diff --git a/__init__.py b/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/app.log b/app.log
index b1b5523..15c0fe8 100644
--- a/app.log
+++ b/app.log
@@ -4764,3 +4764,10618 @@
 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
+2024-10-25 16:59:13,740 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-25 16:59:13,864 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-25 16:59:14,828 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:15,802 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:16,806 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:17,809 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:18,809 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:19,812 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:20,813 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:21,807 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:22,799 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:23,808 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:24,801 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:25,803 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:26,804 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:27,808 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:28,814 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:29,807 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:30,812 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:31,810 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:32,806 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:33,820 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:34,805 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:35,792 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:36,819 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:37,798 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:38,808 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:39,815 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:40,811 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-25 16:59:41,806 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:28,297 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:38:28,307 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:38:29,360 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:30,287 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:31,237 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:32,191 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:33,153 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:34,150 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:35,168 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:36,164 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:37,167 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:38,148 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:39,164 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:40,159 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:41,158 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:42,160 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:43,165 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:44,170 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:45,164 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:46,170 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:47,156 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:48,162 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:49,162 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:50,151 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:51,171 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:52,158 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:38:53,159 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:24,360 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:41:24,360 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:41:25,552 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:26,592 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:27,640 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:28,678 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:29,666 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:30,703 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:31,666 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:32,705 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:33,702 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:41:34,748 - logger - INFO - Image size: 640x640, RGB data length: 640 - client_socket.py - 102
+2024-10-28 08:42:13,637 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:42:13,637 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:42:27,498 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:42:27,498 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:42:34,755 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 191
+2024-10-28 08:42:35,256 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:42:35,317 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 191
+2024-10-28 08:42:35,819 - logger - INFO - (-0.7874318725328977, 0.4259477474238512, -0.035435731648028296, -1.0294426023326313, -0.9392975402627024, -2.976691394376378e-07) - client_socket.py - 188
+2024-10-28 08:42:35,819 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:42:35,819 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 191
+2024-10-28 08:43:23,801 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:43:23,801 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:43:29,416 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 191
+2024-10-28 08:43:29,917 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:43:29,978 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 191
+2024-10-28 08:43:30,479 - logger - INFO - (-0.8176619769062504, 0.41781309341508843, -0.02730107836352691, -1.022512003349623, -0.9762674801362723, -3.2638551908781185e-07) - client_socket.py - 188
+2024-10-28 08:43:30,480 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:43:30,480 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 191
+2024-10-28 08:43:42,213 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 08:43:42,213 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 08:43:46,438 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 191
+2024-10-28 08:43:46,939 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:43:47,001 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 191
+2024-10-28 08:43:47,502 - logger - INFO - (-1.0599979431472706, 0.9433584699806039, -0.5528441845936541, -1.0826681325005614, -0.939297540263324, -3.998747302640335e-07) - client_socket.py - 188
+2024-10-28 08:43:47,502 - logger - INFO - set joints - client_socket.py - 194
+2024-10-28 08:43:47,503 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 191
+2024-10-28 08:50:48,319 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:50:48,320 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:51:04,669 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:51:04,671 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:51:50,969 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:51:50,970 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:52:26,916 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:52:26,917 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:53:07,905 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:53:07,905 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:53:37,238 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:53:37,238 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:53:56,998 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 08:53:56,999 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:54:13,824 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:54:13,825 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:54:21,875 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 192
+2024-10-28 08:54:22,376 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:54:22,437 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 192
+2024-10-28 08:54:22,938 - logger - INFO - (-0.7942975101637682, 0.4306508438720624, -0.040138832804515745, -1.0289695739218017, -0.9392975402626996, -2.973056906305343e-07) - client_socket.py - 189
+2024-10-28 08:54:22,939 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:54:22,939 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 192
+2024-10-28 08:54:33,960 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:54:33,962 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:54:43,776 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 08:54:43,776 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:54:55,373 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:54:55,375 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:55:14,750 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 08:55:14,750 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:57:27,597 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:57:27,597 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:57:59,454 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 08:57:59,456 - logger - INFO - Загружена simulation loop - client_socket.py - 70
+2024-10-28 08:58:35,049 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 192
+2024-10-28 08:58:35,550 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:58:35,617 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 192
+2024-10-28 08:58:36,118 - logger - INFO - (-1.04865804612498, 0.9595110690409137, -0.5640672579410583, -1.0832715718671537, -0.9392975402632844, -4.2802548363453374e-07) - client_socket.py - 189
+2024-10-28 08:58:36,119 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:58:36,120 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 192
+2024-10-28 08:58:39,816 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 192
+2024-10-28 08:58:40,317 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:58:40,379 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 192
+2024-10-28 08:58:40,881 - logger - INFO - (-1.5071871886176367, 1.2635919544828877, -0.7399862657695074, -1.1281568982399364, -1.3089938574628008, -1.6706010281732336e-06) - client_socket.py - 189
+2024-10-28 08:58:40,883 - logger - INFO - set joints - client_socket.py - 195
+2024-10-28 08:58:40,883 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 192
+2024-10-28 08:59:48,057 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 65
+2024-10-28 09:01:56,803 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:01:56,867 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:01:57,039 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:01:57,133 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:01:58,643 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:01:59,661 - logger - INFO - KUKA ID: 5 - client_socket.py - 82
+2024-10-28 09:02:00,945 - logger - INFO - Husky ID: 6 - client_socket.py - 85
+2024-10-28 09:02:01,495 - logger - INFO - Samurai ID: 7 - client_socket.py - 88
+2024-10-28 09:02:04,009 - logger - INFO - Racecar ID: 8 - client_socket.py - 92
+2024-10-28 09:02:04,295 - logger - INFO - Teddy ID: 9 - client_socket.py - 96
+2024-10-28 09:02:04,578 - logger - INFO - Lego ID: 10 - client_socket.py - 99
+2024-10-28 09:02:06,311 - logger - INFO - Загружена модель urdf/sample.urdf, id: 11 - client_socket.py - 101
+2024-10-28 09:07:23,703 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:07:23,923 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:07:23,993 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:07:24,363 - logger - INFO - Загружена модель urdf/sample.urdf, id: 3 - client_socket.py - 102
+2024-10-28 09:07:33,378 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:07:33,443 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:07:33,514 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:07:33,841 - logger - INFO - Загружена модель urdf/sample.urdf, id: 3 - client_socket.py - 102
+2024-10-28 09:07:40,564 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:07:40,791 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:07:40,886 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:07:40,964 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:07:41,363 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:07:48,002 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:07:48,091 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:07:48,282 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:07:48,359 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:07:49,255 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:07:49,612 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:08:00,605 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:08:00,703 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:08:00,776 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:08:00,869 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:08:01,849 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:08:02,303 - logger - INFO - KUKA ID: 5 - client_socket.py - 82
+2024-10-28 09:08:02,739 - logger - INFO - Загружена модель urdf/sample.urdf, id: 6 - client_socket.py - 102
+2024-10-28 09:08:09,598 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:08:09,836 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:08:09,918 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:08:09,989 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:08:10,838 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:08:11,281 - logger - INFO - KUKA ID: 5 - client_socket.py - 82
+2024-10-28 09:08:12,150 - logger - INFO - Husky ID: 6 - client_socket.py - 85
+2024-10-28 09:08:12,732 - logger - INFO - Загружена модель urdf/sample.urdf, id: 7 - client_socket.py - 102
+2024-10-28 09:08:15,893 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:08:15,993 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:08:16,165 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:08:16,244 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:08:17,105 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:08:17,603 - logger - INFO - KUKA ID: 5 - client_socket.py - 82
+2024-10-28 09:08:18,345 - logger - INFO - Husky ID: 6 - client_socket.py - 85
+2024-10-28 09:08:18,915 - logger - INFO - Загружена модель urdf/sample.urdf, id: 7 - client_socket.py - 102
+2024-10-28 09:08:34,306 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:08:34,396 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:08:34,482 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:08:34,566 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:08:35,485 - logger - INFO - R2D2 ID: 4 - client_socket.py - 79
+2024-10-28 09:08:35,929 - logger - INFO - KUKA ID: 5 - client_socket.py - 82
+2024-10-28 09:08:36,928 - logger - INFO - Husky ID: 6 - client_socket.py - 85
+2024-10-28 09:08:37,559 - logger - INFO - Загружена модель urdf/sample.urdf, id: 7 - client_socket.py - 102
+2024-10-28 09:08:59,572 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:08:59,787 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:08:59,865 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:08:59,944 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:09:00,634 - logger - INFO - Samurai ID: 4 - client_socket.py - 88
+2024-10-28 09:09:01,388 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:09:37,860 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:09:37,970 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:09:38,072 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:09:38,142 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:09:38,853 - logger - INFO - Samurai ID: 4 - client_socket.py - 88
+2024-10-28 09:09:39,561 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:09:46,081 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:09:46,165 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:09:46,248 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:09:46,356 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:09:47,126 - logger - INFO - Samurai ID: 4 - client_socket.py - 88
+2024-10-28 09:09:47,898 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:09:54,663 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:09:54,917 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:09:54,982 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:09:55,062 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:09:55,757 - logger - INFO - Samurai ID: 4 - client_socket.py - 88
+2024-10-28 09:09:56,529 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:10:18,808 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:10:18,996 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:10:19,073 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:10:19,157 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:10:19,857 - logger - INFO - Samurai ID: 4 - client_socket.py - 88
+2024-10-28 09:10:21,217 - logger - INFO - Racecar ID: 5 - client_socket.py - 92
+2024-10-28 09:10:22,285 - logger - INFO - Загружена модель urdf/sample.urdf, id: 6 - client_socket.py - 102
+2024-10-28 09:10:33,413 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:10:33,480 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:10:33,581 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:10:33,664 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:10:34,213 - logger - INFO - Racecar ID: 4 - client_socket.py - 92
+2024-10-28 09:10:34,626 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:10:49,098 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:10:49,205 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:10:49,280 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:10:49,485 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:10:49,559 - logger - INFO - Teddy ID: 4 - client_socket.py - 96
+2024-10-28 09:10:49,993 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:13:51,192 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:13:51,404 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:13:51,500 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:13:51,618 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:13:51,732 - logger - INFO - Lego ID: 4 - client_socket.py - 99
+2024-10-28 09:13:52,125 - logger - INFO - Загружена модель urdf/sample.urdf, id: 5 - client_socket.py - 102
+2024-10-28 09:14:21,922 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:14:22,136 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:14:22,202 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:14:22,302 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:14:22,674 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:15:58,054 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:15:58,173 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:15:58,253 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:15:58,330 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:15:58,745 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:16:20,084 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:16:20,151 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:16:20,335 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:16:20,429 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:16:20,782 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:16:31,832 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:16:31,903 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:16:32,095 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:16:32,167 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:16:32,524 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:19:38,721 - logger - INFO - /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data - client_socket.py - 61
+2024-10-28 09:19:38,938 - logger - INFO - Plane ID: 0 - client_socket.py - 65
+2024-10-28 09:19:39,140 - logger - INFO - Sphere ID: 1 - client_socket.py - 69
+2024-10-28 09:19:39,208 - logger - INFO - Cube ID: 2 - client_socket.py - 72
+2024-10-28 09:19:39,271 - logger - INFO - Duck ID: 3 - client_socket.py - 75
+2024-10-28 09:19:39,622 - logger - INFO - Загружена модель urdf/sample.urdf, id: 4 - client_socket.py - 102
+2024-10-28 09:23:41,080 - logger - INFO - /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data - client_socket.py - 62
+2024-10-28 09:23:41,491 - logger - INFO - Plane ID: 0 - client_socket.py - 66
+2024-10-28 09:23:41,660 - logger - INFO - test_id: 1 - client_socket.py - 70
+2024-10-28 09:23:42,040 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 73
+2024-10-28 09:24:46,861 - logger - INFO - /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data - client_socket.py - 62
+2024-10-28 09:24:47,073 - logger - INFO - Plane ID: 0 - client_socket.py - 66
+2024-10-28 09:24:47,266 - logger - INFO - test_id: 1 - client_socket.py - 70
+2024-10-28 09:24:47,608 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 73
+2024-10-28 09:37:46,564 - logger - INFO - /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data - client_socket.py - 62
+2024-10-28 09:37:46,793 - logger - INFO - Plane ID: 0 - client_socket.py - 66
+2024-10-28 09:37:47,054 - logger - INFO - test_id: 1 - client_socket.py - 70
+2024-10-28 09:37:47,360 - logger - INFO - Загружена модель urdf/sample.urdf, id: 2 - client_socket.py - 73
+2024-10-28 09:39:58,124 - logger - INFO - /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data - client_socket.py - 62
+2024-10-28 09:39:58,331 - logger - INFO - Plane ID: 0 - client_socket.py - 66
+2024-10-28 09:39:58,649 - logger - INFO - test_id: 1 - client_socket.py - 70
+2024-10-28 09:42:50,433 - logger - INFO - Загружена модель plane.urdf, ID: 1 - client_socket.py - 80
+2024-10-28 09:42:50,553 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 84
+2024-10-28 09:42:51,719 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 2 - client_socket.py - 80
+2024-10-28 09:42:51,724 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 84
+2024-10-28 09:42:52,785 - logger - INFO - Загружена модель sphere2.urdf, ID: 3 - client_socket.py - 80
+2024-10-28 09:42:52,786 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 84
+2024-10-28 09:42:53,786 - logger - WARNING - Файл /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data/cylinder.urdf не найден. - client_socket.py - 75
+2024-10-28 09:42:53,786 - logger - WARNING - Файл /home/aarizona/.cache/pypoetry/virtualenvs/modbus-test-vv4AeaVH-py3.10/lib/python3.10/site-packages/pybullet_data/box.urdf не найден. - client_socket.py - 75
+2024-10-28 09:42:54,390 - logger - INFO - Загружена модель samurai.urdf, ID: 4 - client_socket.py - 80
+2024-10-28 09:42:54,393 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 84
+2024-10-28 09:43:25,723 - logger - INFO - Загружена модель plane.urdf, ID: 1 - client_socket.py - 78
+2024-10-28 09:43:25,725 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:43:26,910 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 2 - client_socket.py - 78
+2024-10-28 09:43:26,910 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:43:28,008 - logger - INFO - Загружена модель sphere2.urdf, ID: 3 - client_socket.py - 78
+2024-10-28 09:43:28,009 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:43:29,726 - logger - INFO - Загружена модель samurai.urdf, ID: 4 - client_socket.py - 78
+2024-10-28 09:43:29,858 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:44:48,908 - logger - INFO - Загружена модель plane.urdf, ID: 1 - client_socket.py - 78
+2024-10-28 09:44:48,915 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:44:48,916 - logger - INFO - Размеры модели plane.urdf: [200.002, 200.002, 10.002000000000002] - client_socket.py - 87
+2024-10-28 09:44:50,175 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 2 - client_socket.py - 78
+2024-10-28 09:44:50,176 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:44:50,176 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 87
+2024-10-28 09:44:51,251 - logger - INFO - Загружена модель sphere2.urdf, ID: 3 - client_socket.py - 78
+2024-10-28 09:44:51,256 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:44:51,257 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 87
+2024-10-28 09:44:52,910 - logger - INFO - Загружена модель samurai.urdf, ID: 4 - client_socket.py - 78
+2024-10-28 09:44:52,912 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 82
+2024-10-28 09:44:52,912 - logger - INFO - Размеры модели samurai.urdf: [123.00200000000001, 117.18758735299178, 90.08240624841366] - client_socket.py - 87
+2024-10-28 09:45:20,622 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:45:20,622 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:45:20,623 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:45:21,726 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:45:21,730 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:45:21,740 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:45:23,415 - logger - INFO - Загружена модель samurai.urdf, ID: 3 - client_socket.py - 77
+2024-10-28 09:45:23,416 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:45:23,417 - logger - INFO - Размеры модели samurai.urdf: [123.00200000000001, 117.18758735299178, 90.08240624841366] - client_socket.py - 86
+2024-10-28 09:45:53,703 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:45:53,703 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:45:53,704 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:45:54,778 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:45:54,778 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:45:54,778 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:48:13,675 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:48:13,677 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:48:13,678 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:48:14,769 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:48:14,770 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:48:14,771 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:48:32,727 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:48:32,728 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:48:32,728 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:48:33,823 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:48:33,823 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:48:33,823 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:49:56,682 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:49:56,683 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:49:56,683 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:49:57,749 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:49:57,750 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:49:57,750 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:49:59,399 - logger - INFO - Загружена модель samurai.urdf, ID: 3 - client_socket.py - 77
+2024-10-28 09:49:59,399 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:49:59,400 - logger - INFO - Размеры модели samurai.urdf: [12300.002, 11718.560735299177, 9008.042624841368] - client_socket.py - 86
+2024-10-28 09:51:27,602 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:51:27,602 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:51:27,602 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:51:28,673 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:51:28,675 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:51:28,676 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:51:30,307 - logger - INFO - Загружена модель samurai.urdf, ID: 3 - client_socket.py - 77
+2024-10-28 09:51:30,445 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:51:30,449 - logger - INFO - Размеры модели samurai.urdf: [123.00200000000001, 117.18758735299178, 90.08240624841366] - client_socket.py - 86
+2024-10-28 09:53:50,490 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:53:50,491 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:53:50,491 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:53:51,556 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:53:51,557 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:53:51,557 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:53:53,107 - logger - INFO - Загружена модель samurai.urdf, ID: 3 - client_socket.py - 77
+2024-10-28 09:53:53,210 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:53:53,214 - logger - INFO - Размеры модели samurai.urdf: [1230.002, 1171.8578735299177, 900.8060624841366] - client_socket.py - 86
+2024-10-28 09:54:14,218 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 77
+2024-10-28 09:54:14,219 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:54:14,220 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 86
+2024-10-28 09:54:15,304 - logger - INFO - Загружена модель sphere2.urdf, ID: 2 - client_socket.py - 77
+2024-10-28 09:54:15,306 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:54:15,307 - logger - INFO - Размеры модели sphere2.urdf: [0.0, 0.0, 0.0] - client_socket.py - 86
+2024-10-28 09:54:16,868 - logger - INFO - Загружена модель samurai.urdf, ID: 3 - client_socket.py - 77
+2024-10-28 09:54:16,868 - logger - INFO - Позиция: (0.0, 0.0, 1.0), Ориентация: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 81
+2024-10-28 09:54:16,869 - logger - INFO - Размеры модели samurai.urdf: [12300.002, 11718.560735299177, 9008.042624841368] - client_socket.py - 86
+2024-10-28 09:58:58,149 - logger - INFO - Загружена модель cube_no_rotation.urdf, ID: 1 - client_socket.py - 80
+2024-10-28 09:58:58,151 - logger - INFO - Размеры модели cube_no_rotation.urdf: [0.002, 0.002, 0.0019999999999998908] - client_socket.py - 85
+2024-10-28 09:58:58,275 - logger - INFO - Размеры модели cube_no_rotation.urdf вне диапазона. Применяем масштабирование. - client_socket.py - 89
+2024-10-28 09:58:58,298 - logger - INFO - Масштабные факторы для модели cube_no_rotation.urdf: [5000.0, 5000.0, 5000.000000000273] - client_socket.py - 95
+2024-10-28 10:13:31,163 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 85
+2024-10-28 10:13:31,164 - logger - INFO - Загружена simulation loop - client_socket.py - 90
+2024-10-28 10:14:15,019 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 77
+2024-10-28 10:14:15,026 - logger - INFO - Загружена simulation loop - client_socket.py - 82
+2024-10-28 10:14:48,773 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 79
+2024-10-28 10:14:48,775 - logger - INFO - Загружена simulation loop - client_socket.py - 84
+2024-10-28 10:18:01,363 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:18:01,369 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:20:34,590 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:20:34,591 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:45:00,679 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:45:00,683 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:54:10,096 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:54:10,101 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:54:57,254 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:54:57,256 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:58:13,402 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:58:13,407 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 10:58:23,383 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 10:58:23,384 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:01:43,764 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:01:43,771 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:03:56,836 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:03:56,968 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:04:12,233 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:04:12,357 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:07:36,249 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:07:36,249 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:07:54,844 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:07:54,849 - logger - INFO - Загружена simulation loop - client_socket.py - 69
+2024-10-28 11:08:34,513 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:08:34,514 - logger - INFO - Нчат цикл симуляции - client_socket.py - 69
+2024-10-28 11:08:34,514 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,556 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,598 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,642 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,684 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,727 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,769 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,812 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,855 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,898 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,940 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:34,983 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,026 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,069 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,172 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,214 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,257 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,299 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,342 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,386 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,430 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,472 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,514 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,556 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,599 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,642 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,685 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,727 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,770 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,814 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,857 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,899 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,942 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:35,984 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,026 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,072 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,149 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,192 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,234 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,276 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,319 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,361 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,404 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,446 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,489 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,533 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,577 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,620 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,663 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,706 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,749 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,792 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,836 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,879 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,922 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:36,965 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,007 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,049 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,092 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,154 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,196 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,240 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,283 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,327 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,369 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,412 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,455 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:08:37,497 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
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+2024-10-28 11:09:40,191 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,234 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,276 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,319 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,361 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,405 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,448 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,490 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,533 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,576 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,618 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,662 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,704 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,747 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,791 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,833 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,877 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,919 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:40,963 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,006 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,049 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,093 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,148 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,191 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,233 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,276 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,318 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,361 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,403 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,446 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,489 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,531 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,573 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,615 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,658 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,700 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,742 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,784 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,826 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,869 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,911 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,953 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:41,996 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:42,038 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:42,081 - logger - INFO - Position: (0.0, 0.0, 0.0), Orientation: (0.0, 0.0, 0.0, 1.0) - client_socket.py - 73
+2024-10-28 11:09:47,592 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:09:47,712 - logger - INFO - Нчат цикл симуляции - client_socket.py - 69
+2024-10-28 11:09:47,730 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: 0.0, Velocity: 0.0 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,772 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,815 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,858 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:47,986 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.0, Velocity: 0.0 | Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,028 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27 | Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,071 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27 | Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,113 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17 | Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 0.0, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,156 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17 | Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,199 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18 | Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,241 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18 | Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,284 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18 | Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,326 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18 | Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,368 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18 | Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,410 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18 | Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,453 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18 | Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,495 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18 | Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,537 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18 | Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,580 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18 | Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,671 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19 | Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,714 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19 | Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,756 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19 | Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,798 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19 | Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,840 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19 | Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,885 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19 | Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,927 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19 | Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:48,970 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19 | Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,013 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19 | Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,057 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19 | Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,101 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20 | Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,144 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20 | Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,186 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20 | Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,228 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20 | Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,271 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20 | Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,313 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20 | Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,355 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20 | Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,397 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20 | Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,439 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20 | Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,482 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20 | Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,524 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21 | Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,566 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21 | Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,646 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21 | Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,693 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.247253137134666e-23, Velocity: 4.948351882283645e-21 | Joint 2 - Position: -0.14332259109161855, Velocity: -1.5442422163820702 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,735 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.597802509707732e-23, Velocity: 3.958681505824641e-21 | Joint 2 - Position: -0.1499091372398076, Velocity: -1.5807710755653708 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,777 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.2782420077661853e-23, Velocity: 3.166945204659712e-21 | Joint 2 - Position: -0.1566482427466997, Velocity: -1.6173853216541023 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,820 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.2225917943511196e-23, Velocity: 2.533560512196158e-21 | Joint 2 - Position: -0.16354026499750535, Velocity: -1.6540853401933553 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: -6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,862 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.378071892883589e-23, Velocity: 2.026847763522073e-21 | Joint 2 - Position: -0.17058556249247114, Velocity: -1.6908713987917885 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,905 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.7024575872966984e-23, Velocity: 1.621474333408537e-21 | Joint 2 - Position: -0.17778449434076524, Velocity: -1.7277436435905835 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,948 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.1619660698351495e-23, Velocity: 1.297179641907717e-21 | Joint 2 - Position: -0.18513741973946946, Velocity: -1.7647020956890125 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:49,990 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.7295728558597816e-23, Velocity: 1.0377437135408826e-21 | Joint 2 - Position: -0.19264469743750381, Velocity: -1.8017466475282458 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,033 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.383658284681577e-23, Velocity: 8.301949708276911e-22 | Joint 2 - Position: -0.20030668518431755, Velocity: -1.8388770592352988 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,076 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1069266277452615e-23, Velocity: 6.64155976647157e-22 | Joint 2 - Position: -0.20812373916318927, Velocity: -1.8760929549292118 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,120 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.855413021872141e-24, Velocity: 5.313247813393138e-22 | Joint 2 - Position: -0.21609621340898844, Velocity: -1.9133938189918018 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,162 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22 | Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,205 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22 | Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,248 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22 | Joint 2 - Position: -0.24094965320361023, Velocity: -2.025798889941715 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,291 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22 | Joint 2 - Position: -0.24954728463808362, Velocity: -2.0634315442736124 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,335 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.9017417388420358e-24, Velocity: 1.7410450438003042e-22 | Joint 2 - Position: -0.2583020528054649, Velocity: -2.1011443601715136 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,379 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.3213933910736287e-24, Velocity: 1.3928360346441772e-22 | Joint 2 - Position: -0.2672142857373685, Velocity: -2.1389359036568534 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,421 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.857114712858903e-24, Velocity: 1.1142688277153418e-22 | Joint 2 - Position: -0.2762843047964066, Velocity: -2.176804574169146 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,465 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4856917702871223e-24, Velocity: 8.914150621722734e-23 | Joint 2 - Position: -0.2855124239658636, Velocity: -2.21474860066969 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,510 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1885534162296978e-24, Velocity: 7.131320497378188e-23 | Joint 2 - Position: -0.29489894912312714, Velocity: -2.2527660377432484 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,552 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.508427329837582e-25, Velocity: 5.70505639790255e-23 | Joint 2 - Position: -0.3044441772968897, Velocity: -2.2908547617030135 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,648 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.606741863870065e-25, Velocity: 4.56404511832204e-23 | Joint 2 - Position: -0.3141483959081581, Velocity: -2.329012466704403 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,690 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.085393491038684e-25, Velocity: 3.651236094795314e-23 | Joint 2 - Position: -0.3240118819951316, Velocity: -2.367236660873649 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,732 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.868314792830948e-25, Velocity: 2.9209888756985685e-23 | Joint 2 - Position: -0.3340349014220375, Velocity: -2.405524662457417 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,775 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.89465183324426e-25, Velocity: 2.3367911030080512e-23 | Joint 2 - Position: -0.34421770807203833, Velocity: -2.4438735960002016 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,819 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.115721466595408e-25, Velocity: 1.8694328799572446e-23 | Joint 2 - Position: -0.3545605430243567, Velocity: -2.4822803885564033 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,861 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.4925771732763263e-25, Velocity: 1.495546303965796e-23 | Joint 2 - Position: -0.36506363371579226, Velocity: -2.520741765944533 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,906 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.994061738621061e-25, Velocity: 1.1964370431726367e-23 | Joint 2 - Position: -0.37572719308683933, Velocity: -2.559254249051293 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,948 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.5952493908968488e-25, Velocity: 9.571496345381096e-24 | Joint 2 - Position: -0.38655141871264603, Velocity: -2.597814150193612 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:50,990 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.2761995119398513e-25, Velocity: 7.657197094967941e-24 | Joint 2 - Position: -0.3975364919190929, Velocity: -2.6364175695472474 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,032 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.020959609551881e-25, Velocity: 6.125757657311286e-24 | Joint 2 - Position: -0.4086825768843045, Velocity: -2.6750603916507845 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,075 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.167676876415048e-26, Velocity: 4.900606125849028e-24 | Joint 2 - Position: -0.41998981972594723, Velocity: -2.7137382819942664 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,119 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.534141498385296e-26, Velocity: 3.920484907271408e-24 | Joint 2 - Position: -0.43145834757470647, Velocity: -2.7524466837022197 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,163 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.227313198708237e-26, Velocity: 3.1363879192249422e-24 | Joint 2 - Position: -0.4430882676343774, Velocity: -2.791180814321033 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,205 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.1812205295127573e-26, Velocity: 2.5106224060691504e-24 | Joint 2 - Position: -0.45487966622904835, Velocity: -2.829935662721029 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,247 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.3449764251456564e-26, Velocity: 2.006985850481042e-24 | Joint 2 - Position: -0.46683260783789904, Velocity: -2.8687059861241653 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,289 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.675981140116525e-26, Velocity: 1.6055886840699154e-24 | Joint 2 - Position: -0.4789471341181836, Velocity: -2.9074863072683073 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,332 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.14078491209322e-26, Velocity: 1.2844709472559318e-24 | Joint 2 - Position: -0.49122326291701557, Velocity: -2.946270911719665 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,374 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.712627929674576e-26, Velocity: 1.0275767578047454e-24 | Joint 2 - Position: -0.5036609872726204, Velocity: -2.9850538453451576 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,416 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.3701023437396609e-26, Velocity: 8.220614062437965e-25 | Joint 2 - Position: -0.5162602744057737, Velocity: -3.0238289119568 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,459 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.0960818749917287e-26, Velocity: 6.576491249950371e-25 | Joint 2 - Position: -0.5290210647021931, Velocity: -3.0625896711406484 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,502 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.76865499993383e-27, Velocity: 5.261192999960298e-25 | Joint 2 - Position: -0.5419432706867052, Velocity: -3.1013294362829176 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,544 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.014923808053129e-27, Velocity: 4.20895486051368e-25 | Joint 2 - Position: -0.5550267759900651, Velocity: -3.140041272806367 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,587 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.6119390464425035e-27, Velocity: 3.367163427865502e-25 | Joint 2 - Position: -0.5682714343093573, Velocity: -3.1787179966301324 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,655 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.489551237154002e-27, Velocity: 2.6937307422924027e-25 | Joint 2 - Position: -0.5816770683629676, Velocity: -3.2173521728664567 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,697 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.591640989723201e-27, Velocity: 2.154984593833921e-25 | Joint 2 - Position: -0.5952434688411679, Velocity: -3.2559361147680677 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,740 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.8733127644327747e-27, Velocity: 1.7239877406970238e-25 | Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,784 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25 | Joint 2 - Position: -0.6228575653735393, Velocity: -3.332921284829236 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,830 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.8389201692369758e-27, Velocity: 1.1033521015421854e-25 | Joint 2 - Position: -0.6369046731839898, Velocity: -3.3713058745081046 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,872 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26 | Joint 2 - Position: -0.6511113688204996, Velocity: -3.4096069527623567 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,915 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.176908775536859e-27, Velocity: 7.061452653221154e-26 | Joint 2 - Position: -0.6654772670184211, Velocity: -3.447815567501178 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:51,958 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.415270523196684e-28, Velocity: 5.649161357212577e-26 | Joint 2 - Position: -0.6800019441621767, Velocity: -3.48592251450134 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,000 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.532216418557347e-28, Velocity: 4.519329851134409e-26 | Joint 2 - Position: -0.6946849372392605, Velocity: -3.5239183385000983 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,042 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.025773134845877e-28, Velocity: 3.615463880907526e-26 | Joint 2 - Position: -0.7095257428003048, Velocity: -3.561793334650615 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,086 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.820617642012739e-28, Velocity: 2.892373182799531e-26 | Joint 2 - Position: -0.7245238159267782, Velocity: -3.5995375503536087 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,129 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.856494113610191e-28, Velocity: 2.3138964681661146e-26 | Joint 2 - Position: -0.7396785692079392, Velocity: -3.6371407874786357 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,171 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.0851952908881527e-28, Velocity: 1.851117174532892e-26 | Joint 2 - Position: -0.7549893717287233, Velocity: -3.6745926049881934 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,215 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.4681548803004054e-28, Velocity: 1.4808969854105937e-26 | Joint 2 - Position: -0.7704555480702957, Velocity: -3.711882321977393 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,258 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.9745239042403242e-28, Velocity: 1.1847143425441948e-26 | Joint 2 - Position: -0.7860763773250524, Velocity: -3.748999021141625 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,303 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.5796191233922594e-28, Velocity: 9.477714740353557e-27 | Joint 2 - Position: -0.8018510921279024, Velocity: -3.7859315526839987 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,345 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.041090078761382e-28, Velocity: 1.2924697071141057e-26 | Joint 2 - Position: -0.8177788777057108, Velocity: -3.8226685386740042 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,390 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.328720630091057e-29, Velocity: 4.997232378054634e-27 | Joint 2 - Position: -0.8338588709468273, Velocity: -3.8591983778679766 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,433 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.662976504072845e-29, Velocity: 3.997785902443707e-27 | Joint 2 - Position: -0.8500901594926668, Velocity: -3.895509251001477 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,476 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.330372326217766e-29, Velocity: 3.1982500268521894e-27 | Joint 2 - Position: -0.8664717808533448, Velocity: -3.9315891265627236 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,519 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.2642978609742124e-29, Velocity: 2.5585787165845276e-27 | Joint 2 - Position: -0.8830027215494095, Velocity: -3.9674257670555413 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,561 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.41143828877937e-29, Velocity: 2.046862973267622e-27 | Joint 2 - Position: -0.8996819162817399, Velocity: -4.003006735759279 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,654 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.729150631023496e-29, Velocity: 1.6374903786140977e-27 | Joint 2 - Position: -0.916508247131707, Velocity: -4.038319403992111 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,696 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.1833205048187967e-29, Velocity: 1.3099923028912781e-27 | Joint 2 - Position: -0.933480542793721, Velocity: -4.073350958883351 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,739 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.7466564038550373e-29, Velocity: 1.0479938423130225e-27 | Joint 2 - Position: -0.950597577842299, Velocity: -4.108088411658742 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,781 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.003337922778438e-30, Velocity: 3.2311742677852644e-27 | Joint 2 - Position: -0.9678580720358075, Velocity: -4.14251860644203 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,824 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.202670338222752e-30, Velocity: 1.9216022029336472e-28 | Joint 2 - Position: -0.9852606896590349, Velocity: -4.176628229574558 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,868 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.5621362705782015e-30, Velocity: 1.5372817623469213e-28 | Joint 2 - Position: -1.0028040389067563, Velocity: -4.210403819453111 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,911 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 1.0901089845193732e-29, Velocity: 3.2311742677852644e-27 | Joint 2 - Position: -1.020486671310445, Velocity: -4.2438317768853 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 2.8912057932946797e-20, Velocity: -6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,954 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.700743415392826e-18, Velocity: -8.881784196968946e-16 | Joint 2 - Position: -1.0383070812102766, Velocity: -4.276898375959605 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 6.938893903907228e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:52,996 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.96059473231426e-18, Velocity: 1.7763568393885582e-16 | Joint 2 - Position: -1.0562637052745534, Velocity: -4.309589775426409 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,039 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.3684757858480486e-18, Velocity: 1.421085471518908e-16 | Joint 2 - Position: -1.0743549220686535, Velocity: -4.341892030584041 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,081 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.894780628678439e-18, Velocity: 1.1368683772070633e-16 | Joint 2 - Position: -1.0925790516755804, Velocity: -4.373791105662476 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,124 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4211644206954398e-18, Velocity: 1.1366788991591977e-16 | Joint 2 - Position: -1.1109343553701467, Velocity: -4.405272886695929 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,168 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1369315365563518e-18, Velocity: 6.821589219338111e-17 | Joint 2 - Position: -1.1294190353487845, Velocity: -4.43632319487307 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,211 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.095452292450814e-19, Velocity: 5.457271375470488e-17 | Joint 2 - Position: -1.14803123451692, Velocity: -4.466927800352509 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,254 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.276361833960652e-19, Velocity: 4.365817100376391e-17 | Joint 2 - Position: -1.1667690363357903, Velocity: -4.497072436528926 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,296 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.821089467168518e-19, Velocity: 3.4926536803011206e-17 | Joint 2 - Position: -1.1856304647305138, Velocity: -4.526742814733621 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,338 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.366059645646258e-19, Velocity: 3.4920715716534245e-17 | Joint 2 - Position: -1.204613484061143, Velocity: -4.555924639351038 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,381 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.4928477165170067e-19, Velocity: 2.095708629910204e-17 | Joint 2 - Position: -1.2237159991583573, Velocity: -4.584603623331399 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,427 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.7942781732136054e-19, Velocity: 1.6765669039281635e-17 | Joint 2 - Position: -1.2429358554253458, Velocity: -4.612765504077242 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,469 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.2354225385708844e-19, Velocity: 1.3412535231425306e-17 | Joint 2 - Position: -1.262270839007346, Velocity: -4.640396059680077 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,512 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.7883380308567076e-19, Velocity: 1.0730028185140246e-17 | Joint 2 - Position: -1.281718677030185, Velocity: -4.667481125481334 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,555 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.430670424685366e-19, Velocity: 8.584022548112197e-18 | Joint 2 - Position: -1.3012770379090601, Velocity: -4.694006610930051 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,663 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.1445363397482929e-19, Velocity: 6.867218038489757e-18 | Joint 2 - Position: -1.3209435317286766, Velocity: -4.719958516707945 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,705 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.156290717986342e-20, Velocity: 5.493774430791806e-18 | Joint 2 - Position: -1.3407157106957206, Velocity: -4.745322952090536 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,747 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.86759955086901e-20, Velocity: 5.492858801081598e-18 | Joint 2 - Position: -1.3605910696645196, Velocity: -4.770086152511741 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,789 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.494079640695209e-20, Velocity: 3.2964477844171252e-18 | Joint 2 - Position: -1.3805670467365916, Velocity: -4.794234497297256 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,832 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.395263712556167e-20, Velocity: 2.637158227533701e-18 | Joint 2 - Position: -1.400641023934636, Velocity: -4.81775452753068 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,874 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.5162109700449333e-20, Velocity: 2.1097265820269604e-18 | Joint 2 - Position: -1.420810327951366, Velocity: -4.8406329640151995 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,916 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.812968776035947e-20, Velocity: 1.6877812656215682e-18 | Joint 2 - Position: -1.4410722309734143, Velocity: -4.862856725291574 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:53,959 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.2503750208287575e-20, Velocity: 1.3502250124972547e-18 | Joint 2 - Position: -1.4614239515803835, Velocity: -4.8844129456725955 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,003 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.800300016663006e-20, Velocity: 1.0801800099978035e-18 | Joint 2 - Position: -1.481862655718937, Velocity: -4.905288993252797 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,045 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.4402400133304047e-20, Velocity: 8.641440079982429e-19 | Joint 2 - Position: -1.5023854577516496, Velocity: -4.9254724878510485 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,088 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.0802400199970176e-20, Velocity: 8.639999840001291e-19 | Joint 2 - Position: -1.5229894215801623, Velocity: -4.944951318843068 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,132 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -8.641920159976141e-21, Velocity: 5.185152095985685e-19 | Joint 2 - Position: -1.5436715618419956, Velocity: -4.9637136628400205 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 7.228014483236697e-20, Velocity: 3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,175 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.913536127981117e-21, Velocity: 4.148121676788057e-19 | Joint 2 - Position: -1.564428845180199, Velocity: -4.9817480011688415 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: -3.469446951953614e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,217 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.5308289023848934e-21, Velocity: 3.318497341430937e-19 | Joint 2 - Position: -1.5852581915848227, Velocity: -4.999043137109653 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,259 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.4246631219079144e-21, Velocity: 2.6547978731447496e-19 | Joint 2 - Position: -1.6061564758050104, Velocity: -5.0155882128450475 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,302 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.539730497526332e-21, Velocity: 2.1238382985157987e-19 | Joint 2 - Position: -1.6271205288303294, Velocity: -5.031372726076559 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,344 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.8317843980210652e-21, Velocity: 1.6990706388126393e-19 | Joint 2 - Position: -1.6481471394397593, Velocity: -5.046386546263196 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,386 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.265427518417086e-21, Velocity: 1.3592565110495493e-19 | Joint 2 - Position: -1.6692330558165824, Velocity: -5.060619930437522 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,432 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.8123420147336688e-21, Velocity: 1.0874052088402015e-19 | Joint 2 - Position: -1.6903749872272298, Velocity: -5.074063538555386 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,474 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.449873611786935e-21, Velocity: 8.699241670721612e-20 | Joint 2 - Position: -1.7115696057619616, Velocity: -5.086708448335656 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,517 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.159898889429548e-21, Velocity: 6.95939333657729e-20 | Joint 2 - Position: -1.7328135481350773, Velocity: -5.098546169547773 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,560 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.279191091333143e-22, Velocity: 5.567514727109607e-20 | Joint 2 - Position: -1.7541034175421835, Velocity: -5.1095686577055055 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,649 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.423352873066514e-22, Velocity: 4.4540117238399087e-20 | Joint 2 - Position: -1.775435785571879, Velocity: -5.119768327126935 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,691 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -5.938682298453212e-22, Velocity: 3.563209379071927e-20 | Joint 2 - Position: -1.7968071941690529, Velocity: -5.12913806332174 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 6.505213034913028e-20, Velocity: 1.734723475976807e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,733 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -4.750945838762569e-22, Velocity: 2.8505675032575415e-20 | Joint 2 - Position: -1.8182141576468405, Velocity: -5.137671234669027 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: -1.734723475976807e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,776 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.8007566710100555e-22, Velocity: 2.2804540026060335e-20 | Joint 2 - Position: -1.839653164744133, Velocity: -5.145361703350191 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,818 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -3.0406053368080446e-22, Velocity: 1.8243632020848267e-20 | Joint 2 - Position: -1.861120680725398, Velocity: -5.1522038355035695 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.0596101382656886e-20, Velocity: -1.734723475976807e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,860 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -2.432484269447417e-22, Velocity: 1.459490561665506e-20 | Joint 2 - Position: -1.882613149519439, Velocity: -5.158192510569826 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,903 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.9459874155579336e-22, Velocity: 1.1675924493347605e-20 | Joint 2 - Position: -1.9041269958936016, Velocity: -5.1633231297990525 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,945 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.5567899324463468e-22, Velocity: 9.340739594678083e-21 | Joint 2 - Position: -1.9256586276598233, Velocity: -5.167591623893239 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:54,988 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -1.2454319459536041e-22, Velocity: 7.472591675825824e-21 | Joint 2 - Position: -1.947204437908824, Velocity: -5.170994459760166 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,030 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -9.963455567628833e-23, Velocity: 5.978073340577301e-21 | Joint 2 - Position: -1.9687608072686469, Velocity: -5.1735286463575045 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 4.336808689942019e-20, Velocity: -1.734723475976807e-18 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,073 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -7.970764479975387e-23, Velocity: 4.782458610368269e-21 | Joint 2 - Position: -1.9903241061836834, Velocity: -5.17519173960877 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 3.9754079657801844e-20, Velocity: -8.673617379884035e-19 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,116 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: -6.37661158398031e-23, Velocity: 3.825966950388187e-21 | Joint 2 - Position: -2.0118906972102475, Velocity: -5.175981846375365 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: 3.9754079657801844e-20, Velocity: 0.0 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,158 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.023944172039852905, Velocity: 5.746601289564698 | Joint 2 - Position: -2.009512557768198, Velocity: 0.5707534660918787 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -7.981385361421813e-09, Velocity: -1.915532486750776e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,201 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.04740852388507351, Velocity: 5.631444442852944 | Joint 2 - Position: -2.007610046214558, Velocity: 0.4566027728734956 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.5802830764582652e-08, Velocity: -1.877146896758601e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,244 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.07048453755954233, Velocity: 5.538243281872517 | Joint 2 - Position: -2.0060880369716463, Velocity: 0.36528221829878815 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.3494830197087353e-08, Velocity: -1.8460798638011283e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,286 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.09324467077275933, Velocity: 5.462431971172079 | Joint 2 - Position: -2.004870429577317, Velocity: 0.2922257746390219 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -3.108153620913591e-08, Velocity: -1.8208094428916535e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,328 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.11574616438813667, Velocity: 5.400358467690564 | Joint 2 - Position: -2.0038963436618538, Velocity: 0.23378061971122616 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -3.858202908288689e-08, Velocity: -1.8001182897002359e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,370 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.1380340888533325, Velocity: 5.349101871646997 | Joint 2 - Position: -2.003117074929483, Velocity: 0.18702449576898095 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -4.601133228388979e-08, Velocity: -1.7830327682406963e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,413 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.1601437817946244, Velocity: 5.306326305910058 | Joint 2 - Position: -2.0024936599435863, Velocity: 0.14961959661518817 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -5.3381225016540637e-08, Velocity: -1.768774255836203e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,456 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.1821027985361573, Velocity: 5.270164017967894 | Joint 2 - Position: -2.001994927954869, Velocity: 0.11969567729214231 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -6.070089238276412e-08, Velocity: -1.7567201678936372e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,499 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.20393247295198363, Velocity: 5.2391218597983205 | Joint 2 - Position: -2.0015959423638954, Velocity: 0.09575654183372215 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -6.797744566916786e-08, Velocity: -1.7463727887368982e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,542 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.22564916657650583, Velocity: 5.212006469885329 | Joint 2 - Position: -2.0012767538911165, Velocity: 0.07660523346697883 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -7.521633871691607e-08, Velocity: -1.7373343314595717e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,585 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.24726526831310822, Velocity: 5.187864416784572 | Joint 2 - Position: -2.001021403112893, Velocity: 0.06128418677359132 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -8.242170116107222e-08, Velocity: -1.7292869865974739e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,655 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.2687899946121354, Velocity: 5.165934311766516 | Joint 2 - Position: -2.0008171224903144, Velocity: 0.04902734941886394 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -8.959660514299306e-08, Velocity: -1.7219769556610018e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,697 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.2902300300144952, Velocity: 5.145608496566357 | Joint 2 - Position: -2.0006536979922513, Velocity: 0.03922187953509187 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -9.674327884817496e-08, Velocity: -1.7152016892436547e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,740 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.3115900399772965, Velocity: 5.126402391072308 | Joint 2 - Position: -2.000522958393801, Velocity: 0.03137750362806442 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.0386327742130281e-07, Velocity: -1.7087996575506845e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,783 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.33287308151406375, Velocity: 5.107929968824143 | Joint 2 - Position: -2.000418366715041, Velocity: 0.025102002902443014 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.1095761986952453e-07, Velocity: -1.7026421875732112e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,825 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.3540809320750155, Velocity: 5.0898841346284165 | Joint 2 - Position: -2.0003346933720327, Velocity: 0.02008160232195886 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.1802689867585805e-07, Velocity: -1.696626913520044e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,867 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.3752143530072791, Velocity: 5.072021023743272 | Joint 2 - Position: -2.000267754697626, Velocity: 0.016065281857571286 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.2507136762249828e-07, Velocity: -1.6906725471936557e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,909 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.3962733006664615, Velocity: 5.054147438203774 | Joint 2 - Position: -2.0002142037581008, Velocity: 0.01285222548605738 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.3209101216133135e-07, Velocity: -1.6847146893199383e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,952 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.41725709563626834, Velocity: 5.03611079275365 | Joint 2 - Position: -2.000171363006481, Velocity: 0.010281780388837657 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.3908560582041277e-07, Velocity: -1.6787024781795418e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:55,997 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.4381645584211223, Velocity: 5.017791068364952 | Joint 2 - Position: -2.0001370904051847, Velocity: 0.008225424311078536 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.460547554348076e-07, Velocity: -1.672595907454763e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,039 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.45899411830337106, Velocity: 4.999094371739705 | Joint 2 - Position: -2.0001096723241476, Velocity: 0.006580339448867118 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.529979374355528e-07, Velocity: -1.6663636801788478e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,082 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.47974390071803397, Velocity: 4.979947779519096 | Joint 2 - Position: -2.0000877378593183, Velocity: 0.005264271559085161 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.5991452696481506e-07, Velocity: -1.6599814870229407e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,124 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.5004117974271527, Velocity: 4.960295210188496 | Joint 2 - Position: -2.0000701902874547, Velocity: 0.004211417247276167 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.6680382127388445e-07, Velocity: -1.653430634176653e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,166 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.5209955229191504, Velocity: 4.940094118079444 | Joint 2 - Position: -2.0000561522299636, Velocity: 0.0033691337978257394 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.7366505853248473e-07, Velocity: -1.6466969420640687e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,211 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.5414926597733127, Velocity: 4.919312844998955 | Joint 2 - Position: -2.000044921783971, Velocity: 0.002695307038251958 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.8049743293103742e-07, Velocity: -1.6397698556526452e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,254 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.5619006951813068, Velocity: 4.897928497918586 | Joint 2 - Position: -2.000035937427177, Velocity: 0.0021562456306009753 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.8730010686415239e-07, Velocity: -1.6326417439475882e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,297 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.5822170503791383, Velocity: 4.875925247479564 | Joint 2 - Position: -2.0000287499417415, Velocity: 0.0017249965044852898 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -1.9407222074759421e-07, Velocity: -1.625307332026038e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,340 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.6024391043921717, Velocity: 4.853292963128042 | Joint 2 - Position: -2.0000229999533934, Velocity: 0.0013799972035927963 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.008129009237352e-07, Velocity: -1.6177632422738342e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,382 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.6225642132152551, Velocity: 4.830026117539998 | Joint 2 - Position: -2.000018399962715, Velocity: 0.0011039977628822424 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.075212660581023e-07, Velocity: -1.6100076322481116e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,425 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.6425897253255595, Velocity: 4.806122906473035 | Joint 2 - Position: -2.0000147199701717, Velocity: 0.000883198210309976 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.1419643231034226e-07, Velocity: -1.6020399005375885e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,467 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.6625129942462376, Velocity: 4.781584540962742 | Joint 2 - Position: -2.0000117759761373, Velocity: 0.0007065585682397811 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.2083751752210404e-07, Velocity: -1.593860450822826e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,509 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.6823313887354323, Velocity: 4.756414677406742 | Joint 2 - Position: -2.00000942078091, Velocity: 0.0005652468545916632 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.2744364461335288e-07, Velocity: -1.5854705018997217e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:09:56,552 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 | Joint 1 - Position: 0.7020423010603426, Velocity: 4.730618957978467 | Joint 2 - Position: -2.000007536624728, Velocity: 0.0004521974836819813 | Joint 3 - Position: 0.0, Velocity: 0.0 | Joint 4 - Position: -2.340139443404071e-07, Velocity: -1.5768719344930182e-06 | Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:26,844 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:10:26,844 - logger - INFO - Нчат цикл симуляции - client_socket.py - 69
+2024-10-28 11:10:26,845 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:26,887 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:26,930 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:26,974 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,017 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,061 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,103 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,146 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,189 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,231 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,274 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,316 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,359 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,401 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,517 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,561 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,604 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,648 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,691 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,733 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,776 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,818 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,861 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,903 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,947 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:27,990 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,032 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,074 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,117 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,159 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,202 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19
+Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,246 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20
+Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,289 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20
+Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,331 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20
+Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,374 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20
+Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,417 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20
+Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,463 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20
+Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,550 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20
+Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,593 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20
+Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,636 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20
+Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,680 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20
+Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,723 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21
+Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,768 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21
+Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,810 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21
+Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,853 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.247253137134666e-23, Velocity: 4.948351882283645e-21
+Joint 2 - Position: -0.14332259109161855, Velocity: -1.5442422163820702
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,896 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.597802509707732e-23, Velocity: 3.958681505824641e-21
+Joint 2 - Position: -0.1499091372398076, Velocity: -1.5807710755653708
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,939 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.2782420077661853e-23, Velocity: 3.166945204659712e-21
+Joint 2 - Position: -0.1566482427466997, Velocity: -1.6173853216541023
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:28,982 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2225917943511196e-23, Velocity: 2.533560512196158e-21
+Joint 2 - Position: -0.16354026499750535, Velocity: -1.6540853401933553
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,024 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.378071892883589e-23, Velocity: 2.026847763522073e-21
+Joint 2 - Position: -0.17058556249247114, Velocity: -1.6908713987917885
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,067 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7024575872966984e-23, Velocity: 1.621474333408537e-21
+Joint 2 - Position: -0.17778449434076524, Velocity: -1.7277436435905835
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,111 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1619660698351495e-23, Velocity: 1.297179641907717e-21
+Joint 2 - Position: -0.18513741973946946, Velocity: -1.7647020956890125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,153 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7295728558597816e-23, Velocity: 1.0377437135408826e-21
+Joint 2 - Position: -0.19264469743750381, Velocity: -1.8017466475282458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,196 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.383658284681577e-23, Velocity: 8.301949708276911e-22
+Joint 2 - Position: -0.20030668518431755, Velocity: -1.8388770592352988
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,238 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1069266277452615e-23, Velocity: 6.64155976647157e-22
+Joint 2 - Position: -0.20812373916318927, Velocity: -1.8760929549292118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,280 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.855413021872141e-24, Velocity: 5.313247813393138e-22
+Joint 2 - Position: -0.21609621340898844, Velocity: -1.9133938189918018
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,323 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22
+Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,365 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22
+Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,407 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22
+Joint 2 - Position: -0.24094965320361023, Velocity: -2.025798889941715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,450 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22
+Joint 2 - Position: -0.24954728463808362, Velocity: -2.0634315442736124
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,494 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.9017417388420358e-24, Velocity: 1.7410450438003042e-22
+Joint 2 - Position: -0.2583020528054649, Velocity: -2.1011443601715136
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,595 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3213933910736287e-24, Velocity: 1.3928360346441772e-22
+Joint 2 - Position: -0.2672142857373685, Velocity: -2.1389359036568534
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,638 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.857114712858903e-24, Velocity: 1.1142688277153418e-22
+Joint 2 - Position: -0.2762843047964066, Velocity: -2.176804574169146
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,681 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4856917702871223e-24, Velocity: 8.914150621722734e-23
+Joint 2 - Position: -0.2855124239658636, Velocity: -2.21474860066969
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,723 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1885534162296978e-24, Velocity: 7.131320497378188e-23
+Joint 2 - Position: -0.29489894912312714, Velocity: -2.2527660377432484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,765 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.508427329837582e-25, Velocity: 5.70505639790255e-23
+Joint 2 - Position: -0.3044441772968897, Velocity: -2.2908547617030135
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,809 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.606741863870065e-25, Velocity: 4.56404511832204e-23
+Joint 2 - Position: -0.3141483959081581, Velocity: -2.329012466704403
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,853 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.085393491038684e-25, Velocity: 3.651236094795314e-23
+Joint 2 - Position: -0.3240118819951316, Velocity: -2.367236660873649
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,897 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.868314792830948e-25, Velocity: 2.9209888756985685e-23
+Joint 2 - Position: -0.3340349014220375, Velocity: -2.405524662457417
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,939 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.89465183324426e-25, Velocity: 2.3367911030080512e-23
+Joint 2 - Position: -0.34421770807203833, Velocity: -2.4438735960002016
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:29,982 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.115721466595408e-25, Velocity: 1.8694328799572446e-23
+Joint 2 - Position: -0.3545605430243567, Velocity: -2.4822803885564033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,025 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4925771732763263e-25, Velocity: 1.495546303965796e-23
+Joint 2 - Position: -0.36506363371579226, Velocity: -2.520741765944533
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,067 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.994061738621061e-25, Velocity: 1.1964370431726367e-23
+Joint 2 - Position: -0.37572719308683933, Velocity: -2.559254249051293
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,109 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5952493908968488e-25, Velocity: 9.571496345381096e-24
+Joint 2 - Position: -0.38655141871264603, Velocity: -2.597814150193612
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,152 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2761995119398513e-25, Velocity: 7.657197094967941e-24
+Joint 2 - Position: -0.3975364919190929, Velocity: -2.6364175695472474
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,194 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.020959609551881e-25, Velocity: 6.125757657311286e-24
+Joint 2 - Position: -0.4086825768843045, Velocity: -2.6750603916507845
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,236 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.167676876415048e-26, Velocity: 4.900606125849028e-24
+Joint 2 - Position: -0.41998981972594723, Velocity: -2.7137382819942664
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,279 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.534141498385296e-26, Velocity: 3.920484907271408e-24
+Joint 2 - Position: -0.43145834757470647, Velocity: -2.7524466837022197
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,322 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.227313198708237e-26, Velocity: 3.1363879192249422e-24
+Joint 2 - Position: -0.4430882676343774, Velocity: -2.791180814321033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,365 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.1812205295127573e-26, Velocity: 2.5106224060691504e-24
+Joint 2 - Position: -0.45487966622904835, Velocity: -2.829935662721029
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,410 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.3449764251456564e-26, Velocity: 2.006985850481042e-24
+Joint 2 - Position: -0.46683260783789904, Velocity: -2.8687059861241653
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,453 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.675981140116525e-26, Velocity: 1.6055886840699154e-24
+Joint 2 - Position: -0.4789471341181836, Velocity: -2.9074863072683073
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,496 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.14078491209322e-26, Velocity: 1.2844709472559318e-24
+Joint 2 - Position: -0.49122326291701557, Velocity: -2.946270911719665
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,539 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.712627929674576e-26, Velocity: 1.0275767578047454e-24
+Joint 2 - Position: -0.5036609872726204, Velocity: -2.9850538453451576
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,581 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.3701023437396609e-26, Velocity: 8.220614062437965e-25
+Joint 2 - Position: -0.5162602744057737, Velocity: -3.0238289119568
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,661 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0960818749917287e-26, Velocity: 6.576491249950371e-25
+Joint 2 - Position: -0.5290210647021931, Velocity: -3.0625896711406484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,703 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.76865499993383e-27, Velocity: 5.261192999960298e-25
+Joint 2 - Position: -0.5419432706867052, Velocity: -3.1013294362829176
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,745 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.014923808053129e-27, Velocity: 4.20895486051368e-25
+Joint 2 - Position: -0.5550267759900651, Velocity: -3.140041272806367
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,788 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.6119390464425035e-27, Velocity: 3.367163427865502e-25
+Joint 2 - Position: -0.5682714343093573, Velocity: -3.1787179966301324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,831 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.489551237154002e-27, Velocity: 2.6937307422924027e-25
+Joint 2 - Position: -0.5816770683629676, Velocity: -3.2173521728664567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,874 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.591640989723201e-27, Velocity: 2.154984593833921e-25
+Joint 2 - Position: -0.5952434688411679, Velocity: -3.2559361147680677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,922 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.8733127644327747e-27, Velocity: 1.7239877406970238e-25
+Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:30,965 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25
+Joint 2 - Position: -0.6228575653735393, Velocity: -3.332921284829236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,007 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8389201692369758e-27, Velocity: 1.1033521015421854e-25
+Joint 2 - Position: -0.6369046731839898, Velocity: -3.3713058745081046
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,050 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26
+Joint 2 - Position: -0.6511113688204996, Velocity: -3.4096069527623567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,093 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.176908775536859e-27, Velocity: 7.061452653221154e-26
+Joint 2 - Position: -0.6654772670184211, Velocity: -3.447815567501178
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,135 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.415270523196684e-28, Velocity: 5.649161357212577e-26
+Joint 2 - Position: -0.6800019441621767, Velocity: -3.48592251450134
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,178 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.532216418557347e-28, Velocity: 4.519329851134409e-26
+Joint 2 - Position: -0.6946849372392605, Velocity: -3.5239183385000983
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,220 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.025773134845877e-28, Velocity: 3.615463880907526e-26
+Joint 2 - Position: -0.7095257428003048, Velocity: -3.561793334650615
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,262 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.820617642012739e-28, Velocity: 2.892373182799531e-26
+Joint 2 - Position: -0.7245238159267782, Velocity: -3.5995375503536087
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,304 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.856494113610191e-28, Velocity: 2.3138964681661146e-26
+Joint 2 - Position: -0.7396785692079392, Velocity: -3.6371407874786357
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,347 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.0851952908881527e-28, Velocity: 1.851117174532892e-26
+Joint 2 - Position: -0.7549893717287233, Velocity: -3.6745926049881934
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,390 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4681548803004054e-28, Velocity: 1.4808969854105937e-26
+Joint 2 - Position: -0.7704555480702957, Velocity: -3.711882321977393
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,432 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9745239042403242e-28, Velocity: 1.1847143425441948e-26
+Joint 2 - Position: -0.7860763773250524, Velocity: -3.748999021141625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,476 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5796191233922594e-28, Velocity: 9.477714740353557e-27
+Joint 2 - Position: -0.8018510921279024, Velocity: -3.7859315526839987
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,520 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.041090078761382e-28, Velocity: 1.2924697071141057e-26
+Joint 2 - Position: -0.8177788777057108, Velocity: -3.8226685386740042
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,562 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.328720630091057e-29, Velocity: 4.997232378054634e-27
+Joint 2 - Position: -0.8338588709468273, Velocity: -3.8591983778679766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,663 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.662976504072845e-29, Velocity: 3.997785902443707e-27
+Joint 2 - Position: -0.8500901594926668, Velocity: -3.895509251001477
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,706 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.330372326217766e-29, Velocity: 3.1982500268521894e-27
+Joint 2 - Position: -0.8664717808533448, Velocity: -3.9315891265627236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,748 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2642978609742124e-29, Velocity: 2.5585787165845276e-27
+Joint 2 - Position: -0.8830027215494095, Velocity: -3.9674257670555413
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,790 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.41143828877937e-29, Velocity: 2.046862973267622e-27
+Joint 2 - Position: -0.8996819162817399, Velocity: -4.003006735759279
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,833 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.729150631023496e-29, Velocity: 1.6374903786140977e-27
+Joint 2 - Position: -0.916508247131707, Velocity: -4.038319403992111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,875 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1833205048187967e-29, Velocity: 1.3099923028912781e-27
+Joint 2 - Position: -0.933480542793721, Velocity: -4.073350958883351
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,917 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7466564038550373e-29, Velocity: 1.0479938423130225e-27
+Joint 2 - Position: -0.950597577842299, Velocity: -4.108088411658742
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:31,960 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.003337922778438e-30, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.9678580720358075, Velocity: -4.14251860644203
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,003 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.202670338222752e-30, Velocity: 1.9216022029336472e-28
+Joint 2 - Position: -0.9852606896590349, Velocity: -4.176628229574558
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,045 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5621362705782015e-30, Velocity: 1.5372817623469213e-28
+Joint 2 - Position: -1.0028040389067563, Velocity: -4.210403819453111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,088 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0901089845193732e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -1.020486671310445, Velocity: -4.2438317768853
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946797e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,131 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.700743415392826e-18, Velocity: -8.881784196968946e-16
+Joint 2 - Position: -1.0383070812102766, Velocity: -4.276898375959605
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,175 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.96059473231426e-18, Velocity: 1.7763568393885582e-16
+Joint 2 - Position: -1.0562637052745534, Velocity: -4.309589775426409
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,218 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3684757858480486e-18, Velocity: 1.421085471518908e-16
+Joint 2 - Position: -1.0743549220686535, Velocity: -4.341892030584041
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,261 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.894780628678439e-18, Velocity: 1.1368683772070633e-16
+Joint 2 - Position: -1.0925790516755804, Velocity: -4.373791105662476
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,304 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4211644206954398e-18, Velocity: 1.1366788991591977e-16
+Joint 2 - Position: -1.1109343553701467, Velocity: -4.405272886695929
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,346 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1369315365563518e-18, Velocity: 6.821589219338111e-17
+Joint 2 - Position: -1.1294190353487845, Velocity: -4.43632319487307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,391 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.095452292450814e-19, Velocity: 5.457271375470488e-17
+Joint 2 - Position: -1.14803123451692, Velocity: -4.466927800352509
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,433 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.276361833960652e-19, Velocity: 4.365817100376391e-17
+Joint 2 - Position: -1.1667690363357903, Velocity: -4.497072436528926
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,475 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.821089467168518e-19, Velocity: 3.4926536803011206e-17
+Joint 2 - Position: -1.1856304647305138, Velocity: -4.526742814733621
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,519 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.366059645646258e-19, Velocity: 3.4920715716534245e-17
+Joint 2 - Position: -1.204613484061143, Velocity: -4.555924639351038
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,563 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.4928477165170067e-19, Velocity: 2.095708629910204e-17
+Joint 2 - Position: -1.2237159991583573, Velocity: -4.584603623331399
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,659 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7942781732136054e-19, Velocity: 1.6765669039281635e-17
+Joint 2 - Position: -1.2429358554253458, Velocity: -4.612765504077242
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:32,702 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2354225385708844e-19, Velocity: 1.3412535231425306e-17
+Joint 2 - Position: -1.262270839007346, Velocity: -4.640396059680077
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:38,234 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 64
+2024-10-28 11:10:38,240 - logger - INFO - Нчат цикл симуляции - client_socket.py - 69
+2024-10-28 11:10:38,241 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:38,742 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:39,257 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:39,758 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:40,259 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:10:40,761 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 84
+2024-10-28 11:11:41,601 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:11:41,602 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:11:41,602 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:42,171 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:42,673 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:43,174 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:43,676 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:44,179 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:44,679 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:45,180 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:11:45,682 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:04,087 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:14:04,089 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:14:04,089 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:04,591 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:05,092 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:05,594 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:06,097 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:06,598 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:07,126 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:07,629 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:08,135 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:08,644 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:09,146 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:09,648 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:10,152 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:10,653 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:11,154 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:11,655 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:12,157 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:12,658 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:13,159 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:13,661 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:14,162 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:14,663 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:15,165 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:15,666 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:16,168 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:16,669 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:17,171 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:17,672 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:18,176 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:18,678 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:19,180 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19
+Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:19,682 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20
+Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:20,185 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20
+Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:20,688 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20
+Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:21,193 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20
+Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:21,694 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20
+Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:22,198 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20
+Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:22,698 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20
+Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:23,200 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20
+Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:23,701 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20
+Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:24,202 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20
+Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:24,703 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21
+Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:25,218 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21
+Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:25,720 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21
+Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:14:34,825 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:14:34,826 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:14:34,827 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:14:35,330 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:14:35,832 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:14:36,335 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:14:36,837 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.03930512671745e-06, Velocity: 0.00012256412965062547
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.352051643919487e-05, Velocity: -0.0020146189980090323
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:15,725 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:19:15,732 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:19:15,733 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:16,234 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:16,735 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:17,237 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:17,739 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:22,101 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:19:22,104 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:19:22,106 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:22,607 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:23,108 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:23,609 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:19:24,110 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.03930512671745e-06, Velocity: 0.00012256412965062547
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.352051643919487e-05, Velocity: -0.0020146189980090323
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:25:12,291 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:25:12,292 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:25:12,294 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:25:37,763 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:25:37,768 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:25:37,770 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:25:53,967 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:25:53,968 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:25:53,969 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:25:58,535 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 65
+2024-10-28 11:25:58,713 - logger - INFO - Нчат цикл симуляции - client_socket.py - 70
+2024-10-28 11:25:58,716 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 85
+2024-10-28 11:26:30,351 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:26:30,352 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:26:30,352 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:33,078 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:28:33,231 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:28:33,233 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:33,234 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:33,734 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:33,736 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:34,237 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:34,237 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:34,738 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:34,738 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:35,239 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:35,240 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:35,741 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:35,742 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:36,244 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:36,244 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:36,745 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:36,746 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:37,247 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:37,248 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:37,749 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:37,750 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f3ae0b6bac0> - client_socket.py - 89
+2024-10-28 11:28:55,564 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:28:55,564 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:28:55,564 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:55,565 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:56,066 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:56,067 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:56,568 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:56,570 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:57,071 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:57,071 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:57,572 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:57,574 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:58,101 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:58,156 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:58,657 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:58,657 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:59,158 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:59,158 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:28:59,670 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:28:59,677 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fc0a08c7ac0> - client_socket.py - 90
+2024-10-28 11:29:07,315 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:29:07,465 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:29:07,466 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:07,466 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:29:07,967 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:07,968 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:29:08,469 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:08,469 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:29:08,970 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:08,971 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:29:09,472 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:09,472 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:29:09,973 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:29:09,977 - logger - INFO - <built-in method processEvents of QApplication object at 0x7f509ae6bac0> - client_socket.py - 90
+2024-10-28 11:46:01,330 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:46:01,331 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:46:01,331 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:01,331 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:01,832 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:01,832 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:02,361 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:02,362 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:02,870 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:02,870 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:03,371 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:03,371 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:03,872 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:03,872 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:04,373 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:04,373 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:04,874 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:04,874 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:05,375 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:05,376 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f02394c7ac0> - client_socket.py - 90
+2024-10-28 11:46:10,180 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:46:10,180 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:46:10,180 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:10,681 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:11,182 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:11,683 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:52,400 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:46:52,400 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:46:52,400 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:52,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:53,402 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:53,903 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:54,404 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.03930512671745e-06, Velocity: 0.00012256412965062547
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.352051643919487e-05, Velocity: -0.0020146189980090323
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:54,905 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.550001188828367e-06, Velocity: 0.0001225670549066201
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.191497617083596e-05, Velocity: -0.0020146703355938614
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:55,406 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.0607094390784224e-06, Velocity: 0.00012256998006001326
+Joint 2 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.030964980197473e-05, Velocity: -0.0020147216714733046
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:55,907 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.5714298779515815e-06, Velocity: 0.0001225729053295582
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.870453734048728e-05, Velocity: -0.0020147730092430136
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:56,407 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 4.082162505937806e-06, Velocity: 0.00012257583071669399
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.709963879434833e-05, Velocity: -0.00201482434892665
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:56,908 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 4.592907323527142e-06, Velocity: 0.00012257875622144045
+Joint 2 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.54949541715338e-05, Velocity: -0.002014875690524512
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:57,409 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.103664331209618e-06, Velocity: 0.00012258168184379431
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.389048348001934e-05, Velocity: -0.0020149270340365302
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:57,910 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.614433529475322e-06, Velocity: 0.00012258460758376882
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -9.228622672778148e-05, Velocity: -0.002014978379462913
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:58,411 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 6.1252149188143116e-06, Velocity: 0.00012258753344135758
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00010068218392279618, Velocity: -0.0020150297268035286
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:46:58,912 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 6.636008499716702e-06, Velocity: 0.0001225904594165737
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00010907835507304028, Velocity: -0.002015081076058585
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:01,157 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:47:01,157 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:47:01,157 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:01,658 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:01,659 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:02,161 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:02,167 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:02,668 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:02,669 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:03,169 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:03,170 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:03,671 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:03,671 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:04,172 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:04,172 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:04,673 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:04,673 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:05,174 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:05,174 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:05,675 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:05,675 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:06,176 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:06,177 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:06,678 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:06,678 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:07,179 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:07,179 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:07,680 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:07,680 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:08,181 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:08,182 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:08,682 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:08,682 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:09,183 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:09,183 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:09,684 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:09,684 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:10,185 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:10,185 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:10,686 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:10,687 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:11,187 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:11,188 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:11,688 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:11,689 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fb88d367b50> - client_socket.py - 90
+2024-10-28 11:47:23,774 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 66
+2024-10-28 11:47:23,774 - logger - INFO - Нчат цикл симуляции - client_socket.py - 71
+2024-10-28 11:47:23,774 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:23,775 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:24,276 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:24,276 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:24,806 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:24,807 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:25,316 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:25,316 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:25,817 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:25,817 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:26,317 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:26,318 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:26,818 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:26,819 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:27,319 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:27,320 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:27,820 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:27,821 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:28,321 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:28,322 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:28,639 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 199
+2024-10-28 11:47:28,823 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:28,823 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:29,139 - logger - INFO - set joints - client_socket.py - 202
+2024-10-28 11:47:29,200 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 199
+2024-10-28 11:47:29,324 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 86
+2024-10-28 11:47:29,324 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:29,701 - logger - INFO - (0.390183210772422, -1.009019711473421, 1.137462539840636, -1.0347226059510262, -0.13089969389957473, 3.462716137370745e-07) - client_socket.py - 196
+2024-10-28 11:47:29,701 - logger - INFO - set joints - client_socket.py - 202
+2024-10-28 11:47:29,702 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 199
+2024-10-28 11:47:29,825 - logger - INFO - Joint 0 - Position: 0.12369203580280964, Velocity: 29.686088592674317
+Joint 1 - Position: 0.0698131700797732, Velocity: 16.755160819145566
+Joint 2 - Position: 0.0586296582874419, Velocity: 16.341867858321216
+Joint 3 - Position: -0.10471975511965978, Velocity: -25.13274122871835
+Joint 4 - Position: -0.13089969389957473, Velocity: -31.41592653589794
+Joint 5 - Position: 3.462716137370745e-07, Velocity: 8.310518729689788e-05 - client_socket.py - 86
+2024-10-28 11:47:29,826 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:30,326 - logger - INFO - Joint 0 - Position: 0.23421335850213654, Velocity: 26.525117447838454
+Joint 1 - Position: 0.13264502315156906, Velocity: 15.07964473723101
+Joint 2 - Position: 0.12569463924039537, Velocity: 16.095595428708833
+Joint 3 - Position: -0.19896753472735357, Velocity: -22.61946710584651
+Joint 4 - Position: -0.2487094014769356, Velocity: -28.274329818566606
+Joint 5 - Position: -0.01583761425459153, Velocity: -3.8011105262892633 - client_socket.py - 86
+2024-10-28 11:47:30,327 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 11:47:30,827 - logger - INFO - Joint 0 - Position: 0.3333256033321864, Velocity: 23.786938759211974
+Joint 1 - Position: 0.18919369091618532, Velocity: 13.571680263507904
+Joint 2 - Position: 0.1908802321806638, Velocity: 15.64454230566442
+Joint 3 - Position: -0.283790536374278, Velocity: -20.357520395261858
+Joint 4 - Position: -0.3547381225745004, Velocity: -25.44689306341555
+Joint 5 - Position: -0.04461130221121821, Velocity: -6.9056851095904035 - client_socket.py - 86
+2024-10-28 11:47:30,828 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7fbd80acbac0> - client_socket.py - 90
+2024-10-28 12:55:17,819 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 12:55:17,819 - logger - INFO - Нчат цикл симуляции - client_socket.py - 72
+2024-10-28 12:55:17,820 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:17,820 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:18,321 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:18,321 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:18,854 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:18,854 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:19,361 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:19,362 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:19,863 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:19,863 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:20,364 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:20,364 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:20,865 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:20,865 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:21,366 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:21,366 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:21,867 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:21,867 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:22,368 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:22,369 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:22,869 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:22,870 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:23,371 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:23,371 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:23,872 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:23,872 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:24,373 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:24,374 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:24,874 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:24,875 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:25,376 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:25,376 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:25,877 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:25,877 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:26,378 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:26,378 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:26,879 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:26,879 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:27,380 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
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+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:27,381 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:27,881 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:27,882 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:28,382 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:28,383 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:28,883 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:28,884 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:29,385 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:29,385 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:29,886 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:29,886 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:30,387 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:30,387 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:30,888 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:30,889 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:31,389 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:31,390 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:31,891 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:31,891 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:32,392 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:32,392 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:32,893 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:32,893 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:33,394 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:33,394 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:33,895 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:33,895 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:34,396 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:34,396 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:34,897 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:34,897 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:35,398 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:35,398 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:35,899 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:35,899 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:36,400 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:36,401 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:36,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:36,902 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:37,403 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:37,403 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:37,904 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:37,904 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:38,405 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:38,405 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:38,906 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:38,906 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:39,407 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:39,408 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:39,908 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:39,909 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:40,410 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:40,410 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:40,911 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:40,911 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:41,412 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:41,412 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:41,913 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:41,914 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:42,414 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:42,415 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:42,915 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:42,916 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:43,416 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:43,417 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:43,918 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:43,918 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:44,419 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:44,419 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:44,920 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:44,920 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:45,421 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22
+Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145
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+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:45,421 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:45,922 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22
+Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984
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+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:45,922 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:46,423 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22
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+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:46,423 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:46,924 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:46,924 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:47,425 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:55:47,426 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:47,926 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:47,927 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:48,427 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:48,428 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:48,928 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:48,929 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:49,430 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:49,430 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:49,931 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:49,931 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:50,432 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:50,432 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:50,933 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:50,933 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:51,434 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:51,434 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:51,935 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:51,936 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:52,436 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:52,437 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:52,938 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:52,938 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:53,439 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:53,439 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:53,940 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:53,940 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:54,441 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:54,441 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:54,942 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:54,942 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:55,443 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:55,443 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:55,944 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:55,944 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:56,445 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:56,446 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:56,946 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:56,947 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:57,447 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:57,448 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:57,949 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:57,949 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:58,450 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:58,450 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:58,951 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:58,951 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:59,452 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:59,453 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:55:59,953 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:55:59,954 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:00,454 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:00,454 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:00,955 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:00,955 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:01,456 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:01,457 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:01,957 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:01,958 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:02,459 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:02,459 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:02,960 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115
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+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:02,960 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:03,461 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25
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+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:03,461 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:03,962 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:03,962 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:04,463 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26
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+2024-10-28 12:56:04,463 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:04,964 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:04,964 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:05,465 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:05,466 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:05,966 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:05,966 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:06,467 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:06,467 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:06,968 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:06,969 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:07,469 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:07,470 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:07,971 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:07,971 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:08,472 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:08,472 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:08,973 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:08,973 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:09,474 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:09,474 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:09,975 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:09,975 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:10,476 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:10,476 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:10,977 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:10,978 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:11,478 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:11,479 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:11,979 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:11,980 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:12,481 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:12,481 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:12,982 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:12,982 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:13,483 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:13,484 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:13,984 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:13,985 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:14,486 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:14,486 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:14,987 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:14,987 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:15,488 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:15,489 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:15,989 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:15,990 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:16,491 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:16,491 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:16,992 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:16,992 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:17,493 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:17,493 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:17,994 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:17,994 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:18,495 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:18,495 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:18,996 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:18,996 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:19,497 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:19,498 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:19,998 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:19,999 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:20,499 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.821089467168518e-19, Velocity: 3.4926536803011206e-17
+Joint 2 - Position: -1.1856304647305138, Velocity: -4.526742814733621
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:20,500 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:21,001 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.366059645646258e-19, Velocity: 3.4920715716534245e-17
+Joint 2 - Position: -1.204613484061143, Velocity: -4.555924639351038
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:21,001 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:21,502 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.4928477165170067e-19, Velocity: 2.095708629910204e-17
+Joint 2 - Position: -1.2237159991583573, Velocity: -4.584603623331399
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+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:21,502 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:22,003 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7942781732136054e-19, Velocity: 1.6765669039281635e-17
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+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:22,003 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:22,504 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2354225385708844e-19, Velocity: 1.3412535231425306e-17
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:22,504 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:23,005 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:23,006 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:23,506 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:23,506 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:24,007 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1445363397482929e-19, Velocity: 6.867218038489757e-18
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+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:24,008 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:24,509 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:24,509 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:25,010 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:25,010 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:25,511 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:25,511 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:26,012 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:26,012 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:26,513 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.5162109700449333e-20, Velocity: 2.1097265820269604e-18
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:26,514 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:27,014 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:27,014 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:27,515 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:27,516 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:28,017 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.800300016663006e-20, Velocity: 1.0801800099978035e-18
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+2024-10-28 12:56:28,017 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:28,518 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4402400133304047e-20, Velocity: 8.641440079982429e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:28,518 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:29,019 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0802400199970176e-20, Velocity: 8.639999840001291e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:29,019 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:29,520 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:29,520 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:30,021 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.913536127981117e-21, Velocity: 4.148121676788057e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:30,022 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:30,522 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.5308289023848934e-21, Velocity: 3.318497341430937e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:30,522 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:31,023 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.4246631219079144e-21, Velocity: 2.6547978731447496e-19
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:31,023 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:31,524 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:31,525 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:32,025 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:32,026 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:32,527 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:32,527 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:33,028 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:33,028 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:33,529 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:33,529 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:34,030 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:34,031 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:34,532 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:34,532 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:35,033 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:35,033 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:35,534 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:35,534 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:36,035 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:36,035 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:36,536 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:36,536 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:37,037 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+2024-10-28 12:56:37,037 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:37,538 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
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+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:37,538 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:38,039 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9459874155579336e-22, Velocity: 1.1675924493347605e-20
+Joint 2 - Position: -1.9041269958936016, Velocity: -5.1633231297990525
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:38,039 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:38,540 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5567899324463468e-22, Velocity: 9.340739594678083e-21
+Joint 2 - Position: -1.9256586276598233, Velocity: -5.167591623893239
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:38,541 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:38,813 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 200
+2024-10-28 12:56:39,041 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2454319459536041e-22, Velocity: 7.472591675825824e-21
+Joint 2 - Position: -1.947204437908824, Velocity: -5.170994459760166
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:39,042 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:39,314 - logger - INFO - set joints - client_socket.py - 203
+2024-10-28 12:56:39,375 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 200
+2024-10-28 12:56:39,542 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.963455567628833e-23, Velocity: 5.978073340577301e-21
+Joint 2 - Position: -1.9687608072686469, Velocity: -5.1735286463575045
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:56:39,542 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:39,876 - logger - INFO - (0.31363891037324987, -0.20444194097820695, -1.6462548243720017, -2.137820539545668, -0.1308996938995747, 8.162793270950561e-06) - client_socket.py - 197
+2024-10-28 12:56:39,876 - logger - INFO - set joints - client_socket.py - 203
+2024-10-28 12:56:39,877 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 200
+2024-10-28 12:56:40,043 - logger - INFO - Joint 0 - Position: 0.4166666666666667, Velocity: 100.0
+Joint 1 - Position: 0.06981317007977315, Velocity: 16.75516081914556
+Joint 2 - Position: -1.9205099354299822, Velocity: 11.580209241279533
+Joint 3 - Position: -0.10471975511965975, Velocity: -25.13274122871834
+Joint 4 - Position: -0.1308996938995747, Velocity: -31.41592653589793
+Joint 5 - Position: 8.162793270950561e-06, Velocity: 0.0019590703850281346 - client_socket.py - 87
+2024-10-28 12:56:40,043 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:40,544 - logger - INFO - Joint 0 - Position: 0.7633234913089509, Velocity: 83.19763791414822
+Joint 1 - Position: 0.132645023151569, Velocity: 15.079644737231007
+Joint 2 - Position: -1.9329166500627692, Velocity: -2.977611511868913
+Joint 3 - Position: -0.1989675347273535, Velocity: -22.619467105846507
+Joint 4 - Position: -0.24870948660622885, Velocity: -28.274350249596996
+Joint 5 - Position: 0.0638046473707065, Velocity: 15.31115629858453 - client_socket.py - 87
+2024-10-28 12:56:40,544 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:41,045 - logger - INFO - Joint 0 - Position: 1.1799901579756176, Velocity: 100.0
+Joint 1 - Position: 0.18919369091618526, Velocity: 13.571680263507904
+Joint 2 - Position: -2.0587350885695024, Velocity: -30.19642524161595
+Joint 3 - Position: -0.2837905363742779, Velocity: -20.357520395261858
+Joint 4 - Position: -0.3547384364744226, Velocity: -25.446947968366505
+Joint 5 - Position: 0.24768219925716184, Velocity: 44.13061245274928 - client_socket.py - 87
+2024-10-28 12:56:41,046 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:41,546 - logger - INFO - Joint 0 - Position: 0.7633234913089508, Velocity: -100.0
+Joint 1 - Position: 0.2400874919043399, Velocity: 12.214512237157109
+Joint 2 - Position: -2.029922380751937, Velocity: 6.915049876215626
+Joint 3 - Position: -0.3601312378565099, Velocity: -18.321768355735674
+Joint 4 - Position: -0.4501641915542588, Velocity: -22.902181219160692
+Joint 5 - Position: 0.13526827710266376, Velocity: -26.979341317079545 - client_socket.py - 87
+2024-10-28 12:56:41,547 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:42,048 - logger - INFO - Joint 0 - Position: 0.9565419919566707, Velocity: 46.37244015545275
+Joint 1 - Position: 0.45489248856542863, Velocity: 51.55319919866129
+Joint 2 - Position: -2.0239379046015498, Velocity: 1.4362742760929876
+Joint 3 - Position: -0.43012162794035474, Velocity: -16.797693620122764
+Joint 4 - Position: -0.5360477100426347, Velocity: -20.612044437210223
+Joint 5 - Position: 0.2887097184852033, Velocity: 36.8259459318095 - client_socket.py - 87
+2024-10-28 12:56:42,048 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:56:42,549 - logger - INFO - Joint 0 - Position: 0.9585765803666133, Velocity: 0.4883012183862405
+Joint 1 - Position: 0.6353559890110217, Velocity: 43.31124010694236
+Joint 2 - Position: -2.01915032368124, Velocity: 1.1490194208743851
+Joint 3 - Position: -0.49547194635704506, Velocity: -15.684076420005669
+Joint 4 - Position: -0.6133428050476213, Velocity: -18.550822801196762
+Joint 5 - Position: 0.36242150731436495, Velocity: 17.690829318998794 - client_socket.py - 87
+2024-10-28 12:56:42,549 - logger - INFO - <PyQt5.QtWidgets.QApplication object at 0x7f316e2c7a30> - client_socket.py - 91
+2024-10-28 12:57:18,441 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 12:57:18,441 - logger - INFO - Нчат цикл симуляции - client_socket.py - 72
+2024-10-28 12:57:18,442 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:18,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:19,444 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:19,945 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:20,446 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.03930512671745e-06, Velocity: 0.00012256412965062547
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.352051643919487e-05, Velocity: -0.0020146189980090323
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:20,947 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.550001188828367e-06, Velocity: 0.0001225670549066201
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.191497617083596e-05, Velocity: -0.0020146703355938614
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:21,448 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.0607094390784224e-06, Velocity: 0.00012256998006001326
+Joint 2 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.030964980197473e-05, Velocity: -0.0020147216714733046
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:21,949 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.5714298779515815e-06, Velocity: 0.0001225729053295582
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.870453734048728e-05, Velocity: -0.0020147730092430136
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:22,450 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 4.082162505937806e-06, Velocity: 0.00012257583071669399
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.709963879434833e-05, Velocity: -0.00201482434892665
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 87
+2024-10-28 12:57:33,142 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 12:57:33,874 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 12:57:33,874 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:34,376 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.402898318889935e-22, Velocity: -3.366955965335844e-20
+Joint 2 - Position: -1.0991750038419519e-06, Velocity: -0.00026380200092206846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.963975452637348e-06, Velocity: -0.0016713541086329636
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:34,877 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4591466005435409e-22, Velocity: -1.3499587596865412e-21
+Joint 2 - Position: -2.210415805885413e-06, Velocity: -0.0002666977924904307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.4004332478010442e-05, Velocity: -0.0016896856860895426
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:35,378 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.926167350636332e-23, Velocity: 1.1196716771517783e-20
+Joint 2 - Position: -3.3217908785133107e-06, Velocity: -0.0002667300174306955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.1045476275885575e-05, Velocity: -0.0016898745114900318
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:35,879 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.610061635487855e-23, Velocity: 5.558653716356346e-21
+Joint 2 - Position: -4.433169267352635e-06, Velocity: -0.0002667308133214377
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.8086577162670082e-05, Velocity: -0.001689864212828282
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:36,380 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.017983607181926e-22, Velocity: -6.167458647195374e-21
+Joint 2 - Position: -5.544549535065549e-06, Velocity: -0.0002667312642510994
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.512762603095351e-05, Velocity: -0.0016898517283880227
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:36,881 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5517908291494799e-22, Velocity: -1.2811373327221293e-20
+Joint 2 - Position: -6.655931665825044e-06, Velocity: -0.0002667317113822787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.2168622779456945e-05, Velocity: -0.001689839219640825
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:37,382 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.192151344418744e-22, Velocity: -6.336865236646234e-20
+Joint 2 - Position: -7.767315659405893e-06, Velocity: -0.000266732158459404
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.9209567405746577e-05, Velocity: -0.001689826710309511
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:57:37,883 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.0223035919745224e-22, Velocity: 4.0763460586613204e-21
+Joint 2 - Position: -8.878701515754092e-06, Velocity: -0.0002667326055235675
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.625045990847362e-05, Velocity: -0.0016898142006544908
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 12:58:53,918 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 12:58:54,501 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 12:58:54,501 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:36,819 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 13:19:37,635 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 13:19:37,636 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:38,138 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.402898318889935e-22, Velocity: -3.366955965335844e-20
+Joint 2 - Position: -1.0991750038419519e-06, Velocity: -0.00026380200092206846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.963975452637348e-06, Velocity: -0.0016713541086329636
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:38,638 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4591466005435409e-22, Velocity: -1.3499587596865412e-21
+Joint 2 - Position: -2.210415805885413e-06, Velocity: -0.0002666977924904307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.4004332478010442e-05, Velocity: -0.0016896856860895426
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:39,139 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.926167350636332e-23, Velocity: 1.1196716771517783e-20
+Joint 2 - Position: -3.3217908785133107e-06, Velocity: -0.0002667300174306955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.1045476275885575e-05, Velocity: -0.0016898745114900318
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:39,640 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.610061635487855e-23, Velocity: 5.558653716356346e-21
+Joint 2 - Position: -4.433169267352635e-06, Velocity: -0.0002667308133214377
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.8086577162670082e-05, Velocity: -0.001689864212828282
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:40,141 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.017983607181926e-22, Velocity: -6.167458647195374e-21
+Joint 2 - Position: -5.544549535065549e-06, Velocity: -0.0002667312642510994
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.512762603095351e-05, Velocity: -0.0016898517283880227
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:40,642 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5517908291494799e-22, Velocity: -1.2811373327221293e-20
+Joint 2 - Position: -6.655931665825044e-06, Velocity: -0.0002667317113822787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.2168622779456945e-05, Velocity: -0.001689839219640825
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:41,143 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.192151344418744e-22, Velocity: -6.336865236646234e-20
+Joint 2 - Position: -7.767315659405893e-06, Velocity: -0.000266732158459404
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.9209567405746577e-05, Velocity: -0.001689826710309511
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:41,644 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.0223035919745224e-22, Velocity: 4.0763460586613204e-21
+Joint 2 - Position: -8.878701515754092e-06, Velocity: -0.0002667326055235675
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.625045990847362e-05, Velocity: -0.0016898142006544908
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:42,145 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.818602794992237e-22, Velocity: -1.911118087242515e-20
+Joint 2 - Position: -9.990089234817509e-06, Velocity: -0.0002667330525752201
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.329130028630145e-05, Velocity: -0.0016898016906786786
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:42,646 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.936950983163931e-22, Velocity: -2.6840356516120642e-20
+Joint 2 - Position: -1.1101478816544046e-05, Velocity: -0.0002667334996143689
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.033208853789334e-05, Velocity: -0.0016897891803820536
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:43,147 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.396434671154932e-22, Velocity: -5.902760851178405e-20
+Joint 2 - Position: -1.2212870260881544e-05, Velocity: -0.00026673394664099986
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.737282466191275e-05, Velocity: -0.0016897766697646574
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:43,648 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.318465327280708e-22, Velocity: -2.2128735747018596e-20
+Joint 2 - Position: -1.3324263567777907e-05, Velocity: -0.00026673439365512697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.441350865702315e-05, Velocity: -0.001689764158826497
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:44,149 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.369199071517294e-22, Velocity: -1.2176098616780567e-21
+Joint 2 - Position: -1.4435658737181004e-05, Velocity: -0.00026673484065674324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -9.145414052188807e-05, Velocity: -0.0016897516475675792
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:44,650 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.588340573267235e-22, Velocity: 1.8740603958001395e-20
+Joint 2 - Position: -1.5547055769038678e-05, Velocity: -0.00026673528764584176
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -9.84947202551708e-05, Velocity: -0.0016897391359878555
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:45,151 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.695751331745908e-22, Velocity: 4.5422141796511856e-20
+Joint 2 - Position: -1.6658454663298715e-05, Velocity: -0.0002667357346224086
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00010553524785553494, Velocity: -0.0016897266240873954
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:45,652 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.731044371214837e-22, Velocity: -8.470329472543003e-22
+Joint 2 - Position: -1.77698554199091e-05, Velocity: -0.0002667361815864924
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00011257572332164401, Velocity: -0.001689714111866178
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:53,450 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 13:19:54,267 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 13:19:54,267 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:19:54,770 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.402898318889935e-22, Velocity: -3.366955965335844e-20
+Joint 2 - Position: -1.0991750038419519e-06, Velocity: -0.00026380200092206846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.963975452637348e-06, Velocity: -0.0016713541086329636
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:13,899 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 13:20:14,699 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 13:20:14,699 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:15,200 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.402898318889935e-22, Velocity: -3.366955965335844e-20
+Joint 2 - Position: -1.0991750038419519e-06, Velocity: -0.00026380200092206846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.963975452637348e-06, Velocity: -0.0016713541086329636
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:20,913 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 13:20:21,631 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 13:20:21,632 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:22,133 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.402898318889935e-22, Velocity: -3.366955965335844e-20
+Joint 2 - Position: -1.0991750038419519e-06, Velocity: -0.00026380200092206846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.963975452637348e-06, Velocity: -0.0016713541086329636
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:22,634 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4591466005435409e-22, Velocity: -1.3499587596865412e-21
+Joint 2 - Position: -2.210415805885413e-06, Velocity: -0.0002666977924904307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.4004332478010442e-05, Velocity: -0.0016896856860895426
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:23,135 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.926167350636332e-23, Velocity: 1.1196716771517783e-20
+Joint 2 - Position: -3.3217908785133107e-06, Velocity: -0.0002667300174306955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.1045476275885575e-05, Velocity: -0.0016898745114900318
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:23,636 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.610061635487855e-23, Velocity: 5.558653716356346e-21
+Joint 2 - Position: -4.433169267352635e-06, Velocity: -0.0002667308133214377
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.8086577162670082e-05, Velocity: -0.001689864212828282
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:24,137 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.017983607181926e-22, Velocity: -6.167458647195374e-21
+Joint 2 - Position: -5.544549535065549e-06, Velocity: -0.0002667312642510994
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.512762603095351e-05, Velocity: -0.0016898517283880227
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:24,638 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5517908291494799e-22, Velocity: -1.2811373327221293e-20
+Joint 2 - Position: -6.655931665825044e-06, Velocity: -0.0002667317113822787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.2168622779456945e-05, Velocity: -0.001689839219640825
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:25,139 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.192151344418744e-22, Velocity: -6.336865236646234e-20
+Joint 2 - Position: -7.767315659405893e-06, Velocity: -0.000266732158459404
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.9209567405746577e-05, Velocity: -0.001689826710309511
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:20:25,640 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.0223035919745224e-22, Velocity: 4.0763460586613204e-21
+Joint 2 - Position: -8.878701515754092e-06, Velocity: -0.0002667326055235675
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.625045990847362e-05, Velocity: -0.0016898142006544908
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:26:47,386 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 67
+2024-10-28 13:26:47,967 - logger - INFO - Нчат цикл симуляции - client_socket.py - 74
+2024-10-28 13:26:47,968 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 89
+2024-10-28 13:29:33,159 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-28 13:29:33,903 - logger - INFO - Нчат цикл симуляции - client_socket.py - 76
+2024-10-28 13:29:33,904 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:34,405 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:34,906 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:35,407 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:35,908 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:36,409 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:36,910 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:37,411 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:37,912 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:38,412 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:38,913 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:39,414 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:39,915 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:40,416 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:40,917 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:41,418 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:41,919 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:42,420 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:42,921 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:43,422 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:43,923 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:44,424 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:44,925 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:45,426 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:53,838 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 69
+2024-10-28 13:29:54,619 - logger - INFO - Нчат цикл симуляции - client_socket.py - 76
+2024-10-28 13:29:54,619 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:55,120 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:55,664 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:56,165 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:56,666 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:57,167 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:57,668 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:58,169 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:58,670 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:29:59,171 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 91
+2024-10-28 13:30:13,867 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 70
+2024-10-28 13:30:14,584 - logger - INFO - Нчат цикл симуляции - client_socket.py - 77
+2024-10-28 13:30:14,585 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,727 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,773 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,816 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,858 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:14,985 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,028 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,070 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,113 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,155 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,198 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,240 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,282 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,324 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,367 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,409 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,452 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,494 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,536 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,579 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,663 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,706 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,748 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,791 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,833 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,875 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,918 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:15,960 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,002 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19
+Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,045 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20
+Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,087 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20
+Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,129 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20
+Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,172 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20
+Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,214 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20
+Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,256 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20
+Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,299 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20
+Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,341 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20
+Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,383 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20
+Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,426 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20
+Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,468 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21
+Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,510 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21
+Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,553 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21
+Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,655 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.247253137134666e-23, Velocity: 4.948351882283645e-21
+Joint 2 - Position: -0.14332259109161855, Velocity: -1.5442422163820702
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,697 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.597802509707732e-23, Velocity: 3.958681505824641e-21
+Joint 2 - Position: -0.1499091372398076, Velocity: -1.5807710755653708
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,739 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.2782420077661853e-23, Velocity: 3.166945204659712e-21
+Joint 2 - Position: -0.1566482427466997, Velocity: -1.6173853216541023
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,782 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2225917943511196e-23, Velocity: 2.533560512196158e-21
+Joint 2 - Position: -0.16354026499750535, Velocity: -1.6540853401933553
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,824 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.378071892883589e-23, Velocity: 2.026847763522073e-21
+Joint 2 - Position: -0.17058556249247114, Velocity: -1.6908713987917885
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,866 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7024575872966984e-23, Velocity: 1.621474333408537e-21
+Joint 2 - Position: -0.17778449434076524, Velocity: -1.7277436435905835
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,909 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1619660698351495e-23, Velocity: 1.297179641907717e-21
+Joint 2 - Position: -0.18513741973946946, Velocity: -1.7647020956890125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,951 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7295728558597816e-23, Velocity: 1.0377437135408826e-21
+Joint 2 - Position: -0.19264469743750381, Velocity: -1.8017466475282458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:16,994 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.383658284681577e-23, Velocity: 8.301949708276911e-22
+Joint 2 - Position: -0.20030668518431755, Velocity: -1.8388770592352988
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,036 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1069266277452615e-23, Velocity: 6.64155976647157e-22
+Joint 2 - Position: -0.20812373916318927, Velocity: -1.8760929549292118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,079 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.855413021872141e-24, Velocity: 5.313247813393138e-22
+Joint 2 - Position: -0.21609621340898844, Velocity: -1.9133938189918018
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,121 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22
+Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,163 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22
+Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,206 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22
+Joint 2 - Position: -0.24094965320361023, Velocity: -2.025798889941715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,248 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22
+Joint 2 - Position: -0.24954728463808362, Velocity: -2.0634315442736124
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,290 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.9017417388420358e-24, Velocity: 1.7410450438003042e-22
+Joint 2 - Position: -0.2583020528054649, Velocity: -2.1011443601715136
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,333 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3213933910736287e-24, Velocity: 1.3928360346441772e-22
+Joint 2 - Position: -0.2672142857373685, Velocity: -2.1389359036568534
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,375 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.857114712858903e-24, Velocity: 1.1142688277153418e-22
+Joint 2 - Position: -0.2762843047964066, Velocity: -2.176804574169146
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,417 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4856917702871223e-24, Velocity: 8.914150621722734e-23
+Joint 2 - Position: -0.2855124239658636, Velocity: -2.21474860066969
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,460 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1885534162296978e-24, Velocity: 7.131320497378188e-23
+Joint 2 - Position: -0.29489894912312714, Velocity: -2.2527660377432484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,502 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.508427329837582e-25, Velocity: 5.70505639790255e-23
+Joint 2 - Position: -0.3044441772968897, Velocity: -2.2908547617030135
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,545 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.606741863870065e-25, Velocity: 4.56404511832204e-23
+Joint 2 - Position: -0.3141483959081581, Velocity: -2.329012466704403
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,587 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.085393491038684e-25, Velocity: 3.651236094795314e-23
+Joint 2 - Position: -0.3240118819951316, Velocity: -2.367236660873649
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,653 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.868314792830948e-25, Velocity: 2.9209888756985685e-23
+Joint 2 - Position: -0.3340349014220375, Velocity: -2.405524662457417
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,703 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.89465183324426e-25, Velocity: 2.3367911030080512e-23
+Joint 2 - Position: -0.34421770807203833, Velocity: -2.4438735960002016
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,746 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.115721466595408e-25, Velocity: 1.8694328799572446e-23
+Joint 2 - Position: -0.3545605430243567, Velocity: -2.4822803885564033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,788 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4925771732763263e-25, Velocity: 1.495546303965796e-23
+Joint 2 - Position: -0.36506363371579226, Velocity: -2.520741765944533
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,830 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.994061738621061e-25, Velocity: 1.1964370431726367e-23
+Joint 2 - Position: -0.37572719308683933, Velocity: -2.559254249051293
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,873 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5952493908968488e-25, Velocity: 9.571496345381096e-24
+Joint 2 - Position: -0.38655141871264603, Velocity: -2.597814150193612
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,915 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2761995119398513e-25, Velocity: 7.657197094967941e-24
+Joint 2 - Position: -0.3975364919190929, Velocity: -2.6364175695472474
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:17,957 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.020959609551881e-25, Velocity: 6.125757657311286e-24
+Joint 2 - Position: -0.4086825768843045, Velocity: -2.6750603916507845
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,000 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.167676876415048e-26, Velocity: 4.900606125849028e-24
+Joint 2 - Position: -0.41998981972594723, Velocity: -2.7137382819942664
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,042 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.534141498385296e-26, Velocity: 3.920484907271408e-24
+Joint 2 - Position: -0.43145834757470647, Velocity: -2.7524466837022197
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,085 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.227313198708237e-26, Velocity: 3.1363879192249422e-24
+Joint 2 - Position: -0.4430882676343774, Velocity: -2.791180814321033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,127 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.1812205295127573e-26, Velocity: 2.5106224060691504e-24
+Joint 2 - Position: -0.45487966622904835, Velocity: -2.829935662721029
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,169 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.3449764251456564e-26, Velocity: 2.006985850481042e-24
+Joint 2 - Position: -0.46683260783789904, Velocity: -2.8687059861241653
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,212 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.675981140116525e-26, Velocity: 1.6055886840699154e-24
+Joint 2 - Position: -0.4789471341181836, Velocity: -2.9074863072683073
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,254 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.14078491209322e-26, Velocity: 1.2844709472559318e-24
+Joint 2 - Position: -0.49122326291701557, Velocity: -2.946270911719665
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,296 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.712627929674576e-26, Velocity: 1.0275767578047454e-24
+Joint 2 - Position: -0.5036609872726204, Velocity: -2.9850538453451576
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,339 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.3701023437396609e-26, Velocity: 8.220614062437965e-25
+Joint 2 - Position: -0.5162602744057737, Velocity: -3.0238289119568
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,381 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0960818749917287e-26, Velocity: 6.576491249950371e-25
+Joint 2 - Position: -0.5290210647021931, Velocity: -3.0625896711406484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,423 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.76865499993383e-27, Velocity: 5.261192999960298e-25
+Joint 2 - Position: -0.5419432706867052, Velocity: -3.1013294362829176
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,466 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.014923808053129e-27, Velocity: 4.20895486051368e-25
+Joint 2 - Position: -0.5550267759900651, Velocity: -3.140041272806367
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,508 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.6119390464425035e-27, Velocity: 3.367163427865502e-25
+Joint 2 - Position: -0.5682714343093573, Velocity: -3.1787179966301324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,550 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.489551237154002e-27, Velocity: 2.6937307422924027e-25
+Joint 2 - Position: -0.5816770683629676, Velocity: -3.2173521728664567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,593 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.591640989723201e-27, Velocity: 2.154984593833921e-25
+Joint 2 - Position: -0.5952434688411679, Velocity: -3.2559361147680677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,649 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.8733127644327747e-27, Velocity: 1.7239877406970238e-25
+Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,692 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25
+Joint 2 - Position: -0.6228575653735393, Velocity: -3.332921284829236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,734 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8389201692369758e-27, Velocity: 1.1033521015421854e-25
+Joint 2 - Position: -0.6369046731839898, Velocity: -3.3713058745081046
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,777 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26
+Joint 2 - Position: -0.6511113688204996, Velocity: -3.4096069527623567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,819 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.176908775536859e-27, Velocity: 7.061452653221154e-26
+Joint 2 - Position: -0.6654772670184211, Velocity: -3.447815567501178
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,862 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.415270523196684e-28, Velocity: 5.649161357212577e-26
+Joint 2 - Position: -0.6800019441621767, Velocity: -3.48592251450134
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,904 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.532216418557347e-28, Velocity: 4.519329851134409e-26
+Joint 2 - Position: -0.6946849372392605, Velocity: -3.5239183385000983
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,946 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.025773134845877e-28, Velocity: 3.615463880907526e-26
+Joint 2 - Position: -0.7095257428003048, Velocity: -3.561793334650615
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:18,988 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.820617642012739e-28, Velocity: 2.892373182799531e-26
+Joint 2 - Position: -0.7245238159267782, Velocity: -3.5995375503536087
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,031 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.856494113610191e-28, Velocity: 2.3138964681661146e-26
+Joint 2 - Position: -0.7396785692079392, Velocity: -3.6371407874786357
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,073 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.0851952908881527e-28, Velocity: 1.851117174532892e-26
+Joint 2 - Position: -0.7549893717287233, Velocity: -3.6745926049881934
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,115 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4681548803004054e-28, Velocity: 1.4808969854105937e-26
+Joint 2 - Position: -0.7704555480702957, Velocity: -3.711882321977393
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,157 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9745239042403242e-28, Velocity: 1.1847143425441948e-26
+Joint 2 - Position: -0.7860763773250524, Velocity: -3.748999021141625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,200 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5796191233922594e-28, Velocity: 9.477714740353557e-27
+Joint 2 - Position: -0.8018510921279024, Velocity: -3.7859315526839987
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,242 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.041090078761382e-28, Velocity: 1.2924697071141057e-26
+Joint 2 - Position: -0.8177788777057108, Velocity: -3.8226685386740042
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,284 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.328720630091057e-29, Velocity: 4.997232378054634e-27
+Joint 2 - Position: -0.8338588709468273, Velocity: -3.8591983778679766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,327 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.016231418506104284, Velocity: 3.8955404414650285
+Joint 2 - Position: -0.8338588708371956, Velocity: 2.631163109612089e-08
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,369 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.03261330068345819, Velocity: 3.9316517225649377
+Joint 2 - Position: -0.8338588707280574, Velocity: 2.6193145319375333e-08
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,411 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277235, Velocity: 3.9674961742353974
+Joint 2 - Position: -0.8338588707280611, Velocity: -8.818709651414736e-13
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,454 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: -8.881784197001252e-16
+Joint 2 - Position: -0.8505383583485627, Velocity: -4.003077028920401
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,496 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: 1.4802973503125803e-19
+Joint 2 - Position: -0.867364981590902, Velocity: -4.03838957816144
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,539 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: 1.4800506340930426e-19
+Joint 2 - Position: -0.8843375691272795, Velocity: -4.0734210087305724
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,581 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: 1.4798039589928741e-19
+Joint 2 - Position: -0.9014548955085148, Velocity: -4.108158331496473
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,648 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: 1.4795573250052213e-19
+Joint 2 - Position: -0.9187156804677955, Velocity: -4.142588390227366
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,690 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277234, Velocity: 1.4793107435616548e-19
+Joint 2 - Position: -0.9361185882632587, Velocity: -4.176697870911155
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,733 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277233, Velocity: -8.880305132809476e-16
+Joint 2 - Position: -0.9536622270615661, Velocity: -4.21047331159379
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,775 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: -8.87882508198709e-16
+Joint 2 - Position: -0.9713451483646294, Velocity: -4.24390111273519
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,818 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.438919161417119e-19
+Joint 2 - Position: -0.989165846481629, Velocity: -4.276967548079905
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,860 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.438179341573419e-19
+Joint 2 - Position: -1.0071227580484567, Velocity: -4.309658776038658
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,903 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.437439645033024e-19
+Joint 2 - Position: -1.025214261596686, Velocity: -4.341960851574985
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,946 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.43670008700143e-19
+Joint 2 - Position: -1.0434386771741426, Velocity: -4.373859738589632
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:19,988 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.435960637003457e-19
+Joint 2 - Position: -1.061794266019116, Velocity: -4.405341322793607
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,031 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.435221310247149e-19
+Joint 2 - Position: -1.0802792302901956, Velocity: -4.436391425059128
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,073 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.434482106711964e-19
+Joint 2 - Position: -1.0988917128536775, Velocity: -4.466995815235676
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,115 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.433743026377365e-19
+Joint 2 - Position: -1.117629797130414, Velocity: -4.4971402264167715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,158 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772326, Velocity: 4.433004092159352e-19
+Joint 2 - Position: -1.136491507003919, Velocity: -4.52681036964116
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,201 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277232, Velocity: -8.877351931743092e-16
+Joint 2 - Position: -1.1554748067914604, Velocity: -4.555991949009955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,243 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04914453474277231, Velocity: -8.875872373120872e-16
+Joint 2 - Position: -1.1745776012797935, Velocity: -4.5846706771999175
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,286 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.049144534742772306, Velocity: -8.874393061090274e-16
+Joint 2 - Position: -1.1937977358270877, Velocity: -4.612832291350625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,328 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0491445347427723, Velocity: -8.872913995613153e-16
+Joint 2 - Position: -1.2131329965325117, Velocity: -4.640462569301759
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,370 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.06859266813317355, Velocity: 4.6675520136963
+Joint 2 - Position: -1.213132996532516, Velocity: -1.0373923942097463e-12
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,413 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 4.694091272306384
+Joint 2 - Position: -1.2131329965325204, Velocity: -1.0433841290957702e-12
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,455 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.881784197001252e-16
+Joint 2 - Position: -1.2327998416600607, Velocity: -4.720042830609698
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,498 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.880303899668172e-16
+Joint 2 - Position: -1.2525723704277525, Velocity: -4.7454069042460265
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,540 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9603479499432742e-19
+Joint 2 - Position: -1.2724480776293587, Velocity: -4.7701697283855164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,583 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.959854558629312e-19
+Joint 2 - Position: -1.2924244013048025, Velocity: -4.794317682106495
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,642 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9593612495472335e-19
+Joint 2 - Position: -1.3124987234142333, Velocity: -4.817837306263397
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,685 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9588680226833336e-19
+Joint 2 - Position: -1.332668370586938, Velocity: -4.840715321449112
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,728 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.958374878023909e-19
+Joint 2 - Position: -1.352930614945328, Velocity: -4.862938646013593
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,770 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9578818155552592e-19
+Joint 2 - Position: -1.3732826750040739, Velocity: -4.884494414099006
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,813 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.878826808165989e-16
+Joint 2 - Position: -1.3937217166442821, Velocity: -4.905369993649977
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,855 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.877347003731038e-16
+Joint 2 - Position: -1.4142448541624355, Velocity: -4.925553004356787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,897 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.875867445930153e-16
+Joint 2 - Position: -1.4348491513936372, Velocity: -4.945031335488398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,940 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.874388134722229e-16
+Joint 2 - Position: -1.4555316229085187, Velocity: -4.9637931635715455
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:20,982 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 8.875126935083244e-19
+Joint 2 - Position: -1.4762892352829833, Velocity: -4.9818269698715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,025 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 8.873647747293793e-19
+Joint 2 - Position: -1.4971189084397745, Velocity: -4.9991215576298895
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,067 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 8.872168806035633e-19
+Joint 2 - Position: -1.5180175170606676, Velocity: -5.015666069014334
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,110 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 8.870690111267679e-19
+Joint 2 - Position: -1.5389818920678977, Velocity: -5.031450001735218
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,152 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.872914985338303e-16
+Joint 2 - Position: -1.5600088221732498, Velocity: -5.046463225284481
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,195 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.871436166207134e-16
+Joint 2 - Position: -1.5810950554930494, Velocity: -5.060695996751924
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,237 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.1826603458477298e-18
+Joint 2 - Position: -1.602237301227112, Velocity: -5.074138976175051
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,280 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.869959564643307e-16
+Joint 2 - Position: -1.6234322313995242, Velocity: -5.08678324137893
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,322 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.868481238082243e-16
+Joint 2 - Position: -1.6446764826589566, Velocity: -5.098620302263772
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,364 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.867003157908933e-16
+Joint 2 - Position: -1.6659666581360344, Velocity: -5.10964211449866
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,406 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.6258872918937992e-18
+Joint 2 - Position: -1.687299329355124, Velocity: -5.119841092581467
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,449 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.6256163106845405e-18
+Joint 2 - Position: -1.7086710381977324, Velocity: -5.12921012222601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,492 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.6253453746388157e-18
+Joint 2 - Position: -1.7300782989145644, Velocity: -5.137742572039675
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.505213034913028e-20, Velocity: 1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,534 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.6250744837490974e-18
+Joint 2 - Position: -1.7515176001831312, Velocity: -5.145432304456024
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.505213034913028e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,576 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.865536160621174e-16
+Joint 2 - Position: -1.7729854072076694, Velocity: -5.152273685889153
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,640 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.772562570715522e-18
+Joint 2 - Position: -1.7944781638579972, Velocity: -5.158261596078683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,683 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 1.772267143627006e-18
+Joint 2 - Position: -1.8159922948438156, Velocity: -5.163391436596441
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,725 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.864064479343489e-16
+Joint 2 - Position: -1.837524207920851, Velocity: -5.1676591384884505
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,768 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.862587135296619e-16
+Joint 2 - Position: -1.8590702961251355, Velocity: -5.171061169028293
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,810 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.861110037473752e-16
+Joint 2 - Position: -1.880626940031638, Velocity: -5.173594537560569
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,853 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.242597060417889e-16
+Joint 2 - Position: -1.9021905100333725, Velocity: -5.17525680041625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,895 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.242223294249507e-16
+Joint 2 - Position: -1.923757368637056, Velocity: -5.176046064884011
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.143812310751193e-20, Velocity: 8.673617379884035e-19
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,938 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -6.639934606625767e-16
+Joint 2 - Position: -1.9453238727713282, Velocity: -5.175960992225329
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.143812310751193e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:21,980 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.2429562461185205e-16
+Joint 2 - Position: -1.9668863761035096, Velocity: -5.175000799723532
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.143812310751193e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,022 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.213637083409879e-18
+Joint 2 - Position: -1.9884412313608444, Velocity: -5.173165261760352
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.963111948670275e-20, Velocity: -4.336808689942018e-19
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,064 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.85965151556221e-16
+Joint 2 - Position: -2.009984792652164, Velocity: -5.1704547099166875
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: -4.336808689942018e-19
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,107 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.3609289991964596e-18
+Joint 2 - Position: -2.031513417785902, Velocity: -5.166870032097182
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.656521780872771e-10, Velocity: 1.597565227270687e-07
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,149 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.360535511038722e-18
+Joint 2 - Position: -2.0530234705804076, Velocity: -5.162412670681273
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.7665445968949444e-09, Velocity: 5.042141805138402e-07
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,192 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.3601420884623425e-18
+Joint 2 - Position: -2.0745113231625187, Velocity: -5.157084619706637
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.7665445968949444e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,235 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.359748731456391e-18
+Joint 2 - Position: -2.095973358250422, Velocity: -5.150888421096838
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.7665445968949444e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,277 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.359355440009939e-18
+Joint 2 - Position: -2.1174059714168303, Velocity: -5.143827159937921
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 2.168404344971009e-19
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,320 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.35896221411206e-18
+Joint 2 - Position: -2.138805573328614, Velocity: -5.135904458828089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,362 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.858198506463734e-16
+Joint 2 - Position: -2.1601685919590814, Velocity: -5.12712447131217
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,404 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.856722140078989e-16
+Joint 2 - Position: -2.1814914747691807, Velocity: -5.117491874423784
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,447 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.653817724594968e-18
+Joint 2 - Position: -2.202770690854008, Velocity: -5.107011860358516
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,489 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.653375421650755e-18
+Joint 2 - Position: -2.224002733051107, Velocity: -5.095690127303763
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,532 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.6529331924236975e-18
+Joint 2 - Position: -2.2451841200071656, Velocity: -5.083532869454036
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,574 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.855259286632237e-16
+Joint 2 - Position: -2.266311398199842, Velocity: -5.070546766242271
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,635 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.8000786883799564e-18
+Joint 2 - Position: -2.2873811439115928, Velocity: -5.056738970820145
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,678 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.799612008608991e-18
+Joint 2 - Position: -2.3083899651525193, Velocity: -5.0421170978223735
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,721 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.7991454066179853e-18
+Joint 2 - Position: -2.3293345035294006, Velocity: -5.026689210451566
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,763 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: -8.853797408177313e-16
+Joint 2 - Position: -2.3502114360582436, Velocity: -5.010463806922308
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,805 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.946242167032131e-18
+Joint 2 - Position: -2.371017476917844, Velocity: -4.993449806304125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,848 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9457511266819346e-18
+Joint 2 - Position: -2.3917493791420306, Velocity: -4.975656533804766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596895848e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,890 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.945260167935711e-18
+Joint 2 - Position: -2.4124039362484293, Velocity: -4.957093705535714
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,933 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9447692912520273e-18
+Joint 2 - Position: -2.4329779838017775, Velocity: -4.937771412803627
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:22,975 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.944278496381122e-18
+Joint 2 - Position: -2.453468400909991, Velocity: -4.917700105971226
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,018 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.94378778330936e-18
+Joint 2 - Position: -2.4738721116513758, Velocity: -4.896890577932345
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,060 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9432971520231083e-18
+Joint 2 - Position: -2.494186086431567, Velocity: -4.8753539472458955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,103 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.08815138176778348, Velocity: 2.9428066025087358e-18
+Joint 2 - Position: -2.5144073432689575, Velocity: -4.853101640973735
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.766544596903076e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,146 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 4.830103516250646
+Joint 2 - Position: -2.5144073432689575, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: -1.610033432550978e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,188 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.881784197001252e-16
+Joint 2 - Position: -2.5344342406346922, Velocity: -4.8064553677762945
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,231 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.880303899668172e-16
+Joint 2 - Position: -2.5543597719117694, Velocity: -4.782127506498478
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,273 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.878823849051309e-16
+Joint 2 - Position: -2.5741811569840456, Velocity: -4.757132417346297
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,315 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.877344045109543e-16
+Joint 2 - Position: -2.5938956686717836, Velocity: -4.731482805057125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,358 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.875864487801762e-16
+Joint 2 - Position: -2.6135006335724977, Velocity: -4.705191576171442
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,401 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.874385177086861e-16
+Joint 2 - Position: -2.6329934328268134, Velocity: -4.678271821035776
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,443 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.872906112923739e-16
+Joint 2 - Position: -2.6523715028095416, Velocity: -4.650736795854724
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,486 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0356901718278089e-18
+Joint 2 - Position: -2.67163233574634, Velocity: -4.6225999048315485
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,529 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0355175544204881e-18
+Joint 2 - Position: -2.6907734802564844, Velocity: -4.593874682434745
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038711543e-09, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,571 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0353449660937358e-18
+Joint 2 - Position: -2.709792541822431, Velocity: -4.564574775827164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038725999e-09, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,630 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0351724086032438e-18
+Joint 2 - Position: -2.728687183186982, Velocity: -4.534713927492132
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038711543e-09, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,672 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0349998798723329e-18
+Joint 2 - Position: -2.7474551246790235, Velocity: -4.5043059580900024
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038711543e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,715 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0348273798962098e-18
+Joint 2 - Position: -2.7660941444689255, Velocity: -4.473364749576464
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,757 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.0346549068235848e-18
+Joint 2 - Position: -2.7846020787548103, Velocity: -4.441904228612354
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,800 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.871439372378411e-16
+Joint 2 - Position: -2.8029768218810305, Velocity: -4.409938350292875
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,842 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.869960799182731e-16
+Joint 2 - Position: -2.8212163263902905, Velocity: -4.37748108222241
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,885 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.86848247241591e-16
+Joint 2 - Position: -2.839318603010953, Velocity: -4.34454638895908
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,927 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.867004392036878e-16
+Joint 2 - Position: -2.8572817205811676, Velocity: -4.3111482168514765
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:23,970 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.865526558004571e-16
+Joint 2 - Position: -2.875103805911534, Velocity: -4.277300479287994
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,012 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -8.86404897027793e-16
+Joint 2 - Position: -2.892783043588107, Velocity: -4.243017042377493
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,054 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.9212568185348255e-18
+Joint 2 - Position: -2.9103176757175975, Velocity: -4.208311711077758
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,097 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.920936609072227e-18
+Joint 2 - Position: -2.9277060016167096, Velocity: -4.173198215786884
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,139 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.9206164529778708e-18
+Joint 2 - Position: -2.9449463774475864, Velocity: -4.137690199410397
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,182 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.92029634437891e-18
+Joint 2 - Position: -2.962037215801401, Velocity: -4.101801204915413
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,224 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.919976294995334e-18
+Joint 2 - Position: -2.978976985232156, Velocity: -4.065544663381264
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,267 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.9196562989533205e-18
+Joint 2 - Position: -2.995764209742799, Velocity: -4.028933882554256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,310 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 4.46008546202873e-16
+Joint 2 - Position: -3.0123974682257684, Velocity: -3.991982035912606
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,352 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.8450015967714537e-18
+Joint 2 - Position: -3.028875393860127, Velocity: -3.9547021522460333
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,395 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -4.422445157535504e-16
+Joint 2 - Position: -3.04519667346743, Velocity: -3.9171071057527467
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,437 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -4.4217080833736017e-16
+Joint 2 - Position: -3.0613600468284936, Velocity: -3.879209606655247
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,480 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.9920966457781485e-18
+Joint 2 - Position: -3.077364305963222, Velocity: -3.8410221923348025
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,522 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 1.9917646265188694e-18
+Joint 2 - Position: -3.093208294375652, Velocity: -3.802557218983154
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,565 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -4.420977771843074e-16
+Joint 2 - Position: -3.108890906266355, Velocity: -3.7638268537687
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,645 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.065115626972294e-18
+Joint 2 - Position: -3.1244110857143266, Velocity: -3.7248430675131874
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,688 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.0647714410421588e-18
+Joint 2 - Position: -3.139767825830467, Velocity: -3.6856176278737
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,731 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -4.4202478253758627e-16
+Joint 2 - Position: -3.154960167884733, Velocity: -3.6461620930238614
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,773 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.138098107919257e-18
+Joint 2 - Position: -3.169987200409012, Velocity: -3.606487805826883
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,816 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.1377417582425686e-18
+Joint 2 - Position: -3.1848480582777308, Velocity: -3.566605888492483
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,858 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: -4.419518243821051e-16
+Joint 2 - Position: -3.199541921768183, Velocity: -3.5265272377085606
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.2110441037081213e-18
+Joint 2 - Position: -3.214068015602508, Velocity: -3.486262520237905
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.21067559636574e-18
+Joint 2 - Position: -3.228425607973214, Velocity: -3.4458221689694732
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:24,986 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1082768130854945, Velocity: 2.210307150441248e-18
+Joint 2 - Position: -3.242614009554102, Velocity: -3.405216379413132
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.941928038697087e-09, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,028 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.12229525453626358, Velocity: 3.3644259481845795
+Joint 2 - Position: -3.242614009554102, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.614738741830888e-09, Velocity: -1.1214745687521122e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,071 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 3.3234912605880504
+Joint 2 - Position: -3.242614009554102, Velocity: -2.7755575615628914e-16
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: -1.1078296819830302e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,114 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 4.440892098500626e-16
+Joint 2 - Position: -3.2562908761770237, Velocity: -3.28244798950115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,156 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -7.401486665399569e-20
+Joint 2 - Position: -3.26979619965659, Velocity: -3.2412776350958303
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,198 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 4.4401520731593917e-16
+Joint 2 - Position: -3.2831294878558923, Velocity: -3.199989167832611
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,241 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.442372149170846e-16
+Joint 2 - Position: -3.2962902849741957, Velocity: -3.1585913083927846
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,284 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -7.396553285739295e-20
+Joint 2 - Position: -3.309278170503063, Velocity: -3.11709252692818
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,326 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -7.395320526885893e-20
+Joint 2 - Position: -3.3220927581807715, Velocity: -3.0755010426500213
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,369 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -7.394087973492295e-20
+Joint 2 - Position: -3.3347336949463697, Velocity: -3.033824823743549
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,411 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.441631384063179e-16
+Joint 2 - Position: -3.34720065989468, Velocity: -2.9920715875945305
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,454 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.863182447709907e-23
+Joint 2 - Position: -3.3594933632334874, Velocity: -2.950248801313697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,496 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.861538584005365e-23
+Joint 2 - Position: -3.3716115452440922, Velocity: -2.9083636825452017
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,539 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.859894994278101e-23
+Joint 2 - Position: -3.3835549752463643, Velocity: -2.8664232005453045
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,581 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.4408911126754584e-16
+Joint 2 - Position: -3.395323450569354, Velocity: -2.8244340775175947
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,630 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.440150964173223e-16
+Joint 2 - Position: -3.4069167955284843, Velocity: -2.7824027901912376
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,673 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.439410939029068e-16
+Joint 2 - Position: -3.4183348604102717, Velocity: -2.7403355716289317
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,715 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.4386710372224347e-16
+Joint 2 - Position: -3.429577520465486, Velocity: -2.698238413251436
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,758 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.437931258732766e-16
+Joint 2 - Position: -3.4406446749115935, Velocity: -2.656117067065834
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,800 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.43719160353951e-16
+Joint 2 - Position: -3.4515362459452805, Velocity: -2.613977048084925
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,842 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.4364520716221163e-16
+Joint 2 - Position: -3.4622521777658033, Velocity: -2.571823636925452
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,885 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.4357126629600395e-16
+Joint 2 - Position: -3.472792435609858, Velocity: -2.5296618825731665
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,928 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 5.918720945668447e-19
+Joint 2 - Position: -3.483157004798621, Velocity: -2.4874966053030407
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:25,971 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 5.917734492199551e-19
+Joint 2 - Position: -3.4933458897975513, Velocity: -2.4453323997433425
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,013 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 5.916748203139562e-19
+Joint 2 - Position: -3.50335911328952, Velocity: -2.4031736380725146
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,055 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 5.91576207846108e-19
+Joint 2 - Position: -3.513196715261763, Velocity: -2.3610244733383
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,098 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.434977322382489e-16
+Joint 2 - Position: -3.5228587521071333, Velocity: -2.3188888428888736
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,141 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 6.653938988679235e-19
+Joint 2 - Position: -3.532345295740075, Velocity: -2.2767704719059902
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,183 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 6.652829998872577e-19
+Joint 2 - Position: -3.541656432727703, Velocity: -2.23467287703079
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,226 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.4342403773067287e-16
+Joint 2 - Position: -3.5507922634363407, Velocity: -2.192599370073029
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,268 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -4.433501337260363e-16
+Joint 2 - Position: -3.55975290119382, Velocity: -2.150553061795093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,311 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.129678113290499e-19
+Joint 2 - Position: -3.56853847146783, Velocity: -2.1085368657623613
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,353 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.128323166968569e-19
+Joint 2 - Position: -3.577149111060547, Velocity: -2.0665535022520314
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,396 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.126968446471021e-19
+Joint 2 - Position: -3.585584967319767, Velocity: -2.0246055022127707
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,438 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.212320435298553e-16
+Joint 2 - Position: -3.593846197366717, Velocity: -1.982695211268014
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,481 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.494334016068362e-19
+Joint 2 - Position: -3.6019329673407006, Velocity: -1.9408247937560834
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,523 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.492918293763994e-19
+Joint 2 - Position: -3.6098454516607035, Velocity: -1.8989962368006632
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,566 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.491502807413339e-19
+Joint 2 - Position: -3.6175838323040597, Velocity: -1.8572113544055238
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,641 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.49008755697707e-19
+Joint 2 - Position: -3.6251482981022587, Velocity: -1.8154717915678125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,684 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.488672542415869e-19
+Joint 2 - Position: -3.632539044053944, Velocity: -1.7737790284044694
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,727 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.2119587914866227e-16
+Joint 2 - Position: -3.639756270655139, Velocity: -1.7321343842867787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,770 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.855917554031209e-19
+Joint 2 - Position: -3.6468001832467154, Velocity: -1.690539021978305
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,812 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.2115916076825079e-16
+Joint 2 - Position: -3.6536709913790983, Velocity: -1.64899395177191
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,855 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.211223009137166e-16
+Joint 2 - Position: -3.660368908194189, Velocity: -1.6075000356217493
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,898 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.2300376265234126e-16
+Joint 2 - Position: -3.666894149824466, Velocity: -1.5660579912664976
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,941 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.21990434365313e-19
+Joint 2 - Position: -3.6732469348092174, Velocity: -1.5246683963404257
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:26,983 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.218367692963535e-19
+Joint 2 - Position: -3.6794274835278387, Velocity: -1.483331692469106
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,026 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.216831298382382e-19
+Joint 2 - Position: -3.6854360176501175, Velocity: -1.4420481893469401
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,068 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.215295159866987e-19
+Joint 2 - Position: -3.6912727596034256, Velocity: -1.4008180687939078
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,111 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.213759277374671e-19
+Joint 2 - Position: -3.6969379320567137, Velocity: -1.359641388789168
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,153 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.212223650862766e-19
+Joint 2 - Position: -3.7024317574212118, Velocity: -1.3185180874794944
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,196 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.210688280288607e-19
+Joint 2 - Position: -3.707754457367715, Velocity: -1.277447987160685
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,238 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.209153165609539e-19
+Joint 2 - Position: -3.7129062523603413, Velocity: -1.2364307982303815
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,281 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.20761830678291e-19
+Joint 2 - Position: -3.7178873612066368, Velocity: -1.1954661231108723
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,323 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.20608370376608e-19
+Joint 2 - Position: -3.72269800062389, Velocity: -1.1545534601407963
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,366 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.204549356516415e-19
+Joint 2 - Position: -3.727338384821535, Velocity: -1.1136922074347544
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,408 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.203015264991284e-19
+Joint 2 - Position: -3.731808725099494, Velocity: -1.0728816667100942
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,451 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.20148142914807e-19
+Joint 2 - Position: -3.7361092294623286, Velocity: -1.0321210470803195
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,493 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.1010230767762124e-16
+Joint 2 - Position: -3.740240102249057, Velocity: -0.9914094688147209
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,536 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.383451690971901e-19
+Joint 2 - Position: -3.74420154377849, Velocity: -0.95074596706404
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,578 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.381887782391695e-19
+Joint 2 - Position: -3.7479937500099574, Velocity: -0.9101294955520915
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,634 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.380324047603602e-19
+Joint 2 - Position: -3.7516169122192635, Velocity: -0.8695589302334785
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,677 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.1008442639648592e-16
+Joint 2 - Position: -3.7550712166897537, Velocity: -0.8290330729176273
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,720 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.562234700190498e-19
+Joint 2 - Position: -3.7583568444183353, Velocity: -0.7885506548595577
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,762 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.560640994442756e-19
+Joint 2 - Position: -3.7614739708363265, Velocity: -0.7481103403178706
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,805 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.55904755431263e-19
+Joint 2 - Position: -3.764422765544996, Velocity: -0.7077107300806261
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,847 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 9.557454379755856e-19
+Joint 2 - Position: -3.767203392065662, Velocity: -0.667350364959844
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,889 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.1006671631544283e-16
+Joint 2 - Position: -3.7698160076042266, Velocity: -0.6270277292555173
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,932 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.1004837186313363e-16
+Joint 2 - Position: -3.7722607628300184, Velocity: -0.5867412541900751
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:27,975 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.1003003046823307e-16
+Joint 2 - Position: -3.7745378016688282, Velocity: -0.5464893213143657
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,017 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0106103303050139e-18
+Joint 2 - Position: -3.7766472611100212, Velocity: -0.5062702658863024
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,060 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0104418952537278e-18
+Joint 2 - Position: -3.7785892710276188, Velocity: -0.4660823802234102
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,102 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0102734882749496e-18
+Joint 2 - Position: -3.780363954015246, Velocity: -0.4259239170305483
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,144 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -5.450104612189383e-17
+Joint 2 - Position: -3.781971425234847, Velocity: -0.3857930927042099
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,187 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -5.449196261440988e-17
+Joint 2 - Position: -3.7834117922790753, Velocity: -0.3456880906148078
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,229 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0282706104140158e-18
+Joint 2 - Position: -3.7846851550472773, Velocity: -0.305607064368445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,272 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -5.448305199927505e-17
+Joint 2 - Position: -3.7857916056349845, Velocity: -0.2655481410497129
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,314 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.6718395875182557e-17
+Joint 2 - Position: -3.7867312282368473, Velocity: -0.22550942444709704
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,357 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0416328063260196e-18
+Joint 2 - Position: -3.7875040990629416, Velocity: -0.18548899826262444
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,399 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.041459200862179e-18
+Joint 2 - Position: -3.788110286268389, Velocity: -0.1454849293074129
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,442 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0412856243325818e-18
+Joint 2 - Position: -3.7885498498962424, Velocity: -0.10549527068481057
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,484 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.2836675731082052e-17
+Joint 2 - Position: -3.788822841833588, Velocity: -0.06551806496285005
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,527 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0432515226397651e-18
+Joint 2 - Position: -3.7889293057808286, Velocity: -0.02555134733774877
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,569 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0430776475615118e-18
+Joint 2 - Position: -3.788869277234121, Velocity: 0.014406851209788794
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,639 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.042903801290804e-18
+Joint 2 - Position: -3.7886427837692107, Velocity: 0.054358431578496055
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,681 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0427299839944741e-18
+Joint 2 - Position: -3.7882498482891673, Velocity: 0.09430451521042281
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,724 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.042556195667693e-18
+Joint 2 - Position: -3.7876904899506587, Velocity: 0.13424600124208091
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,766 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.0423824363056322e-18
+Joint 2 - Position: -3.786964724197212, Velocity: 0.17418378082714045
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,808 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.879778431965046e-17
+Joint 2 - Position: -3.7860725628063734, Velocity: 0.21411873380132332
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,851 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.671816654222003e-17
+Joint 2 - Position: -3.7850140139507613, Velocity: 0.25405172534689235
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,893 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.87974377166953e-17
+Joint 2 - Position: -3.783789082273028, Velocity: 0.29398360265594725
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,936 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -2.671851308740803e-17
+Joint 2 - Position: -3.782397768974729, Velocity: 0.33391519159177674
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:28,979 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.43082424575655e-17
+Joint 2 - Position: -3.780840071919114, Velocity: 0.3738472933475356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,021 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.878303985287881e-17
+Joint 2 - Position: -3.7791159857478576, Velocity: 0.4137806811015546
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,064 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 8.428939391093505e-17
+Joint 2 - Position: -3.777225502011738, Velocity: 0.4537160966686493
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,106 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8764194447672733e-17
+Joint 2 - Position: -3.775168609315293, Velocity: 0.49365424714680994
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,149 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8759400415371944e-17
+Joint 2 - Position: -3.7729452934754653, Velocity: 0.5335958015587449
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,191 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.3977690964459217e-16
+Joint 2 - Position: -3.7705555376942663, Velocity: 0.573541387487791
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,234 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.397536134883162e-16
+Joint 2 - Position: -3.7679993227454838, Velocity: 0.613491587707769
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,277 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.870801875740643e-17
+Joint 2 - Position: -3.765276627175457, Velocity: 0.6534469368064454
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,319 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8703234087720475e-17
+Joint 2 - Position: -3.762387427517947, Velocity: 0.6934079178023329
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,362 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.3972075267799512e-16
+Joint 2 - Position: -3.759331698523136, Velocity: 0.7333749587546466
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,404 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.867516342388696e-17
+Joint 2 - Position: -3.7561094134007766, Velocity: 0.7733484293663236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,447 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8670384230089806e-17
+Joint 2 - Position: -3.752720544077526, Velocity: 0.8133286375801154
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,489 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.866560583282493e-17
+Joint 2 - Position: -3.7491650614684935, Velocity: 0.853315826167855
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,532 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.3968313069447524e-16
+Joint 2 - Position: -3.7454429357630223, Velocity: 0.8933101693131231
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,574 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 1.3965985017321318e-16
+Joint 2 - Position: -3.7415541367247407, Velocity: 0.9333117691876373
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,636 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.861427106952226e-17
+Joint 2 - Position: -3.7374986340058998, Velocity: 0.9733206525218191
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,678 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8609502024450606e-17
+Joint 2 - Position: -3.733276397476024, Velocity: 1.0133367671701266
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,721 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.860473377421978e-17
+Joint 2 - Position: -3.7288873975648915, Velocity: 1.0533599786718568
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,763 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8599966318697304e-17
+Joint 2 - Position: -3.724331605619857, Velocity: 1.0933900668082819
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,806 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.859519965775073e-17
+Joint 2 - Position: -3.719608994277536, Velocity: 1.1334267221571148
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,848 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.859043379124763e-17
+Joint 2 - Position: -3.7147195378498465, Velocity: 1.1734695426454693
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,891 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8585668718194043e-17
+Joint 2 - Position: -3.709663212724419, Velocity: 1.2135180301026103
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,933 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.858090444018083e-17
+Joint 2 - Position: -3.7044399977793607, Velocity: 1.2535715868139914
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:29,976 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.506207458812453e-16
+Joint 2 - Position: -3.6990498748123684, Velocity: 1.2936295120782089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,018 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.853437083283408e-17
+Joint 2 - Position: -3.6934928289841653, Velocity: 1.3336909987687418
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,061 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8529615101865374e-17
+Joint 2 - Position: -3.6877688492762384, Velocity: 1.373755129902444
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,103 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.852486016612134e-17
+Joint 2 - Position: -3.6818779289628343, Velocity: 1.4138208752170158
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,146 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.852010602286659e-17
+Joint 2 - Position: -3.675820066097168, Velocity: 1.4538870877598484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,188 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8515352671969025e-17
+Joint 2 - Position: -3.6695952640117895, Velocity: 1.4939525004908332
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,231 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8510600113296594e-17
+Joint 2 - Position: -3.663203531833031, Velocity: 1.5340157229019478
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,273 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8505848346717254e-17
+Joint 2 - Position: -3.6566448850094617, Velocity: 1.5740752376566347
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,316 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.850109737170101e-17
+Joint 2 - Position: -3.649919345854244, Velocity: 1.614129397252198
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,358 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.505409521139432e-16
+Joint 2 - Position: -3.6430269441012912, Velocity: 1.6541764207086864
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,400 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.8454590364492896e-17
+Joint 2 - Position: -3.6359677174750917, Velocity: 1.6942143902879134
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,443 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.844984793287148e-17
+Joint 2 - Position: -3.6287417122740644, Velocity: 1.7342412482465577
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,485 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.844510629165532e-17
+Joint 2 - Position: -3.6213489839672834, Velocity: 1.7742547936274662
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,528 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.844036544071268e-17
+Joint 2 - Position: -3.6137895978043937, Velocity: 1.8142526790935403
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,570 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.843562537991184e-17
+Joint 2 - Position: -3.6060636294385238, Velocity: 1.8542324078088102
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,633 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.843088610912112e-17
+Joint 2 - Position: -3.5981711655619755, Velocity: 1.8941913303715816
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,675 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.5047075255324014e-16
+Joint 2 - Position: -3.590112304554456, Velocity: 1.9341266418047236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,718 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.5042900742874766e-16
+Joint 2 - Position: -3.581887157143587, Velocity: 1.9740353786084628
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,760 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.9370194058828683e-16
+Joint 2 - Position: -3.573495847077415, Velocity: 2.0139144158812545
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,803 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.504195529178189e-16
+Joint 2 - Position: -3.5649385118086045, Velocity: 2.053760464514583
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,846 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.937113935234638e-16
+Joint 2 - Position: -3.556215303189989, Velocity: 2.0935700684677108
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,888 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.504101015581311e-16
+Joint 2 - Position: -3.5473263881811192, Velocity: 2.133339602128766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,931 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.503683665421376e-16
+Joint 2 - Position: -3.5382719495654165, Velocity: 2.1730652677686324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:30,973 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.503266384819799e-16
+Joint 2 - Position: -3.529052186677523, Velocity: 2.2127430930945016
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,016 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.502849173764988e-16
+Joint 2 - Position: -3.519667316140398, Velocity: 2.252368928910018
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,058 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.502432032245351e-16
+Joint 2 - Position: -3.5101175726116924, Velocity: 2.291938446889306
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,101 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.502014960249299e-16
+Joint 2 - Position: -3.500403209538891, Velocity: 2.3314471374722974
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,143 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.5015979577652445e-16
+Joint 2 - Position: -3.490524499922687, Velocity: 2.370890307889001
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,186 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.501181024781603e-16
+Joint 2 - Position: -3.4804817370880174, Velocity: 2.410263080320644
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,228 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.5007641612867903e-16
+Joint 2 - Position: -3.470275235462161, Velocity: 2.449560390205572
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,271 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.500347367269225e-16
+Joint 2 - Position: -3.4599053313592516, Velocity: 2.4887769846982404
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,314 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.499930642717328e-16
+Joint 2 - Position: -3.4493723837705446, Velocity: 2.527907421289682
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,356 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.9413781108811044e-16
+Joint 2 - Position: -3.4386767751597205, Velocity: 2.5669460665978323
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,399 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.49983755063077e-16
+Joint 2 - Position: -3.427818912262485, Velocity: 2.605887095336509
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,441 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.499420911048311e-16
+Joint 2 - Position: -3.416799226889686, Velocity: 2.6447244894717383
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,484 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.4990043409057807e-16
+Joint 2 - Position: -3.4056181767331264, Velocity: 2.6834520375743183
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,526 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: -1.9423042583090204e-16
+Joint 2 - Position: -3.3942762461732205, Velocity: 2.7220633343774434
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,569 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.498911557560755e-16
+Joint 2 - Position: -3.3827739470876015, Velocity: 2.760551780548551
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,646 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.4984950723104704e-16
+Joint 2 - Position: -3.3711118196597507, Velocity: 2.798910582684234
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,688 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.498078656474393e-16
+Joint 2 - Position: -3.3592904331866786, Velocity: 2.8371327535372735
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,731 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 6.938554408541579e-16
+Joint 2 - Position: -3.3473103868846588, Velocity: 2.875211112484822
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,774 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.496505884332044e-16
+Joint 2 - Position: -3.3351723106919646, Velocity: 2.913138286246601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,816 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 6.936981898527916e-16
+Joint 2 - Position: -3.32287686606754, Velocity: 2.950906709861968
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:31,859 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1361431347887138, Velocity: 2.4949336363843024e-16
+Joint 2 - Position: -3.310424746784479, Velocity: 2.98850862793457
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3230695750093514e-08, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,666 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 70
+2024-10-28 13:30:55,668 - logger - INFO - Нчат цикл симуляции - client_socket.py - 77
+2024-10-28 13:30:55,668 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,795 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,841 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,883 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,925 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:55,967 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,010 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,052 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,094 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,136 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,178 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,220 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,262 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,304 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,347 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,389 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,431 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,473 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,516 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,558 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,600 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,689 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,731 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,774 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,816 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,858 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,900 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:56,985 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,027 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,069 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19
+Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,112 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20
+Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,154 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20
+Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,196 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20
+Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,238 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20
+Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,281 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20
+Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,323 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20
+Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,365 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20
+Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,407 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20
+Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,450 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20
+Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,492 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20
+Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,534 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21
+Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,576 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21
+Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,644 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21
+Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,686 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.247253137134666e-23, Velocity: 4.948351882283645e-21
+Joint 2 - Position: -0.14332259109161855, Velocity: -1.5442422163820702
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,729 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.597802509707732e-23, Velocity: 3.958681505824641e-21
+Joint 2 - Position: -0.1499091372398076, Velocity: -1.5807710755653708
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,771 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.2782420077661853e-23, Velocity: 3.166945204659712e-21
+Joint 2 - Position: -0.1566482427466997, Velocity: -1.6173853216541023
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,813 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2225917943511196e-23, Velocity: 2.533560512196158e-21
+Joint 2 - Position: -0.16354026499750535, Velocity: -1.6540853401933553
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,856 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.378071892883589e-23, Velocity: 2.026847763522073e-21
+Joint 2 - Position: -0.17058556249247114, Velocity: -1.6908713987917885
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,898 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7024575872966984e-23, Velocity: 1.621474333408537e-21
+Joint 2 - Position: -0.17778449434076524, Velocity: -1.7277436435905835
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,940 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1619660698351495e-23, Velocity: 1.297179641907717e-21
+Joint 2 - Position: -0.18513741973946946, Velocity: -1.7647020956890125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:57,982 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7295728558597816e-23, Velocity: 1.0377437135408826e-21
+Joint 2 - Position: -0.19264469743750381, Velocity: -1.8017466475282458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,025 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.383658284681577e-23, Velocity: 8.301949708276911e-22
+Joint 2 - Position: -0.20030668518431755, Velocity: -1.8388770592352988
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,067 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1069266277452615e-23, Velocity: 6.64155976647157e-22
+Joint 2 - Position: -0.20812373916318927, Velocity: -1.8760929549292118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,109 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.855413021872141e-24, Velocity: 5.313247813393138e-22
+Joint 2 - Position: -0.21609621340898844, Velocity: -1.9133938189918018
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,152 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22
+Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,194 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22
+Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,236 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22
+Joint 2 - Position: -0.24094965320361023, Velocity: -2.025798889941715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,279 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22
+Joint 2 - Position: -0.24954728463808362, Velocity: -2.0634315442736124
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,321 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.9017417388420358e-24, Velocity: 1.7410450438003042e-22
+Joint 2 - Position: -0.2583020528054649, Velocity: -2.1011443601715136
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,363 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3213933910736287e-24, Velocity: 1.3928360346441772e-22
+Joint 2 - Position: -0.2672142857373685, Velocity: -2.1389359036568534
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,405 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.857114712858903e-24, Velocity: 1.1142688277153418e-22
+Joint 2 - Position: -0.2762843047964066, Velocity: -2.176804574169146
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,448 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4856917702871223e-24, Velocity: 8.914150621722734e-23
+Joint 2 - Position: -0.2855124239658636, Velocity: -2.21474860066969
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,490 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1885534162296978e-24, Velocity: 7.131320497378188e-23
+Joint 2 - Position: -0.29489894912312714, Velocity: -2.2527660377432484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,532 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.508427329837582e-25, Velocity: 5.70505639790255e-23
+Joint 2 - Position: -0.3044441772968897, Velocity: -2.2908547617030135
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,574 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.606741863870065e-25, Velocity: 4.56404511832204e-23
+Joint 2 - Position: -0.3141483959081581, Velocity: -2.329012466704403
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,643 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.085393491038684e-25, Velocity: 3.651236094795314e-23
+Joint 2 - Position: -0.3240118819951316, Velocity: -2.367236660873649
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,685 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.868314792830948e-25, Velocity: 2.9209888756985685e-23
+Joint 2 - Position: -0.3340349014220375, Velocity: -2.405524662457417
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,727 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.89465183324426e-25, Velocity: 2.3367911030080512e-23
+Joint 2 - Position: -0.34421770807203833, Velocity: -2.4438735960002016
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,770 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.115721466595408e-25, Velocity: 1.8694328799572446e-23
+Joint 2 - Position: -0.3545605430243567, Velocity: -2.4822803885564033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,812 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4925771732763263e-25, Velocity: 1.495546303965796e-23
+Joint 2 - Position: -0.36506363371579226, Velocity: -2.520741765944533
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,854 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.994061738621061e-25, Velocity: 1.1964370431726367e-23
+Joint 2 - Position: -0.37572719308683933, Velocity: -2.559254249051293
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,896 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5952493908968488e-25, Velocity: 9.571496345381096e-24
+Joint 2 - Position: -0.38655141871264603, Velocity: -2.597814150193612
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,939 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2761995119398513e-25, Velocity: 7.657197094967941e-24
+Joint 2 - Position: -0.3975364919190929, Velocity: -2.6364175695472474
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:58,981 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.020959609551881e-25, Velocity: 6.125757657311286e-24
+Joint 2 - Position: -0.4086825768843045, Velocity: -2.6750603916507845
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,023 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.167676876415048e-26, Velocity: 4.900606125849028e-24
+Joint 2 - Position: -0.41998981972594723, Velocity: -2.7137382819942664
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,065 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.534141498385296e-26, Velocity: 3.920484907271408e-24
+Joint 2 - Position: -0.43145834757470647, Velocity: -2.7524466837022197
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,108 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.227313198708237e-26, Velocity: 3.1363879192249422e-24
+Joint 2 - Position: -0.4430882676343774, Velocity: -2.791180814321033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,150 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.1812205295127573e-26, Velocity: 2.5106224060691504e-24
+Joint 2 - Position: -0.45487966622904835, Velocity: -2.829935662721029
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,192 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.3449764251456564e-26, Velocity: 2.006985850481042e-24
+Joint 2 - Position: -0.46683260783789904, Velocity: -2.8687059861241653
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,234 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.675981140116525e-26, Velocity: 1.6055886840699154e-24
+Joint 2 - Position: -0.4789471341181836, Velocity: -2.9074863072683073
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,277 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.14078491209322e-26, Velocity: 1.2844709472559318e-24
+Joint 2 - Position: -0.49122326291701557, Velocity: -2.946270911719665
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,319 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.712627929674576e-26, Velocity: 1.0275767578047454e-24
+Joint 2 - Position: -0.5036609872726204, Velocity: -2.9850538453451576
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,361 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.3701023437396609e-26, Velocity: 8.220614062437965e-25
+Joint 2 - Position: -0.5162602744057737, Velocity: -3.0238289119568
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,403 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0960818749917287e-26, Velocity: 6.576491249950371e-25
+Joint 2 - Position: -0.5290210647021931, Velocity: -3.0625896711406484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,445 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.76865499993383e-27, Velocity: 5.261192999960298e-25
+Joint 2 - Position: -0.5419432706867052, Velocity: -3.1013294362829176
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,488 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.014923808053129e-27, Velocity: 4.20895486051368e-25
+Joint 2 - Position: -0.5550267759900651, Velocity: -3.140041272806367
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,530 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.6119390464425035e-27, Velocity: 3.367163427865502e-25
+Joint 2 - Position: -0.5682714343093573, Velocity: -3.1787179966301324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,572 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.489551237154002e-27, Velocity: 2.6937307422924027e-25
+Joint 2 - Position: -0.5816770683629676, Velocity: -3.2173521728664567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,639 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.591640989723201e-27, Velocity: 2.154984593833921e-25
+Joint 2 - Position: -0.5952434688411679, Velocity: -3.2559361147680677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,682 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.8733127644327747e-27, Velocity: 1.7239877406970238e-25
+Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,724 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25
+Joint 2 - Position: -0.6228575653735393, Velocity: -3.332921284829236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,766 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8389201692369758e-27, Velocity: 1.1033521015421854e-25
+Joint 2 - Position: -0.6369046731839898, Velocity: -3.3713058745081046
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,809 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26
+Joint 2 - Position: -0.6511113688204996, Velocity: -3.4096069527623567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,851 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.176908775536859e-27, Velocity: 7.061452653221154e-26
+Joint 2 - Position: -0.6654772670184211, Velocity: -3.447815567501178
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,893 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.415270523196684e-28, Velocity: 5.649161357212577e-26
+Joint 2 - Position: -0.6800019441621767, Velocity: -3.48592251450134
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,936 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.532216418557347e-28, Velocity: 4.519329851134409e-26
+Joint 2 - Position: -0.6946849372392605, Velocity: -3.5239183385000983
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:30:59,978 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.025773134845877e-28, Velocity: 3.615463880907526e-26
+Joint 2 - Position: -0.7095257428003048, Velocity: -3.561793334650615
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,020 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.820617642012739e-28, Velocity: 2.892373182799531e-26
+Joint 2 - Position: -0.7245238159267782, Velocity: -3.5995375503536087
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,062 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.856494113610191e-28, Velocity: 2.3138964681661146e-26
+Joint 2 - Position: -0.7396785692079392, Velocity: -3.6371407874786357
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,105 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.0851952908881527e-28, Velocity: 1.851117174532892e-26
+Joint 2 - Position: -0.7549893717287233, Velocity: -3.6745926049881934
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,147 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4681548803004054e-28, Velocity: 1.4808969854105937e-26
+Joint 2 - Position: -0.7704555480702957, Velocity: -3.711882321977393
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,189 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9745239042403242e-28, Velocity: 1.1847143425441948e-26
+Joint 2 - Position: -0.7860763773250524, Velocity: -3.748999021141625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,231 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5796191233922594e-28, Velocity: 9.477714740353557e-27
+Joint 2 - Position: -0.8018510921279024, Velocity: -3.7859315526839987
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,274 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.041090078761382e-28, Velocity: 1.2924697071141057e-26
+Joint 2 - Position: -0.8177788777057108, Velocity: -3.8226685386740042
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,316 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.328720630091057e-29, Velocity: 4.997232378054634e-27
+Joint 2 - Position: -0.8338588709468273, Velocity: -3.8591983778679766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,358 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.662976504072845e-29, Velocity: 3.997785902443707e-27
+Joint 2 - Position: -0.8500901594926668, Velocity: -3.895509251001477
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,401 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.330372326217766e-29, Velocity: 3.1982500268521894e-27
+Joint 2 - Position: -0.8664717808533448, Velocity: -3.9315891265627236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,443 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2642978609742124e-29, Velocity: 2.5585787165845276e-27
+Joint 2 - Position: -0.8830027215494095, Velocity: -3.9674257670555413
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,485 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.41143828877937e-29, Velocity: 2.046862973267622e-27
+Joint 2 - Position: -0.8996819162817399, Velocity: -4.003006735759279
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,527 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.729150631023496e-29, Velocity: 1.6374903786140977e-27
+Joint 2 - Position: -0.916508247131707, Velocity: -4.038319403992111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,570 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1833205048187967e-29, Velocity: 1.3099923028912781e-27
+Joint 2 - Position: -0.933480542793721, Velocity: -4.073350958883351
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,636 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7466564038550373e-29, Velocity: 1.0479938423130225e-27
+Joint 2 - Position: -0.950597577842299, Velocity: -4.108088411658742
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,679 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.003337922778438e-30, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.9678580720358075, Velocity: -4.14251860644203
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,721 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.202670338222752e-30, Velocity: 1.9216022029336472e-28
+Joint 2 - Position: -0.9852606896590349, Velocity: -4.176628229574558
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,764 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5621362705782015e-30, Velocity: 1.5372817623469213e-28
+Joint 2 - Position: -1.0028040389067563, Velocity: -4.210403819453111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,806 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0901089845193732e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -1.020486671310445, Velocity: -4.2438317768853
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946797e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,848 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.700743415392826e-18, Velocity: -8.881784196968946e-16
+Joint 2 - Position: -1.0383070812102766, Velocity: -4.276898375959605
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,890 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.96059473231426e-18, Velocity: 1.7763568393885582e-16
+Joint 2 - Position: -1.0562637052745534, Velocity: -4.309589775426409
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,933 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3684757858480486e-18, Velocity: 1.421085471518908e-16
+Joint 2 - Position: -1.0743549220686535, Velocity: -4.341892030584041
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:00,975 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.894780628678439e-18, Velocity: 1.1368683772070633e-16
+Joint 2 - Position: -1.0925790516755804, Velocity: -4.373791105662476
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,017 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4211644206954398e-18, Velocity: 1.1366788991591977e-16
+Joint 2 - Position: -1.1109343553701467, Velocity: -4.405272886695929
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,059 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1369315365563518e-18, Velocity: 6.821589219338111e-17
+Joint 2 - Position: -1.1294190353487845, Velocity: -4.43632319487307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,101 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.095452292450814e-19, Velocity: 5.457271375470488e-17
+Joint 2 - Position: -1.14803123451692, Velocity: -4.466927800352509
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,143 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.276361833960652e-19, Velocity: 4.365817100376391e-17
+Joint 2 - Position: -1.1667690363357903, Velocity: -4.497072436528926
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,186 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.821089467168518e-19, Velocity: 3.4926536803011206e-17
+Joint 2 - Position: -1.1856304647305138, Velocity: -4.526742814733621
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,228 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.366059645646258e-19, Velocity: 3.4920715716534245e-17
+Joint 2 - Position: -1.204613484061143, Velocity: -4.555924639351038
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,270 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.4928477165170067e-19, Velocity: 2.095708629910204e-17
+Joint 2 - Position: -1.2237159991583573, Velocity: -4.584603623331399
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,313 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7942781732136054e-19, Velocity: 1.6765669039281635e-17
+Joint 2 - Position: -1.2429358554253458, Velocity: -4.612765504077242
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,355 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2354225385708844e-19, Velocity: 1.3412535231425306e-17
+Joint 2 - Position: -1.262270839007346, Velocity: -4.640396059680077
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,397 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7883380308567076e-19, Velocity: 1.0730028185140246e-17
+Joint 2 - Position: -1.281718677030185, Velocity: -4.667481125481334
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,439 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.430670424685366e-19, Velocity: 8.584022548112197e-18
+Joint 2 - Position: -1.3012770379090601, Velocity: -4.694006610930051
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,482 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1445363397482929e-19, Velocity: 6.867218038489757e-18
+Joint 2 - Position: -1.3209435317286766, Velocity: -4.719958516707945
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,524 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.156290717986342e-20, Velocity: 5.493774430791806e-18
+Joint 2 - Position: -1.3407157106957206, Velocity: -4.745322952090536
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,566 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.86759955086901e-20, Velocity: 5.492858801081598e-18
+Joint 2 - Position: -1.3605910696645196, Velocity: -4.770086152511741
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,638 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.494079640695209e-20, Velocity: 3.2964477844171252e-18
+Joint 2 - Position: -1.3805670467365916, Velocity: -4.794234497297256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,681 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.395263712556167e-20, Velocity: 2.637158227533701e-18
+Joint 2 - Position: -1.400641023934636, Velocity: -4.81775452753068
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,723 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.5162109700449333e-20, Velocity: 2.1097265820269604e-18
+Joint 2 - Position: -1.420810327951366, Velocity: -4.8406329640151995
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,765 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.812968776035947e-20, Velocity: 1.6877812656215682e-18
+Joint 2 - Position: -1.4410722309734143, Velocity: -4.862856725291574
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,808 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2503750208287575e-20, Velocity: 1.3502250124972547e-18
+Joint 2 - Position: -1.4614239515803835, Velocity: -4.8844129456725955
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,850 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.800300016663006e-20, Velocity: 1.0801800099978035e-18
+Joint 2 - Position: -1.481862655718937, Velocity: -4.905288993252797
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,892 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4402400133304047e-20, Velocity: 8.641440079982429e-19
+Joint 2 - Position: -1.5023854577516496, Velocity: -4.9254724878510485
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,934 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0802400199970176e-20, Velocity: 8.639999840001291e-19
+Joint 2 - Position: -1.5229894215801623, Velocity: -4.944951318843068
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:01,976 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.641920159976141e-21, Velocity: 5.185152095985685e-19
+Joint 2 - Position: -1.5436715618419956, Velocity: -4.9637136628400205
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 7.228014483236697e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,019 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.913536127981117e-21, Velocity: 4.148121676788057e-19
+Joint 2 - Position: -1.564428845180199, Velocity: -4.9817480011688415
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,061 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.5308289023848934e-21, Velocity: 3.318497341430937e-19
+Joint 2 - Position: -1.5852581915848227, Velocity: -4.999043137109653
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,103 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.4246631219079144e-21, Velocity: 2.6547978731447496e-19
+Joint 2 - Position: -1.6061564758050104, Velocity: -5.0155882128450475
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,145 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.539730497526332e-21, Velocity: 2.1238382985157987e-19
+Joint 2 - Position: -1.6271205288303294, Velocity: -5.031372726076559
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,188 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.8317843980210652e-21, Velocity: 1.6990706388126393e-19
+Joint 2 - Position: -1.6481471394397593, Velocity: -5.046386546263196
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,230 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.265427518417086e-21, Velocity: 1.3592565110495493e-19
+Joint 2 - Position: -1.6692330558165824, Velocity: -5.060619930437522
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,272 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8123420147336688e-21, Velocity: 1.0874052088402015e-19
+Joint 2 - Position: -1.6903749872272298, Velocity: -5.074063538555386
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,315 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.449873611786935e-21, Velocity: 8.699241670721612e-20
+Joint 2 - Position: -1.7115696057619616, Velocity: -5.086708448335656
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,357 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.159898889429548e-21, Velocity: 6.95939333657729e-20
+Joint 2 - Position: -1.7328135481350773, Velocity: -5.098546169547773
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,399 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.279191091333143e-22, Velocity: 5.567514727109607e-20
+Joint 2 - Position: -1.7541034175421835, Velocity: -5.1095686577055055
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,441 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.423352873066514e-22, Velocity: 4.4540117238399087e-20
+Joint 2 - Position: -1.775435785571879, Velocity: -5.119768327126935
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,484 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.938682298453212e-22, Velocity: 3.563209379071927e-20
+Joint 2 - Position: -1.7968071941690529, Velocity: -5.12913806332174
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 6.505213034913028e-20, Velocity: 1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,526 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.750945838762569e-22, Velocity: 2.8505675032575415e-20
+Joint 2 - Position: -1.8182141576468405, Velocity: -5.137671234669027
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,568 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.8007566710100555e-22, Velocity: 2.2804540026060335e-20
+Joint 2 - Position: -1.839653164744133, Velocity: -5.145361703350191
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,653 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.0406053368080446e-22, Velocity: 1.8243632020848267e-20
+Joint 2 - Position: -1.861120680725398, Velocity: -5.1522038355035695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: -1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,695 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.432484269447417e-22, Velocity: 1.459490561665506e-20
+Joint 2 - Position: -1.882613149519439, Velocity: -5.158192510569826
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,738 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9459874155579336e-22, Velocity: 1.1675924493347605e-20
+Joint 2 - Position: -1.9041269958936016, Velocity: -5.1633231297990525
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,780 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5567899324463468e-22, Velocity: 9.340739594678083e-21
+Joint 2 - Position: -1.9256586276598233, Velocity: -5.167591623893239
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,822 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2454319459536041e-22, Velocity: 7.472591675825824e-21
+Joint 2 - Position: -1.947204437908824, Velocity: -5.170994459760166
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.0596101382656886e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,865 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.963455567628833e-23, Velocity: 5.978073340577301e-21
+Joint 2 - Position: -1.9687608072686469, Velocity: -5.1735286463575045
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -1.734723475976807e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,907 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.970764479975387e-23, Velocity: 4.782458610368269e-21
+Joint 2 - Position: -1.9903241061836834, Velocity: -5.17519173960877
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 3.9754079657801844e-20, Velocity: -8.673617379884035e-19
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,949 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.37661158398031e-23, Velocity: 3.825966950388187e-21
+Joint 2 - Position: -2.0118906972102475, Velocity: -5.175981846375365
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 3.9754079657801844e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:02,991 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.023944172039852905, Velocity: 5.746601289564698
+Joint 2 - Position: -2.009512557768198, Velocity: 0.5707534660918787
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.981385361421813e-09, Velocity: -1.915532486750776e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,033 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.04740852388507351, Velocity: 5.631444442852944
+Joint 2 - Position: -2.007610046214558, Velocity: 0.4566027728734956
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.5802830764582652e-08, Velocity: -1.877146896758601e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,075 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.07048453755954233, Velocity: 5.538243281872517
+Joint 2 - Position: -2.0060880369716463, Velocity: 0.36528221829878815
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.3494830197087353e-08, Velocity: -1.8460798638011283e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,118 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.09324467077275933, Velocity: 5.462431971172079
+Joint 2 - Position: -2.004870429577317, Velocity: 0.2922257746390219
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.108153620913591e-08, Velocity: -1.8208094428916535e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,160 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.11574616438813667, Velocity: 5.400358467690564
+Joint 2 - Position: -2.0038963436618538, Velocity: 0.23378061971122616
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.858202908288689e-08, Velocity: -1.8001182897002359e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,202 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1380340888533325, Velocity: 5.349101871646997
+Joint 2 - Position: -2.003117074929483, Velocity: 0.18702449576898095
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.601133228388979e-08, Velocity: -1.7830327682406963e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,244 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1601437817946244, Velocity: 5.306326305910058
+Joint 2 - Position: -2.0024936599435863, Velocity: 0.14961959661518817
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.3381225016540637e-08, Velocity: -1.768774255836203e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,286 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.1821027985361573, Velocity: 5.270164017967894
+Joint 2 - Position: -2.001994927954869, Velocity: 0.11969567729214231
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.070089238276412e-08, Velocity: -1.7567201678936372e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,329 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.20393247295198363, Velocity: 5.2391218597983205
+Joint 2 - Position: -2.0015959423638954, Velocity: 0.09575654183372215
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.797744566916786e-08, Velocity: -1.7463727887368982e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,371 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.22564916657650583, Velocity: 5.212006469885329
+Joint 2 - Position: -2.0012767538911165, Velocity: 0.07660523346697883
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.521633871691607e-08, Velocity: -1.7373343314595717e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,413 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.24726526831310822, Velocity: 5.187864416784572
+Joint 2 - Position: -2.001021403112893, Velocity: 0.06128418677359132
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.242170116107222e-08, Velocity: -1.7292869865974739e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,456 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.2687899946121354, Velocity: 5.165934311766516
+Joint 2 - Position: -2.0008171224903144, Velocity: 0.04902734941886394
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.959660514299306e-08, Velocity: -1.7219769556610018e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,498 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.2902300300144952, Velocity: 5.145608496566357
+Joint 2 - Position: -2.0006536979922513, Velocity: 0.03922187953509187
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -9.674327884817496e-08, Velocity: -1.7152016892436547e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,540 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.3115900399772965, Velocity: 5.126402391072308
+Joint 2 - Position: -2.000522958393801, Velocity: 0.03137750362806442
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.0386327742130281e-07, Velocity: -1.7087996575506845e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,582 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.33287308151406375, Velocity: 5.107929968824143
+Joint 2 - Position: -2.000418366715041, Velocity: 0.025102002902443014
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.1095761986952453e-07, Velocity: -1.7026421875732112e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,653 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.3540809320750155, Velocity: 5.0898841346284165
+Joint 2 - Position: -2.0003346933720327, Velocity: 0.02008160232195886
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.1802689867585805e-07, Velocity: -1.696626913520044e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,695 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.3752143530072791, Velocity: 5.072021023743272
+Joint 2 - Position: -2.000267754697626, Velocity: 0.016065281857571286
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.2507136762249828e-07, Velocity: -1.6906725471936557e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,737 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.3962733006664615, Velocity: 5.054147438203774
+Joint 2 - Position: -2.0002142037581008, Velocity: 0.01285222548605738
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3209101216133135e-07, Velocity: -1.6847146893199383e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,780 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.41725709563626834, Velocity: 5.03611079275365
+Joint 2 - Position: -2.000171363006481, Velocity: 0.010281780388837657
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.3908560582041277e-07, Velocity: -1.6787024781795418e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,822 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.4381645584211223, Velocity: 5.017791068364952
+Joint 2 - Position: -2.0001370904051847, Velocity: 0.008225424311078536
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.460547554348076e-07, Velocity: -1.672595907454763e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,864 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.45899411830337106, Velocity: 4.999094371739705
+Joint 2 - Position: -2.0001096723241476, Velocity: 0.006580339448867118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.529979374355528e-07, Velocity: -1.6663636801788478e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,906 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.47974390071803397, Velocity: 4.979947779519096
+Joint 2 - Position: -2.0000877378593183, Velocity: 0.005264271559085161
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.5991452696481506e-07, Velocity: -1.6599814870229407e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,949 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.5004117974271527, Velocity: 4.960295210188496
+Joint 2 - Position: -2.0000701902874547, Velocity: 0.004211417247276167
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6680382127388445e-07, Velocity: -1.653430634176653e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:03,991 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.5209955229191504, Velocity: 4.940094118079444
+Joint 2 - Position: -2.0000561522299636, Velocity: 0.0033691337978257394
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.7366505853248473e-07, Velocity: -1.6466969420640687e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:04,033 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.5414926597733127, Velocity: 4.919312844998955
+Joint 2 - Position: -2.000044921783971, Velocity: 0.002695307038251958
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.8049743293103742e-07, Velocity: -1.6397698556526452e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:04,075 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.5619006951813068, Velocity: 4.897928497918586
+Joint 2 - Position: -2.000035937427177, Velocity: 0.0021562456306009753
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.8730010686415239e-07, Velocity: -1.6326417439475882e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:04,117 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.5822170503791383, Velocity: 4.875925247479564
+Joint 2 - Position: -2.0000287499417415, Velocity: 0.0017249965044852898
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.9407222074759421e-07, Velocity: -1.625307332026038e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:04,159 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.6024391043921717, Velocity: 4.853292963128042
+Joint 2 - Position: -2.0000229999533934, Velocity: 0.0013799972035927963
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.008129009237352e-07, Velocity: -1.6177632422738342e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:04,201 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.6225642132152551, Velocity: 4.830026117539998
+Joint 2 - Position: -2.000018399962715, Velocity: 0.0011039977628822424
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.075212660581023e-07, Velocity: -1.6100076322481116e-06
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:07,729 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 70
+2024-10-28 13:31:07,729 - logger - INFO - Нчат цикл симуляции - client_socket.py - 77
+2024-10-28 13:31:07,729 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:07,836 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:07,880 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:07,922 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:07,964 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,007 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,049 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,092 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,134 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,176 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,218 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,260 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,302 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,344 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,386 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,428 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,470 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,513 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,555 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,597 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,639 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,682 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,755 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,797 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,840 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,882 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,924 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:08,966 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:09,008 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:09,051 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,145 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 70
+2024-10-28 13:31:23,146 - logger - INFO - Нчат цикл симуляции - client_socket.py - 77
+2024-10-28 13:31:23,146 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,189 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.073119933366316e-07, Velocity: 0.00012175487840079158
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.33878101280678e-06, Velocity: -0.002001307443073627
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,231 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0179497081577636e-06, Velocity: 0.00012255305155707167
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -1.6732240996390238e-05, Velocity: -0.0020144303960600296
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,273 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5286212531731771e-06, Velocity: 0.00012256117080369924
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -2.512627061415724e-05, Velocity: -0.00201456710826408
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,315 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.03930512671745e-06, Velocity: 0.00012256412965062547
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -3.352051643919487e-05, Velocity: -0.0020146189980090323
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,357 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.550001188828367e-06, Velocity: 0.0001225670549066201
+Joint 2 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -4.191497617083596e-05, Velocity: -0.0020146703355938614
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,399 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.0607094390784224e-06, Velocity: 0.00012256998006001326
+Joint 2 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.030964980197473e-05, Velocity: -0.0020147216714733046
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,441 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 3.5714298779515815e-06, Velocity: 0.0001225729053295582
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -5.870453734048728e-05, Velocity: -0.0020147730092430136
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,483 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 4.082162505937806e-06, Velocity: 0.00012257583071669399
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -6.709963879434833e-05, Velocity: -0.00201482434892665
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,525 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 4.592907323527142e-06, Velocity: 0.00012257875622144045
+Joint 2 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -7.54949541715338e-05, Velocity: -0.002014875690524512
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,567 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.103664331209618e-06, Velocity: 0.00012258168184379431
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -8.389048348001934e-05, Velocity: -0.0020149270340365302
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,610 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 5.614433529475322e-06, Velocity: 0.00012258460758376882
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -9.228622672778148e-05, Velocity: -0.002014978379462913
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,652 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 6.1252149188143116e-06, Velocity: 0.00012258753344135758
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00010068218392279618, Velocity: -0.0020150297268035286
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,694 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 6.636008499716702e-06, Velocity: 0.0001225904594165737
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00010907835507304028, Velocity: -0.002015081076058585
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,736 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 7.146814272672634e-06, Velocity: 0.0001225933855094238
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00011747474018649099, Velocity: -0.0020151324272281723
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,778 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 7.65763223817221e-06, Velocity: 0.00012259631171989823
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0001258713392711248, Velocity: -0.0020151837803121173
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,820 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 8.168462396705654e-06, Velocity: 0.00012259923804802642
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00013426815233492023, Velocity: -0.0020152351353108985
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,862 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 8.679304748763094e-06, Velocity: 0.00012260216449378576
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00014266517938585393, Velocity: -0.002015286492224086
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,904 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 9.190159294834744e-06, Velocity: 0.0001226050910571958
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00015106242043190407, Velocity: -0.0020153378510520334
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,947 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 9.701026035410828e-06, Velocity: 0.00012260801773826
+Joint 2 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0001594598754810489, Velocity: -0.0020153892117947617
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:23,989 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0211904970981612e-05, Velocity: 0.00012261094453698825
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0001678575445412673, Velocity: -0.0020154405744524095
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,031 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0722796102037296e-05, Velocity: 0.00012261387145336435
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00017625542762053693, Velocity: -0.0020154919390247134
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,073 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.123369942906823e-05, Velocity: 0.0001226167984874243
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00018465352472683786, Velocity: -0.0020155433055122213
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,116 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.1744614952564697e-05, Velocity: 0.0001226197256391518
+Joint 2 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00019305183586814902, Velocity: -0.0020155946739146766
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,158 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.2255542673017018e-05, Velocity: 0.0001226226529085569
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0002014503610524499, Velocity: -0.002015646044232211
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,200 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.2766482590915544e-05, Velocity: 0.00012262558029564618
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00020984910028772042, Velocity: -0.002015697416464929
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,242 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3277434706750585e-05, Velocity: 0.00012262850780040996
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00021824805358193976, Velocity: -0.0020157487906126426
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,285 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.378839902101259e-05, Velocity: 0.0001226314354228809
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00022664722094308925, Velocity: -0.0020158001666758796
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,327 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.4299375534191922e-05, Velocity: 0.00012263436316303973
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00023504660237914885, Velocity: -0.002015851544654307
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,369 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.481036424677903e-05, Velocity: 0.0001226372910209059
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0002434461978980998, Velocity: -0.0020159029245482227
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,411 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5321365159264335e-05, Velocity: 0.00012264021899647322
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0002518460075079228, Velocity: -0.002015954306357516
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,453 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.5832378272138287e-05, Velocity: 0.00012264314708974826
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0002602460312165989, Velocity: -0.0020160056900822704
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,496 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.6343403585891373e-05, Velocity: 0.00012264607530074079
+Joint 2 - Position: 8.673617379884036e-20, Velocity: -6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00026864626903210995, Velocity: -0.002016057075722645
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,538 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.6854441101014115e-05, Velocity: 0.00012264900362945767
+Joint 2 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00027704672096243795, Velocity: -0.0020161084632787166
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,580 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.7365490817997028e-05, Velocity: 0.00012265193207589882
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0002854473870155649, Velocity: -0.002016159852750478
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,623 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.7876552737330644e-05, Velocity: 0.0001226548606400677
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00029384826719947314, Velocity: -0.0020162112441379706
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,665 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.838762685950551e-05, Velocity: 0.0001226577893219677
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.000302249361522145, Velocity: -0.0020162626374412435
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,707 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.8898713185012224e-05, Velocity: 0.00012266071812161192
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0003106506699915636, Velocity: -0.002016314032660463
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,749 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.940981171434138e-05, Velocity: 0.0001226636470389974
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0003190521926157119, Velocity: -0.002016365429795594
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,792 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.992092244798359e-05, Velocity: 0.0001226665760741306
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00032745392940257325, Velocity: -0.0020164168288467274
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,834 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.04320453864295e-05, Velocity: 0.00012266950522701815
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0003358558803601313, Velocity: -0.0020164682298139253
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,876 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.094318053016978e-05, Velocity: 0.00012267243449766682
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00034425804549637014, Velocity: -0.0020165196326973195
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,918 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.145432787969511e-05, Velocity: 0.0001226753638860798
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00035266042481927397, Velocity: -0.002016571037496924
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:24,960 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.1965487435496182e-05, Velocity: 0.0001226782933922574
+Joint 2 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0003610630183368271, Velocity: -0.0020166224442127387
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,002 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.247665919806371e-05, Velocity: 0.00012268122301620617
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 6.938893903907228e-18
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00036946582605701394, Velocity: -0.002016673852844847
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,044 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.298784316788843e-05, Velocity: 0.00012268415275793284
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00037786884798781957, Velocity: -0.002016725263393346
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,087 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.34990393454611e-05, Velocity: 0.00012268708261744063
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00038627208413722903, Velocity: -0.00201677667585827
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,129 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.401024773127254e-05, Velocity: 0.00012269001259474603
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00039467553451322853, Velocity: -0.0020168280902398764
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,171 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.452146832581351e-05, Velocity: 0.0001226929426898329
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0004030791991238031, Velocity: -0.002016879506537894
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,213 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.5032701129574836e-05, Velocity: 0.0001226958729027177
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.00041148307797693874, Velocity: -0.0020169309247525524
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,255 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.554394614304735e-05, Velocity: 0.0001226988032334037
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0004198871710806217, Velocity: -0.0020169823448839067
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:25,298 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.605520336672191e-05, Velocity: 0.00012270173368189433
+Joint 2 - Position: 1.1564823173178714e-19, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: -0.0004282914784428383, Velocity: -0.0020170337669319915
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,461 - logger - INFO - Загружена модель urdf/sample.urdf, id: 1 - client_socket.py - 70
+2024-10-28 13:31:29,461 - logger - INFO - Нчат цикл симуляции - client_socket.py - 77
+2024-10-28 13:31:29,461 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: 0.0, Velocity: 0.0
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,594 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0001433116417494476, Velocity: -0.034394794019867427
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,647 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.00042992221036713187, Velocity: -0.06878653646824423
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,690 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0008598305264156064, Velocity: -0.10317799585163391
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,732 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0014330469261505932, Velocity: -0.13757193593639686
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,774 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.002149593233461687, Velocity: -0.17197111375466256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,817 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 0.0, Velocity: 0.0
+Joint 2 - Position: -0.0030095027234869555, Velocity: -0.20637827760606445
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,859 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.3463226115771935e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.004012820077876225, Velocity: -0.24079616505342458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,901 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 2.692420836057473e-29, Velocity: 3.2306357387526704e-27
+Joint 2 - Position: -0.005159601331669966, Velocity: -0.2752275009104978
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,943 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3129646342319133e-19, Velocity: -5.551115122802773e-17
+Joint 2 - Position: -0.00644991381175296, Velocity: -0.30967499521991854
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 0.0, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:29,986 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8503717074124706e-19, Velocity: 1.1102230243666626e-17
+Joint 2 - Position: -0.00788383606683416, Velocity: -0.3441413412194881
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,028 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4802973659299766e-19, Velocity: 8.881784195579858e-18
+Joint 2 - Position: -0.009461457788896503, Velocity: -0.37862921329496246
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,070 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1102847033906678e-19, Velocity: 8.88030390094341e-18
+Joint 2 - Position: -0.011182879726052792, Velocity: -0.4131412649175093
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,112 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.882277627125343e-20, Velocity: 5.329366576275206e-18
+Joint 2 - Position: -0.013048213586736237, Velocity: -0.44768012656402695
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,154 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.105822101700274e-20, Velocity: 4.2634932610201645e-18
+Joint 2 - Position: -0.015057581935146766, Velocity: -0.48224840361852683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,197 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.68465768136022e-20, Velocity: 3.410794608816131e-18
+Joint 2 - Position: -0.017211118077866804, Velocity: -0.5168486742528089
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,239 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.5477261450881765e-20, Velocity: 2.728635687052906e-18
+Joint 2 - Position: -0.019508965941552957, Velocity: -0.551483487284677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,281 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.638180916070541e-20, Velocity: 2.182908549642325e-18
+Joint 2 - Position: -0.021951279941602866, Velocity: -0.5861553600119779
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,323 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.910544732856428e-20, Velocity: 1.7463268397138726e-18
+Joint 2 - Position: -0.024538224841689337, Velocity: -0.6208667760207535
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,365 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3284357862851423e-20, Velocity: 1.3970614717710853e-18
+Joint 2 - Position: -0.027269975604046977, Velocity: -0.6556201829658335
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,408 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8627486290281127e-20, Velocity: 1.1176491774168709e-18
+Joint 2 - Position: -0.030146717230389714, Velocity: -0.6904179903222565
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,450 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4901989032224902e-20, Velocity: 8.941193419334941e-19
+Joint 2 - Position: -0.03316864459333088, Velocity: -0.7252625671058798
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,492 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1921591225779922e-20, Velocity: 7.152954735467953e-19
+Joint 2 - Position: -0.036335962258171046, Velocity: -0.7601562395616398
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,582 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.537272980623938e-21, Velocity: 5.722363788374363e-19
+Joint 2 - Position: -0.03964888429491241, Velocity: -0.7951012888179272
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,625 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.629818384499141e-21, Velocity: 4.577891030699512e-19
+Joint 2 - Position: -0.04310763408035244, Velocity: -0.8300999485056064
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,667 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.1038547075993126e-21, Velocity: 3.662312824559588e-19
+Joint 2 - Position: -0.04671244409010331, Velocity: -0.8651544023402098
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,709 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.883083774671855e-21, Velocity: 2.929850239025897e-19
+Joint 2 - Position: -0.0504635556803782, Velocity: -0.9002667816659734
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,751 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.9064670197374725e-21, Velocity: 2.3438802118425194e-19
+Joint 2 - Position: -0.05436121885937964, Velocity: -0.9354391629603463
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,793 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.1251736157899327e-21, Velocity: 1.8751041694740954e-19
+Joint 2 - Position: -0.058405692048120114, Velocity: -0.9706735652977143
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,836 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5001388926319294e-21, Velocity: 1.500083335579208e-19
+Joint 2 - Position: -0.06259724183049978, Velocity: -1.005971947771118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,878 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0001111141055437e-21, Velocity: 1.2000666684633262e-19
+Joint 2 - Position: -0.06693614269246159, Velocity: -1.0413362068708356
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,920 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6000888912844349e-21, Velocity: 9.60053334770661e-20
+Joint 2 - Position: -0.07142267675003976, Velocity: -1.076768173818761
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:30,963 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2800711130275479e-21, Velocity: 7.680426678165287e-20
+Joint 2 - Position: -0.07605713346611284, Velocity: -1.1122696118575395
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,005 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0240568904220384e-21, Velocity: 6.14434134253223e-20
+Joint 2 - Position: -0.08083980935566956, Velocity: -1.1478422134936115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,047 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.192455123376307e-22, Velocity: 4.915473074025785e-20
+Joint 2 - Position: -0.08577100767939144, Velocity: -1.1834875976932504
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,089 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.144682544560579e-22, Velocity: 4.914654189157747e-20
+Joint 2 - Position: -0.09085103812535372, Velocity: -1.2192073070309488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,132 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.915745936119061e-22, Velocity: 2.9494478602596404e-20
+Joint 2 - Position: -0.09608021647864295, Velocity: -1.2550028047894164
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,174 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.932596748895249e-22, Velocity: 2.3595580493371494e-20
+Joint 2 - Position: -0.1014588642786876, Velocity: -1.290875472010713
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,216 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.146077399116199e-22, Velocity: 1.8876464394697197e-20
+Joint 2 - Position: -0.10698730846409621, Velocity: -1.3268266044980683
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,258 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.516861919292959e-22, Velocity: 1.5101171515757757e-20
+Joint 2 - Position: -0.11266588100479646, Velocity: -1.3628574097680601
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,301 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.0134895354343672e-22, Velocity: 1.2080937212606207e-20
+Joint 2 - Position: -0.11849491852126717, Velocity: -1.3989690039529699
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,343 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.6107916283467996e-22, Velocity: 9.664749770101622e-21
+Joint 2 - Position: -0.1244747618906557, Velocity: -1.4351624086532488
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,385 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2886333026774397e-22, Velocity: 7.731799816064638e-21
+Joint 2 - Position: -0.13060575583957307, Velocity: -1.4714385477401697
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,427 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0309066421419518e-22, Velocity: 6.1854398528517104e-21
+Joint 2 - Position: -0.13688824852335993, Velocity: -1.507798244108849
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,469 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.247253137134666e-23, Velocity: 4.948351882283645e-21
+Joint 2 - Position: -0.14332259109161855, Velocity: -1.5442422163820702
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,512 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.597802509707732e-23, Velocity: 3.958681505824641e-21
+Joint 2 - Position: -0.1499091372398076, Velocity: -1.5807710755653708
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,554 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.2782420077661853e-23, Velocity: 3.166945204659712e-21
+Joint 2 - Position: -0.1566482427466997, Velocity: -1.6173853216541023
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,621 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2225917943511196e-23, Velocity: 2.533560512196158e-21
+Joint 2 - Position: -0.16354026499750535, Velocity: -1.6540853401933553
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,663 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.378071892883589e-23, Velocity: 2.026847763522073e-21
+Joint 2 - Position: -0.17058556249247114, Velocity: -1.6908713987917885
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,706 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7024575872966984e-23, Velocity: 1.621474333408537e-21
+Joint 2 - Position: -0.17778449434076524, Velocity: -1.7277436435905835
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,748 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1619660698351495e-23, Velocity: 1.297179641907717e-21
+Joint 2 - Position: -0.18513741973946946, Velocity: -1.7647020956890125
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,790 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7295728558597816e-23, Velocity: 1.0377437135408826e-21
+Joint 2 - Position: -0.19264469743750381, Velocity: -1.8017466475282458
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,832 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.383658284681577e-23, Velocity: 8.301949708276911e-22
+Joint 2 - Position: -0.20030668518431755, Velocity: -1.8388770592352988
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,875 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1069266277452615e-23, Velocity: 6.64155976647157e-22
+Joint 2 - Position: -0.20812373916318927, Velocity: -1.8760929549292118
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,917 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.855413021872141e-24, Velocity: 5.313247813393138e-22
+Joint 2 - Position: -0.21609621340898844, Velocity: -1.9133938189918018
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:31,959 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.084330417497713e-24, Velocity: 4.250598250498629e-22
+Joint 2 - Position: -0.22422445921026182, Velocity: -1.9507789923056145
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,001 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.66746433399817e-24, Velocity: 3.4004786003989023e-22
+Joint 2 - Position: -0.23250882449551974, Velocity: -1.9882476684618984
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946785e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,043 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.533971467198536e-24, Velocity: 2.720382880319122e-22
+Joint 2 - Position: -0.24094965320361023, Velocity: -2.025798889941715
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,086 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.627177173758829e-24, Velocity: 2.1763063042552974e-22
+Joint 2 - Position: -0.24954728463808362, Velocity: -2.0634315442736124
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,128 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.9017417388420358e-24, Velocity: 1.7410450438003042e-22
+Joint 2 - Position: -0.2583020528054649, Velocity: -2.1011443601715136
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,170 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3213933910736287e-24, Velocity: 1.3928360346441772e-22
+Joint 2 - Position: -0.2672142857373685, Velocity: -2.1389359036568534
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,213 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.857114712858903e-24, Velocity: 1.1142688277153418e-22
+Joint 2 - Position: -0.2762843047964066, Velocity: -2.176804574169146
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,255 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4856917702871223e-24, Velocity: 8.914150621722734e-23
+Joint 2 - Position: -0.2855124239658636, Velocity: -2.21474860066969
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,297 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1885534162296978e-24, Velocity: 7.131320497378188e-23
+Joint 2 - Position: -0.29489894912312714, Velocity: -2.2527660377432484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,340 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.508427329837582e-25, Velocity: 5.70505639790255e-23
+Joint 2 - Position: -0.3044441772968897, Velocity: -2.2908547617030135
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,382 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.606741863870065e-25, Velocity: 4.56404511832204e-23
+Joint 2 - Position: -0.3141483959081581, Velocity: -2.329012466704403
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,424 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.085393491038684e-25, Velocity: 3.651236094795314e-23
+Joint 2 - Position: -0.3240118819951316, Velocity: -2.367236660873649
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,466 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.868314792830948e-25, Velocity: 2.9209888756985685e-23
+Joint 2 - Position: -0.3340349014220375, Velocity: -2.405524662457417
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,509 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.89465183324426e-25, Velocity: 2.3367911030080512e-23
+Joint 2 - Position: -0.34421770807203833, Velocity: -2.4438735960002016
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,551 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.115721466595408e-25, Velocity: 1.8694328799572446e-23
+Joint 2 - Position: -0.3545605430243567, Velocity: -2.4822803885564033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,593 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4925771732763263e-25, Velocity: 1.495546303965796e-23
+Joint 2 - Position: -0.36506363371579226, Velocity: -2.520741765944533
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,657 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.994061738621061e-25, Velocity: 1.1964370431726367e-23
+Joint 2 - Position: -0.37572719308683933, Velocity: -2.559254249051293
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,700 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5952493908968488e-25, Velocity: 9.571496345381096e-24
+Joint 2 - Position: -0.38655141871264603, Velocity: -2.597814150193612
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,742 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.2761995119398513e-25, Velocity: 7.657197094967941e-24
+Joint 2 - Position: -0.3975364919190929, Velocity: -2.6364175695472474
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,784 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.020959609551881e-25, Velocity: 6.125757657311286e-24
+Joint 2 - Position: -0.4086825768843045, Velocity: -2.6750603916507845
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,827 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.167676876415048e-26, Velocity: 4.900606125849028e-24
+Joint 2 - Position: -0.41998981972594723, Velocity: -2.7137382819942664
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,869 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.534141498385296e-26, Velocity: 3.920484907271408e-24
+Joint 2 - Position: -0.43145834757470647, Velocity: -2.7524466837022197
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,911 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.227313198708237e-26, Velocity: 3.1363879192249422e-24
+Joint 2 - Position: -0.4430882676343774, Velocity: -2.791180814321033
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,953 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.1812205295127573e-26, Velocity: 2.5106224060691504e-24
+Joint 2 - Position: -0.45487966622904835, Velocity: -2.829935662721029
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:32,996 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.3449764251456564e-26, Velocity: 2.006985850481042e-24
+Joint 2 - Position: -0.46683260783789904, Velocity: -2.8687059861241653
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,038 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.675981140116525e-26, Velocity: 1.6055886840699154e-24
+Joint 2 - Position: -0.4789471341181836, Velocity: -2.9074863072683073
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,080 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.14078491209322e-26, Velocity: 1.2844709472559318e-24
+Joint 2 - Position: -0.49122326291701557, Velocity: -2.946270911719665
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,123 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.712627929674576e-26, Velocity: 1.0275767578047454e-24
+Joint 2 - Position: -0.5036609872726204, Velocity: -2.9850538453451576
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,165 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.3701023437396609e-26, Velocity: 8.220614062437965e-25
+Joint 2 - Position: -0.5162602744057737, Velocity: -3.0238289119568
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,208 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.0960818749917287e-26, Velocity: 6.576491249950371e-25
+Joint 2 - Position: -0.5290210647021931, Velocity: -3.0625896711406484
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,250 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.76865499993383e-27, Velocity: 5.261192999960298e-25
+Joint 2 - Position: -0.5419432706867052, Velocity: -3.1013294362829176
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,292 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.014923808053129e-27, Velocity: 4.20895486051368e-25
+Joint 2 - Position: -0.5550267759900651, Velocity: -3.140041272806367
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,334 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.6119390464425035e-27, Velocity: 3.367163427865502e-25
+Joint 2 - Position: -0.5682714343093573, Velocity: -3.1787179966301324
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,376 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.489551237154002e-27, Velocity: 2.6937307422924027e-25
+Joint 2 - Position: -0.5816770683629676, Velocity: -3.2173521728664567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,419 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.591640989723201e-27, Velocity: 2.154984593833921e-25
+Joint 2 - Position: -0.5952434688411679, Velocity: -3.2559361147680677
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,461 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.8733127644327747e-27, Velocity: 1.7239877406970238e-25
+Joint 2 - Position: -0.6089703933534175, Velocity: -3.2944618829399115
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,503 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2986502115462197e-27, Velocity: 1.379190126927732e-25
+Joint 2 - Position: -0.6228575653735393, Velocity: -3.332921284829236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,546 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.8389201692369758e-27, Velocity: 1.1033521015421854e-25
+Joint 2 - Position: -0.6369046731839898, Velocity: -3.3713058745081046
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,588 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4711359694210737e-27, Velocity: 8.82682079558165e-26
+Joint 2 - Position: -0.6511113688204996, Velocity: -3.4096069527623567
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,666 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.176908775536859e-27, Velocity: 7.061452653221154e-26
+Joint 2 - Position: -0.6654772670184211, Velocity: -3.447815567501178
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,709 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.415270523196684e-28, Velocity: 5.649161357212577e-26
+Joint 2 - Position: -0.6800019441621767, Velocity: -3.48592251450134
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,751 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.532216418557347e-28, Velocity: 4.519329851134409e-26
+Joint 2 - Position: -0.6946849372392605, Velocity: -3.5239183385000983
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,793 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.025773134845877e-28, Velocity: 3.615463880907526e-26
+Joint 2 - Position: -0.7095257428003048, Velocity: -3.561793334650615
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,836 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.820617642012739e-28, Velocity: 2.892373182799531e-26
+Joint 2 - Position: -0.7245238159267782, Velocity: -3.5995375503536087
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,878 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.856494113610191e-28, Velocity: 2.3138964681661146e-26
+Joint 2 - Position: -0.7396785692079392, Velocity: -3.6371407874786357
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,920 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.0851952908881527e-28, Velocity: 1.851117174532892e-26
+Joint 2 - Position: -0.7549893717287233, Velocity: -3.6745926049881934
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:33,963 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.4681548803004054e-28, Velocity: 1.4808969854105937e-26
+Joint 2 - Position: -0.7704555480702957, Velocity: -3.711882321977393
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,005 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.9745239042403242e-28, Velocity: 1.1847143425441948e-26
+Joint 2 - Position: -0.7860763773250524, Velocity: -3.748999021141625
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,048 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.5796191233922594e-28, Velocity: 9.477714740353557e-27
+Joint 2 - Position: -0.8018510921279024, Velocity: -3.7859315526839987
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,090 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.041090078761382e-28, Velocity: 1.2924697071141057e-26
+Joint 2 - Position: -0.8177788777057108, Velocity: -3.8226685386740042
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,132 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -8.328720630091057e-29, Velocity: 4.997232378054634e-27
+Joint 2 - Position: -0.8338588709468273, Velocity: -3.8591983778679766
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,175 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.662976504072845e-29, Velocity: 3.997785902443707e-27
+Joint 2 - Position: -0.8500901594926668, Velocity: -3.895509251001477
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,217 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.330372326217766e-29, Velocity: 3.1982500268521894e-27
+Joint 2 - Position: -0.8664717808533448, Velocity: -3.9315891265627236
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,259 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.2642978609742124e-29, Velocity: 2.5585787165845276e-27
+Joint 2 - Position: -0.8830027215494095, Velocity: -3.9674257670555413
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,301 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.41143828877937e-29, Velocity: 2.046862973267622e-27
+Joint 2 - Position: -0.8996819162817399, Velocity: -4.003006735759279
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589357e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,344 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.729150631023496e-29, Velocity: 1.6374903786140977e-27
+Joint 2 - Position: -0.916508247131707, Velocity: -4.038319403992111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,386 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.1833205048187967e-29, Velocity: 1.3099923028912781e-27
+Joint 2 - Position: -0.933480542793721, Velocity: -4.073350958883351
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,428 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7466564038550373e-29, Velocity: 1.0479938423130225e-27
+Joint 2 - Position: -0.950597577842299, Velocity: -4.108088411658742
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,470 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.003337922778438e-30, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -0.9678580720358075, Velocity: -4.14251860644203
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 8.673617379884036e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,513 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.202670338222752e-30, Velocity: 1.9216022029336472e-28
+Joint 2 - Position: -0.9852606896590349, Velocity: -4.176628229574558
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,555 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.5621362705782015e-30, Velocity: 1.5372817623469213e-28
+Joint 2 - Position: -1.0028040389067563, Velocity: -4.210403819453111
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,652 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: 1.0901089845193732e-29, Velocity: 3.2311742677852644e-27
+Joint 2 - Position: -1.020486671310445, Velocity: -4.2438317768853
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 2.8912057932946797e-20, Velocity: -6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,694 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.700743415392826e-18, Velocity: -8.881784196968946e-16
+Joint 2 - Position: -1.0383070812102766, Velocity: -4.276898375959605
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 6.938893903907228e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,736 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.96059473231426e-18, Velocity: 1.7763568393885582e-16
+Joint 2 - Position: -1.0562637052745534, Velocity: -4.309589775426409
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,779 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.3684757858480486e-18, Velocity: 1.421085471518908e-16
+Joint 2 - Position: -1.0743549220686535, Velocity: -4.341892030584041
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,821 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.894780628678439e-18, Velocity: 1.1368683772070633e-16
+Joint 2 - Position: -1.0925790516755804, Velocity: -4.373791105662476
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,863 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.4211644206954398e-18, Velocity: 1.1366788991591977e-16
+Joint 2 - Position: -1.1109343553701467, Velocity: -4.405272886695929
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,906 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1369315365563518e-18, Velocity: 6.821589219338111e-17
+Joint 2 - Position: -1.1294190353487845, Velocity: -4.43632319487307
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,948 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.095452292450814e-19, Velocity: 5.457271375470488e-17
+Joint 2 - Position: -1.14803123451692, Velocity: -4.466927800352509
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:34,990 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -7.276361833960652e-19, Velocity: 4.365817100376391e-17
+Joint 2 - Position: -1.1667690363357903, Velocity: -4.497072436528926
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,032 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.821089467168518e-19, Velocity: 3.4926536803011206e-17
+Joint 2 - Position: -1.1856304647305138, Velocity: -4.526742814733621
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,074 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.366059645646258e-19, Velocity: 3.4920715716534245e-17
+Joint 2 - Position: -1.204613484061143, Velocity: -4.555924639351038
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,117 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.4928477165170067e-19, Velocity: 2.095708629910204e-17
+Joint 2 - Position: -1.2237159991583573, Velocity: -4.584603623331399
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,159 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.7942781732136054e-19, Velocity: 1.6765669039281635e-17
+Joint 2 - Position: -1.2429358554253458, Velocity: -4.612765504077242
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,201 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.2354225385708844e-19, Velocity: 1.3412535231425306e-17
+Joint 2 - Position: -1.262270839007346, Velocity: -4.640396059680077
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,244 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.7883380308567076e-19, Velocity: 1.0730028185140246e-17
+Joint 2 - Position: -1.281718677030185, Velocity: -4.667481125481334
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,286 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.430670424685366e-19, Velocity: 8.584022548112197e-18
+Joint 2 - Position: -1.3012770379090601, Velocity: -4.694006610930051
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,328 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -1.1445363397482929e-19, Velocity: 6.867218038489757e-18
+Joint 2 - Position: -1.3209435317286766, Velocity: -4.719958516707945
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,371 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -9.156290717986342e-20, Velocity: 5.493774430791806e-18
+Joint 2 - Position: -1.3407157106957206, Velocity: -4.745322952090536
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,413 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -6.86759955086901e-20, Velocity: 5.492858801081598e-18
+Joint 2 - Position: -1.3605910696645196, Velocity: -4.770086152511741
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,455 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -5.494079640695209e-20, Velocity: 3.2964477844171252e-18
+Joint 2 - Position: -1.3805670467365916, Velocity: -4.794234497297256
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,498 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -4.395263712556167e-20, Velocity: 2.637158227533701e-18
+Joint 2 - Position: -1.400641023934636, Velocity: -4.81775452753068
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 5.782411586589358e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,540 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -3.5162109700449333e-20, Velocity: 2.1097265820269604e-18
+Joint 2 - Position: -1.420810327951366, Velocity: -4.8406329640151995
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: -3.469446951953614e-18
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
+2024-10-28 13:31:35,582 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0
+Joint 1 - Position: -2.812968776035947e-20, Velocity: 1.6877812656215682e-18
+Joint 2 - Position: -1.4410722309734143, Velocity: -4.862856725291574
+Joint 3 - Position: 0.0, Velocity: 0.0
+Joint 4 - Position: 4.336808689942019e-20, Velocity: 0.0
+Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 94
diff --git a/main.py b/main.py
index 62016a7..efac5f5 100644
--- a/main.py
+++ b/main.py
@@ -2,12 +2,13 @@ import json
 import sys
 import time
 import argparse
+import threading
+import queue
+from PyQt5.QtCore import QThread
 from PyQt5.QtWidgets import QApplication
 
 from robot.client_socket import SocketRobotArm
 from gui.init import MainContentComponent
-from logger import logger
-
 
 class MyApp:
     with open("./robots.json", "r") as file:
@@ -15,6 +16,9 @@ class MyApp:
 
     def __init__(self, mode):
         self.mode = mode
+        # self.robot_thread = RobotThread()
+        # self.robot_thread.start()
+        # self.robot_thread.finished.connect(self.startGui) 
         self.startRobot()
         self.startGui()
 
@@ -29,6 +33,7 @@ class MyApp:
 
     def startGui(self):
         app = QApplication(sys.argv)
+
         mainWindow = MainContentComponent(
             get_status=self.get_status,
             robotPanel={
@@ -56,6 +61,11 @@ class MyApp:
 
     def startRobot(self):
         self.robot_app = SocketRobotArm()
+        # Запускаем SocketRobotArm в отдельном потоке
+        threading.Thread(target=self.run_robot_arm, daemon=True).start()
+
+    def run_robot_arm(self):
+        self.robot_app.start()
 
     def updateRobot(self, robot):
         if robot in self.robots:
diff --git a/robot/__init__.py b/robot/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/robot/client_socket.py b/robot/client_socket.py
index 2d686e7..1f2b393 100644
--- a/robot/client_socket.py
+++ b/robot/client_socket.py
@@ -13,7 +13,8 @@ import pybullet_data
 from robot.func import *
 from logger import logger
 
-os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+
 
 class SocketRobotArm:
     line_speed = 100.0
@@ -44,16 +45,21 @@ class SocketRobotArm:
 
         self.physics_client = None
         self.body_id = None
-        threading.Thread(target=self.run_pybullet, daemon=True).start()
+        self.q_app = None
 
     def __exit__(self, exc_type, exc_value, traceback):
         print("exiting")
         self.socket.close()
 
+    def start(self):
+        self.run_pybullet()
+
     def run_pybullet(self):
         self.physics_client = p.connect(p.GUI)
+        p.loadPlugin("eglRendererPlugin")
         p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
         if not os.path.exists(urdf_path):
@@ -63,10 +69,12 @@ class SocketRobotArm:
         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()
+        # self.cube_id = p.loadURDF("r2d2.urdf", [0, 0, 1], useFixedBase=0)
+
+        self.simulation_loop()
 
     def simulation_loop(self):
-        logger.info(f"Загружена simulation loop")
+        logger.info(f"Нчат цикл симуляции")
         while True:
             bodyUniqueId = self.body_id
             position, orientation = p.getBasePositionAndOrientation(bodyUniqueId)
@@ -76,12 +84,20 @@ class SocketRobotArm:
             num_joints = p.getNumJoints(bodyUniqueId)
             joint_states = p.getJointStates(bodyUniqueId, range(num_joints))
 
+            joint_log = []
             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}")
+                joint_log.append(
+                    f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}"
+                )
+            logger.info("\n".join(joint_log))
 
             p.stepSimulation()
+            if self.q_app:
+                logger.info(self.q_app)
+                self.q_app.processEvents()
+
             time.sleep(1 / 24)  # 24 кадра в секунду
 
     def get_pybullet_image(self):
@@ -99,9 +115,6 @@ 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)
 
diff --git a/robot_arm.py b/robot_arm.py
new file mode 100644
index 0000000..d4db380
--- /dev/null
+++ b/robot_arm.py
@@ -0,0 +1,19 @@
+# run.py
+import sys
+import os
+import time
+
+# Добавляем путь к родительской директории
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), 'robot')))
+
+from robot.client_socket import SocketRobotArm
+
+if __name__ == "__main__":
+    robot_arm = SocketRobotArm()
+    robot_arm.start()
+    try:
+        while True:
+            time.sleep(1)  # Просто удерживаем основной поток активным
+    except KeyboardInterrupt:
+        print("Программа завершена.")
+
diff --git a/test_img/rgbtest/1729864017.8655076.png b/test_img/rgbtest/1729864017.8655076.png
deleted file mode 100644
index d744e0f..0000000
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deleted file mode 100644
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diff --git a/test_img/rgbtest/1729864022.8336563.png b/test_img/rgbtest/1729864022.8336563.png
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diff --git a/test_img/rgbtest/1729864023.8190641.png b/test_img/rgbtest/1729864023.8190641.png
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diff --git a/test_img/rgbtest/1729864024.8264525.png b/test_img/rgbtest/1729864024.8264525.png
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