x = (struct.unpack('!d', data[10+i:18+i]))[0]
y = (struct.unpack('!d', data[18+i:26+i]))[0]
z = (struct.unpack('!d', data[26+i:34+i]))[0]
rx = (struct.unpack('!d', data[34+i:42+i]))[0]
ry = (struct.unpack('!d', data[42+i:50+i]))[0]
rz = (struct.unpack('!d', data[50+i:58+i]))[0]