diff --git a/app.log b/app.log
index 8cff564..b1b5523 100644
--- a/app.log
+++ b/app.log
@@ -2604,3 +2604,2163 @@
 2024-10-25 11:25:42,908 - logger - INFO - set joint
 2024-10-25 11:25:43,475 - logger - INFO - set joint
 2024-10-25 11:26:57,914 - logger - INFO - Loaded URDF: urdf/sample.urdf with body ID: 0
+2024-10-25 11:30:45,881 - logger - INFO - Loaded URDF: urdf/sample.urdf with body ID: 0
+2024-10-25 11:34:06,759 - logger - INFO - urdf/borunte_macro.urdf
+2024-10-25 11:35:04,146 - logger - INFO - urdf/borunte_macro.urdf
+2024-10-25 11:35:04,692 - logger - INFO - Loaded URDF: urdf/borunte_macro.urdf with body ID: 0
+2024-10-25 11:36:59,374 - logger - INFO - urdf/borunte_macro.urdf
+2024-10-25 11:36:59,910 - logger - INFO - Loaded URDF: urdf/borunte_macro.urdf with body ID: 0
+2024-10-25 11:37:17,656 - logger - INFO - urdf/sample.urdf
+2024-10-25 11:37:17,657 - logger - INFO - Loaded URDF: urdf/sample.urdf with body ID: 0
+2024-10-25 11:39:14,954 - logger - INFO - urdf/sample.urdf
+2024-10-25 11:42:48,337 - logger - INFO - set joint
+2024-10-25 11:42:48,903 - logger - INFO - set joint
+2024-10-25 12:40:33,037 - logger - INFO - set joint
+2024-10-25 12:40:33,602 - logger - INFO - set joint
+2024-10-25 12:56:06,381 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:06,901 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:07,405 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:07,906 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:08,407 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:08,908 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:09,409 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:09,910 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:10,411 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:10,912 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:11,428 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:11,931 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:12,432 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:12,933 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:13,434 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:13,936 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:14,437 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:14,938 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:15,439 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:15,940 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:16,441 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:16,943 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:17,443 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:17,945 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:58,990 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:59,497 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:56:59,998 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:00,499 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:01,000 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:01,527 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:02,029 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:02,530 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:03,032 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:03,098 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 12:57:03,533 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:03,660 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 12:57:04,034 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:04,161 - logger - INFO - (0.17961160948946986, 0.12800013889008885, -0.22088307632418697, -0.5138891237046261, -0.13089969389957473, 2.562141856520304e-07)
+2024-10-25 12:57:43,998 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:44,500 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:45,001 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:45,502 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:46,003 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:46,518 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:47,022 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:47,523 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:48,024 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:48,199 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 12:57:48,525 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:48,760 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 12:57:49,026 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:57:49,262 - logger - INFO - (0.1747268536130594, 0.12687258671437165, -0.22819634595296168, -0.5039928067687006, -0.13089969389957473, 2.5387216846014934e-07)
+2024-10-25 12:58:09,882 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:10,401 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:10,904 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:11,405 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:11,906 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:12,407 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:12,908 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:13,409 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:13,539 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 12:58:13,910 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:27,706 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:28,207 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:28,708 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:29,209 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:29,710 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:30,211 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:30,322 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 12:58:30,712 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:30,823 - logger - INFO - [-1.0471975511965976, 0.6981317007977318, -0.17453292519943295, -1.0471975511965976, -1.3089969389957472, 0.0]
+2024-10-25 12:58:30,823 - logger - INFO - 6
+2024-10-25 12:58:30,885 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 12:58:31,213 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:58:31,386 - logger - INFO - (0.41645668356504306, 0.01438591542024991, 0.029159644018640896, -0.8761622091232533, -0.1308996938995747, 3.0468526488411545e-07)
+2024-10-25 12:58:31,386 - logger - INFO - None
+2024-10-25 12:58:31,386 - logger - INFO - 6
+2024-10-25 12:59:06,780 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:07,295 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:07,799 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:08,339 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:08,842 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:09,343 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:09,844 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:10,345 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:10,406 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 12:59:10,846 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:10,968 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 12:59:11,347 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:11,469 - logger - INFO - (0.21643729712730553, 0.12785811913082215, -0.17336969050862094, -0.5840944733667172, -0.13089969389957473, 2.706972154401099e-07)
+2024-10-25 12:59:11,470 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 12:59:11,848 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:12,349 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:12,850 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:13,351 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:13,852 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:14,396 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:14,898 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:15,399 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:15,899 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:16,400 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:16,902 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:17,403 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:17,904 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:18,405 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:18,906 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:19,407 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:19,908 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:20,409 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:20,910 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:21,412 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:21,913 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:22,414 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:22,915 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:23,416 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:23,917 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
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+2024-10-25 12:59:25,420 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:25,921 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:26,423 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
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+2024-10-25 12:59:27,926 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:28,427 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:28,928 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:29,430 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:29,931 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:30,432 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:30,933 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:31,435 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
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+2024-10-25 12:59:32,437 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:34,800 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:35,301 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:35,802 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
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+2024-10-25 12:59:38,307 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:38,808 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:39,310 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:39,811 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:40,312 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:40,813 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:41,314 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:41,815 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:42,316 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:42,817 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:43,318 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:43,819 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:44,321 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:44,822 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:45,323 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:45,824 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:46,325 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:46,826 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:47,327 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:47,828 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:48,329 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:48,831 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:49,331 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:49,832 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:50,334 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:50,835 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:51,336 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:51,837 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:52,339 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:52,839 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:53,340 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:53,842 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:54,343 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:54,844 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:55,345 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:55,846 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:56,347 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:56,848 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:57,349 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:57,850 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:58,351 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:58,889 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:59,393 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 12:59:59,894 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:00,395 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:00,895 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:01,397 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:01,898 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:02,399 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:02,900 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:03,401 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:03,903 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:04,404 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:04,905 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:05,406 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:05,907 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:06,408 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:06,910 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:07,411 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:07,912 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:08,413 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:08,914 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:09,415 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:09,916 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:10,417 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:10,918 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:11,419 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:11,920 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:12,422 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:12,923 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:13,423 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:13,924 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:14,426 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:14,927 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:15,428 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:15,929 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:16,430 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:16,931 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:17,432 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:17,933 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:18,434 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:18,935 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:19,436 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:19,937 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:20,438 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:20,939 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:21,440 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:21,942 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:22,443 - logger - INFO - ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
+2024-10-25 13:00:48,897 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:00:49,398 - logger - INFO - set joints
+2024-10-25 13:00:49,459 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 13:00:49,960 - logger - INFO - (0.2580409070245915, -0.04766371051112912, -1.8246281507070603, -2.0944847024687068, -0.13089970108282156, 1.972660814699778e-05)
+2024-10-25 13:00:49,961 - logger - INFO - set joints
+2024-10-25 13:00:49,961 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 13:30:04,228 - logger - INFO - Loaded URDF: urdf/sample.urdf with body ID: 0
+2024-10-25 13:30:41,761 - logger - INFO - Loaded URDF: urdf/sample.urdf with body ID: 0
+2024-10-25 13:32:46,004 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:32:46,505 - logger - INFO - set joints
+2024-10-25 13:36:07,396 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:36:07,896 - logger - INFO - set joints
+2024-10-25 13:36:15,719 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 13:36:15,721 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:36:19,578 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:36:20,079 - logger - INFO - set joints
+2024-10-25 13:36:20,141 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 13:36:20,642 - logger - INFO - (1.1829962571844301, -2.529913089753055, 2.529769778111305, -1.2819992824245294, 0.0, 0.0)
+2024-10-25 13:36:20,642 - logger - INFO - set joints
+2024-10-25 13:36:20,643 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 13:38:20,399 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 13:38:36,984 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 13:38:36,989 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:37,491 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:37,993 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:38,495 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:38,996 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:39,498 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:39,999 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:40,501 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:41,004 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:41,505 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:42,007 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:42,508 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:43,010 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:43,511 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:44,013 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:44,515 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:44,831 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:38:45,016 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:45,331 - logger - INFO - set joints
+2024-10-25 13:38:45,393 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 13:38:45,518 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:45,895 - logger - INFO - (0.3367436876312784, -1.192688722655741, 1.3077762163154458, -1.0247160859740654, -0.13089969389957473, 3.3918177790135617e-07)
+2024-10-25 13:38:45,896 - logger - INFO - set joints
+2024-10-25 13:38:45,897 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 13:38:46,019 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:46,520 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:47,022 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:47,523 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:48,024 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:48,526 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:49,027 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:49,529 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:50,032 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:50,533 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:51,035 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:51,536 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:52,038 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:52,539 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:53,041 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:53,542 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:54,043 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:54,545 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:55,047 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:55,549 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:56,051 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:56,553 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:57,055 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:57,556 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:58,058 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:58,559 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:59,061 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:38:59,562 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:00,064 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:00,566 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:01,067 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:01,570 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:02,071 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:02,573 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:03,074 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:03,577 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:04,078 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:04,579 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:05,081 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:05,583 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:06,085 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:06,586 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:07,088 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:07,589 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:08,091 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:08,592 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:09,094 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:09,595 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:10,097 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:10,598 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:11,100 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:11,602 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:12,103 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:12,605 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:13,107 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:13,610 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:14,112 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:14,614 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:15,115 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:15,617 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:16,119 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:16,620 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:17,122 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:17,623 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:18,125 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:18,626 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:19,127 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:19,628 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:20,130 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:20,632 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:21,133 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:21,635 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:22,137 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:22,639 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:23,141 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:23,643 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:24,145 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:26,813 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 13:39:26,817 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:26,929 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:26,994 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,039 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,088 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,135 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,183 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,229 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,279 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,324 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,378 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,424 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,488 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,534 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,589 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,633 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,706 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,800 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,847 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:27,906 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:28,044 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,087 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,130 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,181 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,226 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,302 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,349 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,391 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,434 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,477 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,519 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,574 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,619 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,675 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,720 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,773 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,818 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,875 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,922 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:28,974 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:29,173 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:29,419 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,495 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,542 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,585 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,628 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,671 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:29,714 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:31,300 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:31,396 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:31,546 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,600 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,647 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,702 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,748 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,804 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,901 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:31,944 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,005 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,082 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,127 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,195 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,241 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,302 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,347 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,395 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,442 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,505 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,551 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,647 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,697 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,742 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,800 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,847 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,899 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,944 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:32,986 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,029 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,077 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,119 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,176 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,221 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,288 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,333 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,393 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,399 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 13:39:33,440 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,483 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,525 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,568 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,611 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,653 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,696 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,739 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,781 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,824 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,867 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,900 - logger - INFO - set joints
+2024-10-25 13:39:33,910 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,953 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:33,963 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 13:39:33,995 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,038 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,081 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,124 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,166 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,209 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,252 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,295 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,338 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,381 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,423 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,464 - logger - INFO - (0.32928221604272817, -0.6515855790393633, -0.5702252130595352, -1.0866899049411773, -0.939297466041294, -0.12661093698137132)
+2024-10-25 13:39:34,465 - logger - INFO - set joints
+2024-10-25 13:39:34,466 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 13:39:34,466 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,509 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,551 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,594 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,637 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,679 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,722 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,764 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,807 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,851 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,894 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,937 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:34,979 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,023 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,065 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,108 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,152 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,195 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,237 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,280 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,323 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,366 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,409 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,452 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,495 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,538 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,581 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,624 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,667 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,710 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,753 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,796 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,839 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,881 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,924 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:35,968 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,021 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,118 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,205 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,249 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,305 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,399 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,444 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,504 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,551 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,701 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,749 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,792 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,835 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,889 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:36,935 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,002 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,047 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,091 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,134 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,189 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,235 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,293 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,340 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,396 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,442 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,503 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,549 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,599 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,645 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,702 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,748 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,807 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:37,905 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,005 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,092 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,138 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,197 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,242 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,300 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,346 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,397 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,443 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,501 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,546 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:38,597 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:38,746 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:45,922 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:45,973 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:46,584 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:53,092 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:53,138 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:39:53,746 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:39:53,799 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:00,199 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,245 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,300 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:00,390 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,433 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,488 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,534 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,591 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:00,702 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,748 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:00,897 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:00,944 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:01,583 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
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+2024-10-25 13:40:07,398 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,449 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,506 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,552 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,632 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,697 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,744 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,788 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,831 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,886 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,933 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:07,992 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,037 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,079 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,122 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,173 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,219 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,288 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,334 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,391 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,436 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,496 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,542 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,584 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,627 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,683 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,730 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,793 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,839 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,881 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,924 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:08,982 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,027 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,076 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,121 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,176 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,221 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,277 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,323 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,386 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,432 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,478 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,521 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,583 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,628 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,689 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,735 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,778 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,820 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,888 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,934 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:09,987 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,033 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,095 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,141 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,195 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,240 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,301 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,348 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,399 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,445 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,502 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,548 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,599 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,643 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,698 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,744 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,795 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,840 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,899 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,945 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:10,999 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,045 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,104 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,151 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,244 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,287 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,330 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,381 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,425 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,489 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,535 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,587 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,631 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,697 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,742 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,798 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,843 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,901 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:11,947 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,001 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,046 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,091 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,134 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,188 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,232 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,289 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,335 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,396 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,442 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,498 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,545 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,602 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,647 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,711 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,790 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,836 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,890 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,936 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:12,987 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:13,033 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:13,087 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:13,134 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 13:40:13,194 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0)
+2024-10-25 14:28:27,478 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 14:28:31,386 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 14:28:59,219 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 14:28:59,221 - logger - INFO - Загружена simulation loop
+2024-10-25 14:29:03,888 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0]
+2024-10-25 14:29:04,389 - logger - INFO - set joints
+2024-10-25 14:29:04,451 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492]
+2024-10-25 14:29:04,952 - logger - INFO - (0.5549195649052212, 2.6506459725673728, -2.8389502621206053, -1.1657838564759402, -0.9762688934558911, 0.6543609498223296)
+2024-10-25 14:29:04,952 - logger - INFO - set joints
+2024-10-25 14:29:04,954 - logger - INFO - Команд в очереди ['ok']
+2024-10-25 14:33:52,460 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 14:33:52,462 - logger - INFO - Загружена simulation loop
+2024-10-25 14:38:37,693 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0
+2024-10-25 14:38:37,698 - logger - INFO - Загружена simulation loop
+2024-10-25 14:38:38,790 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:39,786 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:40,788 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:41,789 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:42,791 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:43,786 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:44,800 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:45,788 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:46,793 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:47,782 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:48,780 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:49,797 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:50,799 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:51,798 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:52,779 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:53,785 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:54,799 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:55,799 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:56,791 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:57,784 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:58,782 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:38:59,796 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:00,794 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:01,804 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:02,801 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:03,782 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:04,795 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:05,799 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:06,795 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:07,783 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:08,781 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:09,797 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:10,794 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:11,797 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:12,782 - logger - INFO - Image size: 800x800, RGB data length: 800
+2024-10-25 14:39:13,784 - logger - INFO - Image size: 800x800, RGB data length: 800
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+2024-10-25 14:54:55,300 - logger - INFO - Image size: 800x800, RGB data length: 800 - visualize.py - 28
+2024-10-25 14:54:56,272 - logger - INFO - Image size: 800x800, RGB data length: 800 - client_socket.py - 103
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+2024-10-25 14:55:04,362 - logger - INFO - Image size: 800x800, RGB data length: 800 - visualize.py - 28
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+2024-10-25 15:13:44,967 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:13:45,913 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:13:45,985 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:13:46,893 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:13:47,842 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:13:47,913 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:13:48,846 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:13:49,820 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:13:50,809 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:59:26,422 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:59:27,397 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:27,492 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:28,434 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:59:30,320 - logger - INFO - set joints - client_socket.py - 199
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+2024-10-25 15:59:31,996 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:32,078 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:32,903 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:32,991 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:33,897 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
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+2024-10-25 15:59:34,881 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:34,965 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:49,782 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0 - client_socket.py - 65
+2024-10-25 15:59:49,782 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-25 15:59:50,964 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:51,065 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:51,901 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:51,991 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:53,067 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:53,148 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:53,916 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:54,005 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:54,012 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 196
+2024-10-25 15:59:54,512 - logger - INFO - set joints - client_socket.py - 199
+2024-10-25 15:59:54,575 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 196
+2024-10-25 15:59:55,078 - logger - INFO - (0.5789162668671127, 0.6875955929203587, -0.7122065315148892, -1.223340820397485, -0.9392980466238748, 0.38010063671697686) - client_socket.py - 193
+2024-10-25 15:59:55,083 - logger - INFO - set joints - client_socket.py - 199
+2024-10-25 15:59:55,084 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 196
+2024-10-25 15:59:56,735 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:56,817 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 15:59:56,824 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 196
+2024-10-25 15:59:57,325 - logger - INFO - set joints - client_socket.py - 199
+2024-10-25 15:59:57,390 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 196
+2024-10-25 15:59:57,891 - logger - INFO - (0.24448002082972164, 0.7528150054152491, 1.4572592382560545, -1.0973991736106012, -1.3085438093327564, -2.256694010518478) - client_socket.py - 193
+2024-10-25 15:59:57,892 - logger - INFO - set joints - client_socket.py - 199
+2024-10-25 15:59:57,893 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 196
+2024-10-25 15:59:59,522 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 15:59:59,607 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:00:00,484 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 16:00:00,573 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:00:01,425 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 103
+2024-10-25 16:00:01,519 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:28,035 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0 - client_socket.py - 68
+2024-10-25 16:04:28,036 - logger - INFO - Загружена simulation loop - client_socket.py - 73
+2024-10-25 16:04:29,477 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:29,573 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:30,300 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:30,384 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:31,356 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:31,446 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:32,376 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:32,459 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:33,393 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:33,486 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:34,123 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 199
+2024-10-25 16:04:34,624 - logger - INFO - set joints - client_socket.py - 202
+2024-10-25 16:04:34,687 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 199
+2024-10-25 16:04:35,189 - logger - INFO - (0.18862075142607093, 1.1028871435933938, -2.5347825007086895, -1.0344717644283579, -0.9392993072941538, 1.1308905849980793) - client_socket.py - 196
+2024-10-25 16:04:35,189 - logger - INFO - set joints - client_socket.py - 202
+2024-10-25 16:04:35,190 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 199
+2024-10-25 16:04:36,913 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:37,000 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:37,926 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:38,013 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:38,867 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:38,963 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:39,867 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:39,966 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:40,975 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:41,075 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:41,912 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:42,000 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:04:42,876 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:04:42,966 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:07,212 - logger - INFO - Загружена модель urdf/sample.urdf, id: 0 - client_socket.py - 68
+2024-10-25 16:10:07,213 - logger - INFO - Загружена simulation loop - client_socket.py - 73
+2024-10-25 16:10:08,453 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:08,548 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:09,385 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:09,473 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:10,369 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:10,461 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:11,380 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:11,460 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:12,424 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:12,496 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:13,379 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:13,473 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:14,379 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:14,466 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:15,428 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:15,527 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:16,378 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:16,459 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:17,389 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:17,473 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:18,377 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:18,459 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:19,373 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:19,470 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:20,371 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:20,451 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:21,374 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:21,456 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:22,384 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:22,482 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:23,377 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:23,461 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:24,380 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:24,462 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:25,674 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:25,849 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:26,532 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:26,739 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:27,519 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:27,621 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:10:28,397 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 106
+2024-10-25 16:10:28,481 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:12:51,432 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:12:51,433 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:12:52,071 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:12:52,222 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:12:52,965 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:12:53,111 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:12:53,913 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:12:54,051 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:12:54,904 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:12:55,045 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:13:18,905 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:13:19,049 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:13:20,102 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:13:20,104 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:13:20,974 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:13:20,974 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:13:21,915 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:13:21,915 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:13:22,915 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:13:22,916 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:17:14,275 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:17:14,296 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:17:15,427 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:17:15,431 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:17:39,689 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:17:39,695 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:17:40,791 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:17:40,791 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:18:49,287 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:18:49,426 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:18:50,505 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:18:50,506 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:19:18,729 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:19:18,747 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:19:19,892 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:19:19,892 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 28
+2024-10-25 16:19:30,937 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:19:30,937 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:19:31,651 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:19:31,652 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:19:44,676 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:19:44,791 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:19:45,494 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:19:45,497 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:20:52,445 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:20:52,445 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:20:53,505 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:20:53,506 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:32:35,829 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:32:35,970 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:32:37,071 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:32:37,072 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:32:37,997 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:32:38,001 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:32:38,983 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:32:38,985 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:32:39,993 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:32:39,995 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:32:40,991 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:32:40,993 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 32
+2024-10-25 16:35:38,702 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:35:38,713 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:35:40,053 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:35:40,054 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:35:40,993 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:35:40,995 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:36:26,650 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:36:26,666 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:36:27,896 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:36:27,896 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:39:54,433 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:39:54,441 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:39:55,775 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:39:55,777 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:39:56,633 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:39:56,638 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:39:57,615 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:39:57,618 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:39:58,579 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:39:58,581 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:39:59,530 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:39:59,532 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:00,553 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:00,556 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:01,572 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:01,574 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:02,533 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:02,535 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:03,557 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:03,559 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:04,579 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:04,581 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:05,609 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:05,613 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:06,525 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:06,527 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:07,566 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:07,573 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:08,617 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:08,621 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:09,585 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:09,587 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:10,578 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:10,582 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:11,602 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:11,604 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:12,451 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:12,452 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:13,671 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:13,676 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:14,569 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:14,572 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:15,642 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:15,650 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:16,588 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:16,590 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:17,595 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:17,596 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:18,561 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:18,563 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:19,424 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:19,429 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:20,459 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:20,461 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:21,441 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:21,442 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:22,545 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:22,549 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:23,565 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:23,568 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:24,526 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:24,528 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:25,527 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:25,534 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:26,554 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:26,556 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:27,558 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:27,561 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:28,545 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:28,547 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:29,577 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:29,579 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:30,534 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:30,536 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:31,554 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:31,557 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:32,538 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:32,539 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:33,603 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:40:33,605 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:40:54,319 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:40:54,471 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:41:14,856 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:41:14,857 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:41:16,197 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:16,199 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:17,053 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:17,055 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:31,511 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:41:31,515 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:41:33,001 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:33,004 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:33,926 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:33,927 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:34,954 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:34,956 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:35,994 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:35,996 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:36,277 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 200
+2024-10-25 16:41:36,781 - logger - INFO - set joints - client_socket.py - 203
+2024-10-25 16:41:36,843 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 200
+2024-10-25 16:41:37,345 - logger - INFO - (0.6391889861002884, -2.322211347047753, 2.4291114815844463, -1.1817846610322906, -0.939297851659352, 0.25815698307376833) - client_socket.py - 197
+2024-10-25 16:41:37,345 - logger - INFO - set joints - client_socket.py - 203
+2024-10-25 16:41:37,346 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 200
+2024-10-25 16:41:39,132 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:39,137 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:40,113 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:40,117 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:41,040 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:41:41,043 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:41:56,763 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:41:56,768 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:42:18,919 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:42:19,085 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:42:20,285 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:20,288 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:42:21,136 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:21,145 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:42:22,044 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:22,046 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:42:23,045 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:23,047 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:42:24,038 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:24,039 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:42:25,022 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - client_socket.py - 107
+2024-10-25 16:42:25,024 - logger - INFO - Image size: 1920x1080, RGB data length: 1080 - visualize.py - 34
+2024-10-25 16:44:26,993 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:44:27,184 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:44:28,170 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:28,170 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:29,180 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:29,188 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:30,234 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:30,235 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:31,281 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:31,285 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:32,346 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:32,354 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:33,393 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:33,394 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:34,346 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:34,348 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:44:35,381 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:44:35,381 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:46:56,832 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:46:56,967 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:46:57,865 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:46:57,865 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:46:58,819 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:46:58,821 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:46:59,820 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:46:59,822 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:47:00,813 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:47:00,819 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:47:01,814 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:47:01,819 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:47:02,832 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:47:02,833 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:47:03,815 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:47:03,818 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:47:04,823 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:47:04,825 - logger - INFO - Image size: 320x320, RGB data length: 320 - visualize.py - 39
+2024-10-25 16:48:53,602 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:48:53,607 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:48:54,729 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:48:55,779 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:48:56,822 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:48:57,825 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:48:58,819 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:48:59,819 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:00,810 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:19,216 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:49:19,356 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:49:20,326 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:21,314 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:22,313 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:23,314 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:24,307 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:25,322 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:26,301 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:49:27,328 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:50:49,388 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:50:49,506 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:50:50,416 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:50:51,363 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:50:52,301 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:50:53,303 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:50:54,313 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:51:01,092 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:51:01,254 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:51:02,232 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:51:03,266 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:51:11,087 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:51:11,087 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:51:11,448 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:51:25,807 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:51:25,936 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:51:26,828 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:53:40,976 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-25 16:53:40,981 - logger - INFO - Загружена simulation loop - client_socket.py - 74
+2024-10-25 16:53:42,023 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:53:42,933 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 107
+2024-10-25 16:54:35,382 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-25 16:54:35,575 - logger - INFO - Загружена simulation loop - client_socket.py - 72
+2024-10-25 16:54:36,406 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:54:37,350 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:56:19,251 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-25 16:56:19,416 - logger - INFO - Загружена simulation loop - client_socket.py - 72
+2024-10-25 16:56:20,331 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:56:21,328 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:56:32,831 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-25 16:56:32,836 - logger - INFO - Загружена simulation loop - client_socket.py - 72
+2024-10-25 16:56:33,207 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:56:34,223 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:04,037 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-25 16:57:04,038 - logger - INFO - Загружена simulation loop - client_socket.py - 72
+2024-10-25 16:57:04,459 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:05,437 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:06,337 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:07,317 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:08,315 - logger - INFO - Image size: 320x320, RGB data length: 320 - client_socket.py - 105
+2024-10-25 16:57:38,910 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-25 16:57:39,035 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-25 16:57:39,970 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:40,904 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:41,844 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:42,842 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:43,836 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:44,834 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:45,834 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:46,834 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:47,826 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:48,836 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:49,833 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:50,826 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:51,825 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:52,844 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:53,841 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:54,822 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:57:55,830 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
diff --git a/gui/init.py b/gui/init.py
index 01846b8..3302b0f 100644
--- a/gui/init.py
+++ b/gui/init.py
@@ -10,33 +10,21 @@ from gui.observable import Observable
 from logger import logger
 
 
-class RightPanel(QWidget):
-    def __init__(self, panels):
+class MyPanel(QWidget):
+    def __init__(self, panels, color):
         super().__init__()
+
         layout = QVBoxLayout()
         for panel in panels:
             layout.addWidget(panel)
+
+        self.color = QColor(*color)
         self.setLayout(layout)
         self.initUI()
 
     def initUI(self):
         palette = self.palette()
-        palette.setColor(QPalette.Window, QColor(169, 169, 169))  # DarkGray
-        self.setAutoFillBackground(True)
-        self.setPalette(palette)
-
-
-class MainPanel(QWidget):
-    def __init__(self, panels):
-        super().__init__()
-        layout = QVBoxLayout()
-        for panel in panels:
-            layout.addWidget(panel)
-        self.initUI()
-
-    def initUI(self):
-        palette = self.palette()
-        palette.setColor(QPalette.Window, QColor(255, 255, 255))  # White
+        palette.setColor(QPalette.Window, self.color)
         self.setAutoFillBackground(True)
         self.setPalette(palette)
 
@@ -57,20 +45,22 @@ class MainContentComponent(QWidget):
         imitatorArgs = kwargs.get("imitatorPanel", {})
         self.imitatorPanel = Imitator(**imitatorArgs)
 
-        self.rightPanel = RightPanel(
+        self.rightPanel = MyPanel(
             panels=[
                 self.statusPanel,
                 self.robotPanel,
                 self.imitatorPanel,
-            ]
+            ],
+            color=(169, 169, 169),
         )
 
         visArgs = kwargs.get("visPanel", {})
         self.visPanel = Visualize(**visArgs)
-        self.mainPanel = MainPanel(
+        self.mainPanel = MyPanel(
             panels=[
                 self.visPanel,
-            ]
+            ],
+            color=(200, 200, 200),
         )
 
         layout = QHBoxLayout()
@@ -93,7 +83,10 @@ class MainContentComponent(QWidget):
         super().resizeEvent(event)
 
     def handle_value_change(self, new_value):
-        panels = [self.imitatorPanel, self.visPanel]
+        panels = [
+            self.imitatorPanel,
+            self.visPanel,
+        ]
         for p in panels:
             if new_value == "not_connected":
                 p.setDisabled(True)
diff --git a/gui/visualize.py b/gui/visualize.py
index 913ac14..17873ab 100644
--- a/gui/visualize.py
+++ b/gui/visualize.py
@@ -1,36 +1,63 @@
+import time
+
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
+from PyQt5.QtGui import QImage, QPixmap, QColor
+from PyQt5.QtCore import Qt, QTimer
+
+import numpy as np
+from PIL import Image
 
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QSizePolicy
-from PyQt5.QtGui import QImage, QPixmap
-from PyQt5.QtCore import QTimer
 from logger import logger
 
+
 class Visualize(QWidget):
     def __init__(self, get_pybullet_image):
         super().__init__()
         self.get_pybullet_image = get_pybullet_image
-        
+
         # Настройка компоновки
         self.layout = QVBoxLayout(self)
         self.layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
+        self.h_layout = QHBoxLayout()
+        self.h_layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
         self.label = QLabel(self)
-        self.label.setScaledContents(True)  # Масштабирование изображения по размеру QLabel
-        self.label.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)  # QLabel занимает всю доступную область
+        self.label.setScaledContents(True)
+        self.label.setSizePolicy(
+            QSizePolicy.Expanding, QSizePolicy.Expanding
+        )
         self.layout.addWidget(self.label)
-        
+
         # Таймер для обновления изображения
         self.timer = QTimer()
         self.timer.timeout.connect(self.update_image)
-        self.timer.start(100)  # Обновление каждые 100 мс
-        
+        self.timer.start(1000)  # Обновление каждые 100 мс
+
     def update_image(self):
         (rgb, width, height) = self.get_pybullet_image()
-        
-        # logger.info('upd img')
-        
+
+        # logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
+
+        # rgbim = Image.fromarray(rgb)
+        # rgbim.save(f"test_img/rgbtest/{time.time() }.png")
+        # Преобразуем RGB данные в массив NumPy
+        rgb_array = np.array(rgb, dtype=np.uint8)
+
+        # Изменяем форму массива на (height, width, 4) для QImage
+        rgb_array = rgb_array.reshape(height, width, 4)
         # Преобразование RGB-данных в QImage
-        image = QImage(rgb, width, height, QImage.Format_RGB888)
-        pixmap = QPixmap.fromImage(image)
+        image = QImage(rgb_array, width, height, QImage.Format_RGBA8888)
+        image = image.convertToFormat(QImage.Format_RGB888)
         
+        pixmap = QPixmap.fromImage(image)
+
         # Обновление изображения на QLabel
         self.label.setPixmap(pixmap)
-        
\ No newline at end of file
+        self.label.repaint()
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.magenta)
+        self.setPalette(p)
+        super().paintEvent(event)
\ No newline at end of file
diff --git a/logger.py b/logger.py
index cd1c168..f1cc36d 100644
--- a/logger.py
+++ b/logger.py
@@ -4,7 +4,7 @@ import logging
 # Настройка логгера
 logging.basicConfig(
     level=logging.DEBUG,  # Уровень логирования
-    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
+    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s - %(filename)s - %(lineno)d",
     handlers=[
         logging.FileHandler("app.log"),  # Запись в файл
         logging.StreamHandler(sys.stdout),  # Вывод в консоль
diff --git a/poetry.lock b/poetry.lock
index b49bdca..38a78b0 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -45,6 +45,98 @@ files = [
     {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
 ]
 
+[[package]]
+name = "pillow"
+version = "11.0.0"
+description = "Python Imaging Library (Fork)"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "pillow-11.0.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:6619654954dc4936fcff82db8eb6401d3159ec6be81e33c6000dfd76ae189947"},
+    {file = "pillow-11.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b3c5ac4bed7519088103d9450a1107f76308ecf91d6dabc8a33a2fcfb18d0fba"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a65149d8ada1055029fcb665452b2814fe7d7082fcb0c5bed6db851cb69b2086"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:88a58d8ac0cc0e7f3a014509f0455248a76629ca9b604eca7dc5927cc593c5e9"},
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+    {file = "pillow-11.0.0.tar.gz", hash = "sha256:72bacbaf24ac003fea9bff9837d1eedb6088758d41e100c1552930151f677739"},
+]
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=8.1)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinxext-opengraph"]
+fpx = ["olefile"]
+mic = ["olefile"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+typing = ["typing-extensions"]
+xmp = ["defusedxml"]
+
 [[package]]
 name = "popsicle"
 version = "0.9.6"
@@ -179,4 +271,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.12"
-content-hash = "674afa8962f34256e63f5d5af6be94013e2c39e9880191eb3caecc9f70dcf704"
+content-hash = "f85dffb2208f45a3e3405ff57e5215d35ca57ed3e846c4f1580cd20bb4111491"
diff --git a/pyproject.toml b/pyproject.toml
index 7cfbcec..4113f46 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,6 +13,7 @@ pybullet = "^3.2.6"
 numpy = "^1.20"
 popsicle = "^0.9.6"
 pyqt5 = "^5.15.11"
+pillow = "^11.0.0"
 
 
 [build-system]
diff --git a/robot/client_socket.py b/robot/client_socket.py
index 342503b..2d686e7 100644
--- a/robot/client_socket.py
+++ b/robot/client_socket.py
@@ -46,38 +46,50 @@ class SocketRobotArm:
         self.body_id = None
         threading.Thread(target=self.run_pybullet, daemon=True).start()
 
-        # self.socket.connect((self.host, self.port))
-        # self.cycle_base()
-
     def __exit__(self, exc_type, exc_value, traceback):
         print("exiting")
         self.socket.close()
 
     def run_pybullet(self):
         self.physics_client = p.connect(p.GUI)
-        
         p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
-        
+
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
         if not os.path.exists(urdf_path):
             raise FileNotFoundError(f"URDF file not found: {urdf_path}")
-        
-        self.body_id = p.loadURDF(
-            urdf_path,
-            [0, 0, 0],
-            useFixedBase=True,
-        )
-        
-        logger.info(f"Loaded URDF: {urdf_path} with body ID: {self.body_id}")
+
+        p.loadURDF("plane.urdf")
+        self.body_id = p.loadURDF(urdf_path, [0, 0, 0], useFixedBase=True)
+        logger.info(f"Загружена модель {urdf_path}, id: {self.body_id}")
+
+        threading.Thread(target=self.simulation_loop, daemon=True).start()
+
+    def simulation_loop(self):
+        logger.info(f"Загружена simulation loop")
+        while True:
+            bodyUniqueId = self.body_id
+            position, orientation = p.getBasePositionAndOrientation(bodyUniqueId)
+            # logger.info(f"Position: {position}, Orientation: {orientation}")
+
+            # Получение состояния суставов
+            num_joints = p.getNumJoints(bodyUniqueId)
+            joint_states = p.getJointStates(bodyUniqueId, range(num_joints))
+
+            for i, state in enumerate(joint_states):
+                joint_position = state[0]  # Угол
+                joint_velocity = state[1]  # Угловая скорость
+                # logger.info(f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}")
+
+            p.stepSimulation()
+            time.sleep(1 / 24)  # 24 кадра в секунду
 
     def get_pybullet_image(self):
-        p.stepSimulation()
         width, height, rgb, _, _ = p.getCameraImage(
-            width=800,
-            height=800,
+            width=640,
+            height=640,
             viewMatrix=p.computeViewMatrix(
-                cameraEyePosition=[0, 0, 1],
+                cameraEyePosition=[2, 2, 2],
                 cameraTargetPosition=[0, 0, 0],
                 cameraUpVector=[0, 0, 1],
             ),
@@ -87,6 +99,10 @@ class SocketRobotArm:
             renderer=p.ER_BULLET_HARDWARE_OPENGL,
             physicsClientId=self.physics_client,
         )
+        logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
+
+        
+
         return (rgb, width, height)
 
     def close(self):
@@ -172,17 +188,19 @@ class SocketRobotArm:
             targetPosition=coordinates,
         )
         print(joint_angles)
-        return joint_angles
+        logger.info(joint_angles)
 
     def set_text(self, text):
-        print(text)
+        logger.info(text)
 
     def set_joint(self, coordinates):
-        logger.info('set joint')
+        logger.info("set joints")
         num_joints = p.getNumJoints(self.body_id)
+        if coordinates is None:
+            return
         for joint_index in range(0, num_joints):
-            # if not joint_index in coordinates:
-            #     return
+            if coordinates[joint_index] is None:
+                return
             p.setJointMotorControl2(
                 bodyUniqueId=self.body_id,
                 jointIndex=joint_index,
diff --git a/test_img/rgbtest/1729864017.8655076.png b/test_img/rgbtest/1729864017.8655076.png
new file mode 100644
index 0000000..d744e0f
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diff --git a/test_img/rgbtest/1729864018.8218076.png b/test_img/rgbtest/1729864018.8218076.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864018.8218076.png differ
diff --git a/test_img/rgbtest/1729864019.8229418.png b/test_img/rgbtest/1729864019.8229418.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864019.8229418.png differ
diff --git a/test_img/rgbtest/1729864020.8203454.png b/test_img/rgbtest/1729864020.8203454.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864020.8203454.png differ
diff --git a/test_img/rgbtest/1729864021.820057.png b/test_img/rgbtest/1729864021.820057.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864021.820057.png differ
diff --git a/test_img/rgbtest/1729864022.8336563.png b/test_img/rgbtest/1729864022.8336563.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864022.8336563.png differ
diff --git a/test_img/rgbtest/1729864023.8190641.png b/test_img/rgbtest/1729864023.8190641.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864023.8190641.png differ
diff --git a/test_img/rgbtest/1729864024.8264525.png b/test_img/rgbtest/1729864024.8264525.png
new file mode 100644
index 0000000..d744e0f
Binary files /dev/null and b/test_img/rgbtest/1729864024.8264525.png differ
diff --git a/urdf/borunte_macro.urdf b/urdf/borunte_macro.urdf
index a2a5404..c663fcd 100644
--- a/urdf/borunte_macro.urdf
+++ b/urdf/borunte_macro.urdf
@@ -10,14 +10,14 @@
   <link name="base_link">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/base_link.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="Black"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/base_link_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -25,14 +25,14 @@
   <link name="link_1">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_1.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_1_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -44,14 +44,14 @@
   <link name="link_2">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_2.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_2_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -63,14 +63,14 @@
   <link name="link_3">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_3.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_3_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
     </collision>
@@ -82,14 +82,14 @@
   <link name="link_4">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_4.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4.stl"/>
       </geometry>
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_4_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -101,14 +101,14 @@
   <link name="link_5">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_5.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_5_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5_collision.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -120,14 +120,14 @@
   <link name="link_6">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_6.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6.stl"/>
       </geometry>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_6_collision.stl"/>
+        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6_collision.stl"/>
       </geometry>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
     </collision>