diff --git a/utils.py b/utils.py
index 3d22de7..b758b0e 100644
--- a/utils.py
+++ b/utils.py
@@ -7,7 +7,7 @@ DEBUG: bool = True
 RESET = "\033[0m"
 CYAN = "\033[36m"
 YELLOW = "\033[33m"
-
+RED = "\033[31m"
 
 class RobotClient:
     def __init__(self, host, port):
@@ -20,11 +20,26 @@ class RobotClient:
         if DEBUG:
             print(f"{CYAN}DEBUG: sended:{RESET} {cmd}")
         self.sock.sendall(json.dumps(cmd).encode("utf-8"))
-        data = self.sock.recv(1024).decode("utf-8")
-        ret = json.loads(data)
-        if DEBUG:
-            print(f"{YELLOW}DEBUG: received:{RESET} {ret}")
-        return ret
+        try:
+            ret = self._recv_full_json()
+            if DEBUG:
+                print(f"{YELLOW}DEBUG: received:{RESET} {ret}")
+            return ret
+        except Exception as e:
+            print(f"{RED}ERROR: {e}{RESET}")
+            return {}
+
+    def _recv_full_json(self) -> dict:
+        buffer = ""
+        while True:
+            chunk = self.sock.recv(1024).decode("utf-8")
+            if not chunk:
+                raise ConnectionError("Connection closed")
+            buffer += chunk
+            try:
+                return json.loads(buffer)
+            except json.JSONDecodeError:
+                continue  # not полный JSON, продолжаем читать
 
     def rpy_to_quat(self, arr):
         cmd = {"command": "rpy_to_quaternion", "rpy": arr}