748, 278.5526216030121, 1505.8614015579224] - client_socket.py - 265 +2024-11-11 16:39:47,949 - logger - INFO - Вычисленная ориентация [-1.87468959 15.94593665 21.87873874] - client_socket.py - 268 +2024-11-11 16:39:50,072 - logger - INFO - Мировые координаты [1177.368042, 270.77124, 1498.86792, 174.518402, 68.907692, -150.084335] - client_socket.py - 329 +2024-11-11 16:39:51,002 - logger - INFO - convrt to joint (0.1585301843841681, 0.12088442873550372, 0.0013191039696722638, 0.593591995332231, -0.596128087180598, -0.570592046762633) - client_socket.py - 324 +2024-11-11 16:39:51,017 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:39:56,552 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 329 +2024-11-11 16:39:57,493 - logger - INFO - Вычисленное положение [1168.8233613967896, 274.1469442844391, 1508.4260702133179] - client_socket.py - 265 +2024-11-11 16:39:57,539 - logger - INFO - Вычисленная ориентация [ 2.90171872 22.01371141 30.3796325 ] - client_socket.py - 268 +2024-11-11 16:40:04,773 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:40:04,789 - logger - INFO - {} - main.py - 140 +2024-11-11 16:40:04,789 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - None - robot.py - 52 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:40:30,370 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:40:31,420 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:40:40,866 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - None - robot.py - 52 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:40:40,867 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:40:41,913 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:40:45,193 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:40:45,509 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:40:47,858 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:40:49,528 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:40:49,544 - logger - INFO - Координаты осей [10.671829, 9.972474, 2.05854, 36.964928, -41.225662, -36.934265] - client_socket.py - 329 +2024-11-11 16:40:50,066 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:40:52,418 - logger - INFO - Мировые координаты [1177.368042, 270.77124, 1498.86792, 174.518402, 68.907692, -150.084335] - client_socket.py - 329 +2024-11-11 16:40:53,249 - logger - INFO - convrt to joint (0.16541287584894546, 0.1288856374424734, -0.011830126045094438, 0.5114487883397162, -0.4814899358338734, -0.5307561222077958) - client_socket.py - 324 +2024-11-11 16:40:53,327 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:40:55,951 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:40:55,951 - logger - INFO - {} - main.py - 140 +2024-11-11 16:40:55,970 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:40:56,235 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 329 +2024-11-11 16:40:56,752 - logger - INFO - Вычисленное положение [1175.1669645309448, 271.7953026294708, 1501.0170936584473] - client_socket.py - 265 +2024-11-11 16:40:56,753 - logger - INFO - Вычисленная ориентация [-0.08734256 17.97157956 23.92869804] - client_socket.py - 268 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - None - robot.py - 52 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:44:29,554 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:44:30,602 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:44:33,271 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:44:33,711 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:44:36,572 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:44:38,437 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:44:38,458 - logger - INFO - Координаты осей [16.000408, -2.661026, 24.377441, 45.804184, -26.040157, -40.079861] - client_socket.py - 329 +2024-11-11 16:44:38,971 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:44:41,106 - logger - INFO - Мировые координаты [1247.875, 397.90274, 1731.026855, 32.278946, 86.735886, 66.688942] - client_socket.py - 329 +2024-11-11 16:44:41,962 - logger - INFO - convrt to joint (0.25347199954362987, -0.0778657800219325, 0.3774957567453798, 0.6350466388062066, -0.28707785193961016, -0.5789970476363883) - client_socket.py - 324 +2024-11-11 16:44:41,978 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:44:47,203 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 329 +2024-11-11 16:44:48,021 - logger - INFO - Вычисленное положение [1241.6943311691284, 400.02477169036865, 1734.9622249603271] - client_socket.py - 265 +2024-11-11 16:44:48,052 - logger - INFO - Вычисленная ориентация [-0.662047 -2.34993961 25.96078877] - client_socket.py - 268 +2024-11-11 16:44:48,069 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:44:48,069 - logger - INFO - {} - main.py - 140 +2024-11-11 16:44:48,079 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:46:01,144 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:46:01,158 - logger - INFO - Координаты осей [25.62623, -0.418339, 20.193184, 40.016479, -72.265884, -48.970921] - client_socket.py - 329 +2024-11-11 16:46:01,673 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:46:02,816 - logger - INFO - Мировые координаты [1166.374756, 904.624512, 1444.889893, -14.905394, -1.307691, -16.484203] - client_socket.py - 329 +2024-11-11 16:46:03,527 - logger - INFO - convrt to joint (0.577517532573707, -0.24019974606812045, 0.34807704030967124, 0.694788638012722, -0.965406111886981, -0.7441380412166831) - client_socket.py - 324 +2024-11-11 16:46:03,540 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:46:06,949 - logger - INFO - Команд в очереди ['21'] - client_socket.py - 329 +2024-11-11 16:46:06,949 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:46:06,949 - logger - INFO - {} - main.py - 140 +2024-11-11 16:46:06,967 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:46:07,459 - logger - INFO - Вычисленное положение [1162.9619598388672, 897.3802924156189, 1452.700138092041] - client_socket.py - 265 +2024-11-11 16:46:07,459 - logger - INFO - Вычисленная ориентация [ 7.56375581 34.82349745 73.32484773] - client_socket.py - 268 +2024-11-11 16:46:30,356 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:46:30,356 - logger - INFO - {} - main.py - 140 +2024-11-11 16:46:30,375 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:46:30,877 - logger - INFO - convrt to joint (3.187068747347321, -1.5480591733970284, 1.400769712865345, -0.31010797905550774, 0.047949385675362166, 0.6974506580143627) - client_socket.py - 324 +2024-11-11 16:46:30,877 - logger - INFO - convrt to joint (0.5306618719317397, 0.8646831958681479, -2.2191226714331567, 0.5422224778092436, 1.3844979830777175, -0.11136335600912763) - client_socket.py - 324 +2024-11-11 16:46:30,877 - logger - INFO - convrt to joint (-1.5559855290687081, -1.4244923183233222, 1.271863604211271, 1.2854376633193165, -0.009621883503457926, -1.8748580656100304) - client_socket.py - 324 +2024-11-11 16:46:30,877 - logger - INFO - convrt to joint (0.5306618719317397, 0.8646831958681479, -2.2191226714331567, 0.5422224778092436, 1.3844979830777175, -0.11136335600912763) - client_socket.py - 324 +2024-11-11 16:46:30,877 - logger - INFO - convrt to joint (0.6936016278196807, -2.8826891821789733, 1.0946480757994703, 1.1184934270159155, 0.10902420018708077, -1.4349644315836176) - client_socket.py - 324 +2024-11-11 16:46:30,885 - logger - INFO - convrt to joint (0.5306618719317397, 0.8646831958681479, -2.2191226714331567, 0.5422224778092436, 1.3844979830777175, -0.11136335600912763) - client_socket.py - 324 +2024-11-11 16:51:54,885 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:51:54,885 - logger - INFO - {} - main.py - 140 +2024-11-11 16:51:54,904 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:51:55,416 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:02,769 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:02,769 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:02,785 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:52:03,298 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:06,052 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:06,052 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:06,074 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:06,580 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:52:06,580 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:06,580 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:52:06,580 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:06,580 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:52:06,588 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:10,308 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:10,308 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:10,331 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:10,832 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:52:10,832 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:10,832 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:52:10,832 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:10,832 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:52:10,841 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:35,200 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:35,200 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:35,218 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:49,906 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:49,906 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:49,921 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:52:50,434 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:54,829 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:52:54,829 - logger - INFO - {} - main.py - 140 +2024-11-11 16:52:54,848 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:52:55,351 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:53:00,310 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:53:00,310 - logger - INFO - {} - main.py - 140 +2024-11-11 16:53:00,335 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:53:14,330 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:53:14,330 - logger - INFO - {} - main.py - 140 +2024-11-11 16:53:14,345 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (3.1870692477899674, -1.5480595662090146, 1.4007699023308122, -0.3101094392800393, 0.047948733543232425, 0.6974517962384151) - client_socket.py - 324 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (-1.5559855188784808, -1.4244923438357193, 1.2718636286165932, 1.2854373950668285, -0.009621837657387708, -1.8748580964590107) - client_socket.py - 324 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (0.6936018317886175, -2.882689322573518, 1.094648255529054, 1.1184929847239125, 0.10902429385676676, -1.4349637088435954) - client_socket.py - 324 +2024-11-11 16:53:14,851 - logger - INFO - convrt to joint (0.5306616336715156, 0.8646831741401483, -2.219122659034617, 0.5422222365396455, 1.384497965049926, -0.11136330559718134) - client_socket.py - 324 +2024-11-11 16:53:53,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:53:53,170 - logger - INFO - None - robot.py - 52 +2024-11-11 16:53:53,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:53:53,170 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:53:53,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:53:53,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:53:53,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:53:53,174 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:53:54,201 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - None - robot.py - 52 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 16:54:04,193 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 16:54:05,235 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 16:54:09,436 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 16:54:09,764 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 16:54:12,097 - logger - INFO - connected - robot.py - 52 +2024-11-11 16:54:14,653 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 16:54:14,678 - logger - INFO - Координаты осей [26.156813, 0.445792, 17.973986, 40.558846, -70.880676, -49.081852] - client_socket.py - 329 +2024-11-11 16:54:15,184 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:54:17,282 - logger - INFO - Мировые координаты [1159.575439, 916.720825, 1423.859619, -14.509874, -0.634369, -16.564898] - client_socket.py - 329 +2024-11-11 16:54:18,176 - logger - INFO - convrt to joint (-0.5982522933404469, -0.21236273127719574, 0.2906807551524681, 0.5585380096081407, -0.7253075869505733, -0.7291499952480247) - client_socket.py - 324 +2024-11-11 16:54:18,223 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 16:54:21,648 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:54:21,648 - logger - INFO - {} - main.py - 140 +2024-11-11 16:54:21,673 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:54:21,826 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 329 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (-3.1210348290245307, -1.384395778481978, 1.1151293189616034, -0.42896858674764893, 0.1920453227595792, 0.7062394727849026) - client_socket.py - 324 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (-0.49796230922225176, 0.8618949550839248, -2.217477668384285, 0.509108324387415, 1.3820252518346623, -0.10449943166951031) - client_socket.py - 324 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (1.554313543434502, -1.4153058487750698, 1.2557372396226842, 1.2608704270266333, -0.0035376015610919798, -1.9357762975480945) - client_socket.py - 324 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (-0.49796230922225176, 0.8618949550839248, -2.217477668384285, 0.509108324387415, 1.3820252518346623, -0.10449943166951031) - client_socket.py - 324 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (-0.7652739703717631, -2.8412789360293282, 1.003908000682507, 0.9295841324270744, 0.16516898302495064, -1.2056582656837762) - client_socket.py - 324 +2024-11-11 16:54:22,180 - logger - INFO - convrt to joint (-0.49796230922225176, 0.8618949550839248, -2.217477668384285, 0.509108324387415, 1.3820252518346623, -0.10449943166951031) - client_socket.py - 324 +2024-11-11 16:54:22,356 - logger - INFO - Вычисленное положение [1174.087643623352, 882.4182152748108, 1429.3256998062134] - client_socket.py - 265 +2024-11-11 16:54:22,356 - logger - INFO - Вычисленная ориентация [-3.95437451 31.28740843 58.35525807] - client_socket.py - 268 +2024-11-11 16:54:26,061 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:54:26,076 - logger - INFO - {} - main.py - 140 +2024-11-11 16:54:26,092 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (-3.136143678448425, -1.5115261581073343, 1.3566729582872519, -0.3900805675229679, 0.17471339629198393, 0.6492141278055458) - client_socket.py - 324 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (-0.4990728586210445, 0.8585390352098955, -2.216082732398345, 0.510002338687649, 1.383901821599832, -0.10362515059666028) - client_socket.py - 324 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (1.551087284622645, -1.362094741290957, 1.171606782796141, 1.2665460284787744, -0.0052204027238268585, -1.942485202116249) - client_socket.py - 324 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (-0.4990728586210445, 0.8585390352098955, -2.216082732398345, 0.510002338687649, 1.383901821599832, -0.10362515059666028) - client_socket.py - 324 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (-0.8243567659477486, -2.8590651631414774, 1.0286180751393612, 0.9022991624718926, 0.1710034944101934, -1.1360217488850077) - client_socket.py - 324 +2024-11-11 16:54:26,600 - logger - INFO - convrt to joint (-0.4990728586210445, 0.8585390352098955, -2.216082732398345, 0.510002338687649, 1.383901821599832, -0.10362515059666028) - client_socket.py - 324 +2024-11-11 16:54:30,106 - logger - INFO - (False,) - main.py - 139 +2024-11-11 16:54:30,106 - logger - INFO - {} - main.py - 140 +2024-11-11 16:54:30,122 - logger - INFO - Старт одиночного цикла - client_socket.py - 329 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (-3.136773212928438, -1.5132724893948446, 1.3599171002845987, -0.3902316836666661, 0.17379349012169715, 0.6501017057756769) - client_socket.py - 324 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (-0.4991169350526372, 0.8584778762277722, -2.2160576311735856, 0.5100426635798339, 1.38393871023056, -0.10361353090241951) - client_socket.py - 324 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (1.5510314779864791, -1.36110018260986, 1.1700443625403034, 1.2667287826829527, -0.005223877667217797, -1.9426257969120095) - client_socket.py - 324 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (-0.4991169350526372, 0.8584778762277722, -2.2160576311735856, 0.5100426635798339, 1.38393871023056, -0.10361353090241951) - client_socket.py - 324 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (-0.8253988194640496, -2.8593840057665254, 1.029065287720138, 0.9018080006187132, 0.1711029825411421, -1.134784543658218) - client_socket.py - 324 +2024-11-11 16:54:30,635 - logger - INFO - convrt to joint (-0.4991169350526372, 0.8584778762277722, -2.2160576311735856, 0.5100426635798339, 1.38393871023056, -0.10361353090241951) - client_socket.py - 324 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - None - robot.py - 52 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100 +2024-11-11 18:51:18,697 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100 +2024-11-11 18:51:19,742 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-11 18:51:27,323 - logger - INFO - not_connected - robot.py - 52 +2024-11-11 18:51:27,690 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-11 18:51:32,170 - logger - INFO - connected - robot.py - 52 +2024-11-11 18:51:35,805 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-11 18:51:35,820 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329 +2024-11-11 18:51:36,326 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 18:51:38,499 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329 +2024-11-11 18:51:39,315 - logger - INFO - convrt to joint (-0.14041902015574717, -0.1402739395363448, 0.4959455693140178, 1.2204609750331266, -0.8986237957842452, -0.4311812055511902) - client_socket.py - 324 +2024-11-11 18:51:39,399 - logger - INFO - set joints - client_socket.py - 332 +2024-11-11 18:51:44,641 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 329 +2024-11-11 18:51:45,443 - logger - INFO - Вычисленное положение [1274.8857736587524, -69.18007880449295, 1776.0611772537231] - client_socket.py - 265 +2024-11-11 18:51:45,509 - logger - INFO - Вычисленная ориентация [43.08155955 2.47606177 43.90611645] - client_socket.py - 268 diff --git a/data/test.nc.result b/data/test.nc.result index a431cd6..e12dfda 100644 --- a/data/test.nc.result +++ b/data/test.nc.result @@ -1,19 +1,6 @@ -X0 Y0 Z0 U0 -X0 Y0 Z0 U-33.333 -X100 Y0 Z0 U-33.333 -X200 Y0 Z0 U-33.333 -X200 Y100 Z0 U-33.333 -X200 Y200 Z0 U-33.333 -X100 Y200 Z0 U-33.333 -X0 Y200 Z0 U-33.333 -X0 Y100 Z0 U-33.333 -X0 Y0 Z0 U-33.333 -X0 Y0 Z-100 W-33.333 -X100 Y0 Z-100 W-33.333 -X200 Y0 Z-100 W-33.333 -X200 Y100 Z-100 W-33.333 -X200 Y200 Z-100 W-33.333 -X100 Y200 Z-100 W-33.333 -X0 Y200 Z-100 W-33.333 -X0 Y100 Z-100 W-33.333 -X0 Y0 Z-100 W-33.333 +X-300 Y0 Z0 +X0 Y0 Z0 +X0 Y-300 Z0 +X0 Y0 Z0 +X0 Y0 Z-300 +X0 Y0 Z0 \ No newline at end of file diff --git a/gui/visualize.py b/gui/visualize.py index 3f7ad2b..9e79ba6 100644 --- a/gui/visualize.py +++ b/gui/visualize.py @@ -1,4 +1,5 @@ import time +import numpy as np from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy from PyQt6.QtGui import QImage, QPixmap @@ -34,8 +35,7 @@ class Visualize(QWidget): return (rgb, width, height) = res - - image = QImage(rgb, width, height, QImage.Format.Format_RGBA8888) + image = QImage(np.asarray(rgb), width, height, QImage.Format.Format_RGBA8888) image = image.convertToFormat(QImage.Format.Format_RGB888) pixmap = QPixmap.fromImage(image) diff --git a/robot/client_socket.py b/robot/client_socket.py index 97961d3..c4a1bf0 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -284,6 +284,8 @@ class SocketRobotArm: if self.command_type == "base" else self.convert_file_to_joint() ) + with open(f"{self.command_type}.log", "w") as myfile: + myfile.write(json.dumps(commands)) self.add_rcc_list = ( [self.set_physical_speed(True), self.set_output_laser(True)] @@ -294,8 +296,8 @@ class SocketRobotArm: step = 4 empty = 1 for i in range(0, len(self.add_rcc_list), step): - if not self.socket: - return + # if not self.socket: + # return self.command_data = f"Отправка данных {i}...{i+step-1}" diff --git a/run_local.py b/run_local.py index ecc93ce..01b4c88 100644 --- a/run_local.py +++ b/run_local.py @@ -33,13 +33,19 @@ signal.signal(signal.SIGTERM, lambda *_: cleanup()) # Парсер аргументов командной строки parser = argparse.ArgumentParser(description="Python launcher script.") -parser.add_argument("--test-socket", action="store_true", help="Запуск РІ режиме тестирования") -parser.add_argument("--bullet-gui", action="store_true", help="Вывод визуального pybullet") +parser.add_argument( + "--test-socket", action="store_true", help="Запуск РІ режиме тестирования" +) +parser.add_argument( + "--bullet-gui", action="store_true", help="Вывод визуального pybullet" +) args = parser.parse_args() +poetry_path = "poetry" + # Установка команды для pybullet_server pybullet_command = [ - "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts\poetry.exe", + poetry_path, "run", "python", "utils/pybullet_server.py", @@ -63,10 +69,10 @@ if args.test_socket: print("Запуск test_socket_server...") test_server_process = subprocess.Popen( [ - "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe", - "run", - "python", - "utils/test_socket_server.py", + poetry_path, + "run", + "python", + "utils/test_socket_server.py", ] ) # Путь Рє исполняемому файлу @@ -77,14 +83,20 @@ if args.test_socket: # Запуск РѕСЃРЅРѕРІРЅРѕРіРѕ скрипта main.exe РІ режиме тестирования subprocess.run( - [ "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe", - "run", "python", "main.py", "--mode", "test"] + [ + poetry_path, + "run", + "python", + "main.py", + "--mode", + "test", + ] ) # Путь Рє исполняемому файлу else: # Запуск РѕСЃРЅРѕРІРЅРѕРіРѕ скрипта main.exe - subprocess.run([ - "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe", - "run", "python", "main.py"]) # Путь Рє исполняемому файлу + subprocess.run( + [poetry_path, "run", "python", "main.py",] + ) # Путь Рє исполняемому файлу # Очистка после завершения cleanup()