frame_id,timestamp,episode_index,frame_index,task_index,observation.arm2_servo_node_status_data,observation.arm2_controller_joint_trajectory_header,observation.arm2_controller_joint_trajectory_joint_names,observation.arm2_controller_joint_trajectory_points,observation.arm2_servo_node_collision_velocity_scale_data,observation.state,action,observation.tf_transforms,observation.robot_description_data,observation.rosout_stamp,observation.rosout_level,observation.rosout_name,observation.rosout_msg,observation.rosout_file,observation.rosout_function,observation.rosout_line
0,0.0,0,0,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32768771 -0.14757394 -0.0821932  -0.19790098 -0.02755156]', 'velocities': '[-5.55111512e-16 -5.75417907e-03 -2.54787076e-02  6.13592315e-03\n  2.19803746e-02  2.49687423e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1,0.03333333507180214,0,1,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32923152 -0.14796877 -0.08381262 -0.19963418 -0.02924429]', 'velocities': '[-5.55111512e-16 -2.46304516e-02 -3.93753573e-02 -3.42524311e-02\n -4.66835408e-02 -5.08858673e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
2,0.06666667014360428,0,2,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.3282463  -0.14639375 -0.08244252 -0.19776684 -0.02720886]', 'velocities': '[-5.55111512e-16 -4.92609031e-03 -7.87507145e-03 -6.85048623e-03\n -9.33670817e-03 -1.01771735e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3,0.10000000149011612,0,3,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32804926 -0.14454477 -0.0821685  -0.19585939 -0.02526779]', 'velocities': '[-5.55111512e-16 -9.85218063e-04  2.91046015e-02 -1.37009725e-03\n  2.88122741e-02  2.86441811e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
4,0.13333334028720856,0,4,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32804926 -0.14454477 -0.0821685  -0.19585939 -0.02526779]', 'velocities': '[0. 0. 0. 0. 0. 0.]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
5,0.1666666716337204,0,5,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32646602 -0.146      -0.0821     -0.1973     -0.0267    ]', 'velocities': '[-5.55111512e-16  3.06796158e-02  0.00000000e+00  0.00000000e+00\n -5.55111512e-16  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
6,0.20000000298023224,0,6,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.3276932  -0.14753398 -0.0821     -0.1973     -0.0267    ]', 'velocities': '[-5.55111512e-16  6.13592315e-03 -3.06796158e-02  0.00000000e+00\n -5.55111512e-16  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
7,0.23333333432674408,0,7,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32793864 -0.1463068  -0.0821     -0.19883398 -0.0267    ]', 'velocities': '[-5.55111512e-16  1.22718463e-03 -6.13592315e-03  0.00000000e+00\n -3.06796158e-02  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
8,0.2666666805744171,0,8,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32798773 -0.14452738 -0.0821     -0.1976068  -0.0267    ]', 'velocities': '[-5.55111512e-16  2.45436926e-04  2.94524311e-02  0.00000000e+00\n -6.13592315e-03  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
9,0.30000001192092896,0,9,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32799755 -0.14723946 -0.0821     -0.19582738 -0.0267    ]', 'velocities': '[-5.55111512e-16  4.90873852e-05 -2.47891295e-02  0.00000000e+00\n  2.94524311e-02  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
10,0.3333333432674408,0,10,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32799951 -0.14624789 -0.0821     -0.19700548 -0.02823398]', 'velocities': '[-5.55111512e-16  9.81747704e-06 -4.95782591e-03  0.00000000e+00\n  5.89048623e-03 -3.06796158e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
11,0.36666667461395264,0,11,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32953388 -0.14604958 -0.08056602 -0.1972411  -0.0270068 ]', 'velocities': '[-5.55111512e-16 -3.06776523e-02 -9.91565181e-04  3.06796158e-02\n  1.17809725e-03 -6.13592315e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
12,0.4000000059604645,0,12,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32830678 -0.1475439  -0.0817932  -0.19728822 -0.02522738]', 'velocities': '[-5.55111512e-16 -6.13553045e-03 -3.08779288e-02  6.13592315e-03\n  2.35619449e-04  2.94524311e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
13,0.4333333373069763,0,13,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32806136 -0.1447748  -0.08357262 -0.19883162 -0.02640548]', 'velocities': '[-5.55111512e-16 -1.22710609e-03  2.45040300e-02 -2.94524311e-02\n -3.06324919e-02  5.89048623e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
14,0.46666666865348816,0,14,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32801227 -0.14575496 -0.08239452 -0.19760632 -0.02817508]', 'velocities': '[-5.55111512e-16 -2.45421218e-04  4.90080600e-03 -5.89048623e-03\n -6.12649837e-03 -2.95015185e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
15,0.5,0,15,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32800245 -0.14748497 -0.0821589  -0.19582728 -0.02699502]', 'velocities': '[-5.55111512e-16 -4.90842436e-05 -2.96994546e-02 -1.17809725e-03\n  2.94543161e-02 -5.90030370e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
16,0.5333333611488342,0,16,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32800245 -0.14748497 -0.0821589  -0.19582728 -0.02699502]', 'velocities': '[0. 0. 0. 0. 0. 0.]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
17,0.5666666626930237,0,17,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32806631922721863, -0.146966814994812, -0.08215545862913132, -0.19634641706943512, -0.026891790330410004, 0.02315909042954445]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32806631922721863, -0.146966814994812, -0.08215545862913132, -0.19634641706943512, -0.026891790330410004, 0.02315909042954445]",,,,0.0,,,,,0.0
18,0.6000000238418579,0,18,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558806, 'nanosec': 824033918}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558806, 'nanosec': 824033918}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558806, 'nanosec': 824033918}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 784044557}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
1096,36.53333282470703,0,1096,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, 0.0039217001758515835]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, 0.0039217001758515835]",,,,0.0,,,,,0.0
1097,36.56666564941406,0,1097,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, 0.0015808000462129712]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, 0.0015808000462129712]",,,,0.0,,,,,0.0
1098,36.599998474121094,0,1098,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, -0.0005437100189737976]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1474749743938446, -0.08209999650716782, -0.19729989767074585, -0.026345979422330856, -0.0005437100189737976]",,,,0.0,,,,,0.0
1099,36.63333511352539,0,1099,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14476101 -0.0821     -0.195766   -0.02816318]', 'velocities': '[-5.55111512e-16 -1.11022302e-15  2.47797048e-02  0.00000000e+00\n  3.06800085e-02 -2.92635429e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1100,36.66666793823242,0,1100,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.15643398 -0.328      -0.1457522  -0.0821     -0.1969932  -0.02852662]', 'velocities': '[-3.06796158e-02 -1.11022302e-15  4.95594095e-03  0.00000000e+00\n  6.13600169e-03 -3.65323243e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1101,36.70000076293945,0,1101,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15501107275485992, -0.328086793422699, -0.14598698914051056, -0.08212313801050186, -0.1972794532775879, -0.026834439486265182, 0.03172004967927933]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15501107275485992, -0.328086793422699, -0.14598698914051056, -0.08212313801050186, -0.1972794532775879, -0.026834439486265182, 0.03172004967927933]",,,,0.0,,,,,0.0
1102,36.733333587646484,0,1102,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 875100285}",20.0,rosbag2_recorder,Subscribed to topic '/planning_scene_world',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1103,36.766666412353516,0,1103,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 877053488}",20.0,rosbag2_recorder,Subscribed to topic '/parameter_events',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1104,36.79999923706055,0,1104,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 877579390}",20.0,rosbag2_recorder,Subscribed to topic '/planning_scene',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1105,36.83333206176758,0,1105,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 878136307}",20.0,rosbag2_recorder,Subscribed to topic '/rgb',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1106,36.86666488647461,0,1106,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 878202328}",20.0,rosbag2_recorder,Recording...,./src/rosbag2_transport/recorder.cpp,record,209.0
1107,36.900001525878906,0,1107,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 886224757}",20.0,rosbag2_recorder,Subscribed to topic '/isaac_joint_commands',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1108,36.93333435058594,0,1108,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 887064393}",20.0,rosbag2_recorder,Subscribed to topic '/arm1_controller/state',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1109,36.96666717529297,0,1109,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 888772903}",20.0,rosbag2_recorder,Subscribed to topic '/arm1_controller/transition_event',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1110,37.0,0,1110,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 889903505}",20.0,rosbag2_recorder,Subscribed to topic '/display_contacts',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1111,37.03333282470703,0,1111,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 892257071}",20.0,rosbag2_recorder,Subscribed to topic '/motion_plan_request',./src/rosbag2_transport/recorder.cpp,subscribe_topic,368.0
1112,37.06666564941406,0,1112,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 876455347}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1113,37.099998474121094,0,1113,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 876481935}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1114,37.13333511352539,0,1114,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 941087601}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1115,37.16666793823242,0,1115,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 941134372}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1116,37.20000076293945,0,1116,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 999778669}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1117,37.233333587646484,0,1117,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558805, 'nanosec': 999826818}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1118,37.266666412353516,0,1118,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 59184657}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1119,37.29999923706055,0,1119,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 59222752}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1120,37.33333206176758,0,1120,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 124408269}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1121,37.36666488647461,0,1121,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 124456253}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1122,37.400001525878906,0,1122,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 183554282}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1123,37.43333435058594,0,1123,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 183606950}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1124,37.46666717529297,0,1124,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 243134700}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1125,37.5,0,1125,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 243177130}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1126,37.53333282470703,0,1126,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 301650186}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1127,37.56666564941406,0,1127,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 301698899}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1128,37.599998474121094,0,1128,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 361322563}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1129,37.63333511352539,0,1129,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 361363048}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1130,37.66666793823242,0,1130,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15529632568359375, -0.3280969560146332, -0.14594149589538574, -0.08212585747241974, -0.19722260534763336, -0.027174359187483788, 0.027257239446043968]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15529632568359375, -0.3280969560146332, -0.14594149589538574, -0.08212585747241974, -0.19722260534763336, -0.027174359187483788, 0.027257239446043968]",,,,0.0,,,,,0.0
1131,37.70000076293945,0,1131,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558806, 'nanosec': 824048805}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1132,37.733333587646484,0,1132,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 834168865}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1133,37.766666412353516,0,1133,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558808, 'nanosec': 844041169}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1134,37.79999923706055,0,1134,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558809, 'nanosec': 844145621}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1135,37.83333206176758,0,1135,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558810, 'nanosec': 854103367}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1136,37.86666488647461,0,1136,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 864088863}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1137,37.900001525878906,0,1137,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 874072369}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1138,37.93333435058594,0,1138,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15567266941070557, -0.3280647397041321, -0.145878866314888, -0.08211726695299149, -0.1971467137336731, -0.027621690183877945, 0.023161929100751877]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15567266941070557, -0.3280647397041321, -0.145878866314888, -0.08211726695299149, -0.1971467137336731, -0.027621690183877945, 0.023161929100751877]",,,,0.0,,,,,0.0
1139,37.96666717529297,0,1139,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558815, 'nanosec': 854034303}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 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'nanosec': 254032477}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 254032477}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
1310,43.66666793823242,0,1310,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.01237034983932972]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.01237034983932972]",,,,0.0,,,,,0.0
1311,43.70000076293945,0,1311,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 330477581}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1312,43.733333587646484,0,1312,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 330563739}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1313,43.766666412353516,0,1313,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 389972716}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1314,43.79999923706055,0,1314,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 390034078}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1315,43.83333206176758,0,1315,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 460609794}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1316,43.86666488647461,0,1316,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 460669770}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1317,43.900001525878906,0,1317,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 519485950}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1318,43.93333435058594,0,1318,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 519560010}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1319,43.96666717529297,0,1319,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558813, 'nanosec': 874074351}",30.0,arm2_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1320,44.0,0,1320,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.00929574016481638]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.00929574016481638]",,,,0.0,,,,,0.0
1321,44.03333282470703,0,1321,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 576748930}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1322,44.06666564941406,0,1322,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 576801613}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1323,44.099998474121094,0,1323,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 634170447}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1324,44.13333511352539,0,1324,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 634241164}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1325,44.16666793823242,0,1325,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 692669517}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1326,44.20000076293945,0,1326,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 692734969}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1327,44.233333587646484,0,1327,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 749888701}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1328,44.266666412353516,0,1328,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 749972143}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1329,44.29999923706055,0,1329,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.006468269973993301]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.006468269973993301]",,,,0.0,,,,,0.0
1330,44.33333206176758,0,1330,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 813558433}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1331,44.36666488647461,0,1331,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558807, 'nanosec': 813610317}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1332,44.400001525878906,0,1332,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.003888889914378524]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.003888889914378524]",,,,0.0,,,,,0.0
1333,44.43333435058594,0,1333,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.0015363700222223997]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, 0.0015363700222223997]",,,,0.0,,,,,0.0
1334,44.46666717529297,0,1334,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, -0.000600609986577183]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279995322227478, -0.14482179284095764, -0.08209999650716782, -0.19700300693511963, -0.02817457914352417, -0.000600609986577183]",,,,0.0,,,,,0.0
1335,44.5,0,1335,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32953389 -0.14576436 -0.08056602 -0.19877458 -0.02699492]', 'velocities': '[-5.55111512e-16 -3.06777465e-02  4.71278168e-03  3.06796158e-02\n -2.94916225e-02 -5.89832450e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1336,44.53333282470703,0,1336,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32830678 -0.14595287 -0.0817932  -0.19759492 -0.025225  ]', 'velocities': '[-5.55111512e-16 -6.13554930e-03  9.42556336e-04  6.13592315e-03\n -5.89832450e-03  2.94999509e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1337,44.56666564941406,0,1337,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558817, 'nanosec': 324069188}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 324069188}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558817, 'nanosec': 324069188}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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1842,61.400001525878906,0,1842,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, 0.003951369784772396]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, 0.003951369784772396]",,,,0.0,,,,,0.0
1843,61.43333435058594,0,1843,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, 0.0016120399814099073]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, 0.0016120399814099073]",,,,0.0,,,,,0.0
1844,61.46666717529297,0,1844,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, -0.0005113800289109349]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3279508948326111, -0.14595088362693787, -0.08209999650716782, -0.19724108278751373, -0.0267472006380558, -0.0005113800289109349]",,,,0.0,,,,,0.0
1845,61.5,0,1845,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.15643398 -0.32799018 -0.14599018 -0.0821     -0.19728822 -0.02670944]', 'velocities': '[-0.03067962  0.00019641  0.00019643  0.          0.00023564 -0.00018881]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1846,61.53333282470703,0,1846,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1552068  -0.32953202 -0.14599804 -0.0821     -0.19729764 -0.02670189]', 'velocities': '[-6.13592315e-03 -3.06403332e-02  3.92856150e-05  0.00000000e+00\n  4.71270563e-05 -3.77624455e-05]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1847,61.56666564941406,0,1847,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15492063760757446, -0.3281956613063812, -0.14600497484207153, -0.08212298899888992, -0.1973017454147339, -0.02670077048242092, 0.031780630350112915]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15492063760757446, -0.3281956613063812, -0.14600497484207153, -0.08212298899888992, -0.1973017454147339, -0.02670077048242092, 0.031780630350112915]",,,,0.0,,,,,0.0
1848,61.599998474121094,0,1848,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 454034488}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
1849,61.63333511352539,0,1849,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15497708320617676, -0.3284893035888672, -0.14600525796413422, -0.08212591707706451, -0.19730156660079956, -0.026701200753450394, 0.027320530265569687]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15497708320617676, -0.3284893035888672, -0.14600525796413422, -0.08212591707706451, -0.19730156660079956, -0.026701200753450394, 0.027320530265569687]",,,,0.0,,,,,0.0
1850,61.66666793823242,0,1850,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15505370497703552, -0.3288370966911316, -0.1460028439760208, -0.08211726695299149, -0.1973002552986145, -0.02670142985880375, 0.023162780329585075]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15505370497703552, -0.3288370966911316, -0.1460028439760208, -0.08211726695299149, -0.1973002552986145, -0.02670142985880375, 0.023162780329585075]",,,,0.0,,,,,0.0
1851,61.70000076293945,0,1851,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15513509511947632, -0.3291972279548645, -0.14599977433681488, -0.08210579305887222, -0.19729867577552795, -0.026701610535383224, 0.019299199804663658]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15513509511947632, -0.3291972279548645, -0.14599977433681488, -0.08210579305887222, -0.19729867577552795, -0.026701610535383224, 0.019299199804663658]",,,,0.0,,,,,0.0
1852,61.733333587646484,0,1852,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 477897062}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1853,61.766666412353516,0,1853,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558815, 'nanosec': 874119310}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1854,61.79999923706055,0,1854,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1552065759897232, -0.32953089475631714, -0.1459980458021164, -0.08209999650716782, -0.19729764759540558, -0.02670188993215561, 0.0156975407153368]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1552065759897232, -0.32953089475631714, -0.1459980458021164, -0.08209999650716782, -0.19729764759540558, -0.02670188993215561, 0.0156975407153368]",,,,0.0,,,,,0.0
1855,61.83333206176758,0,1855,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 603569392}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
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1858,61.93333435058594,0,1858,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1552067995071411, -0.32953202724456787, -0.1459980458021164, -0.08209999650716782, -0.19729763269424438, -0.02670188993215561, 0.006420370191335678]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1552067995071411, -0.32953202724456787, -0.1459980458021164, -0.08209999650716782, -0.19729763269424438, -0.02670188993215561, 0.006420370191335678]",,,,0.0,,,,,0.0
1859,61.96666717529297,0,1859,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558821, 'nanosec': 524058691}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 524058691}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 524058691}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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1864,62.13333511352539,0,1864,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.15342738 -0.3283064  -0.14599961 -0.0821     -0.19729953 -0.02670038]', 'velocities': '[ 2.94524311e-02 -6.12806663e-03  7.85712299e-06  0.00000000e+00\n  9.42541127e-06 -7.55248911e-06]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1865,62.16666793823242,0,1865,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.15460548 -0.3265273  -0.14599992 -0.0821     -0.19883389 -0.02670008]', 'velocities': '[ 5.89048623e-03  2.94540024e-02  1.57142460e-06  0.00000000e+00\n -3.06777307e-02 -1.51049782e-06]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
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1867,62.233333587646484,0,1867,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548231542110443, -0.32772013545036316, -0.14600573480129242, -0.08212591707706451, -0.19769486784934998, -0.026700740680098534, 0.027323570102453232]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548231542110443, -0.32772013545036316, -0.14600573480129242, -0.08212591707706451, -0.19769486784934998, -0.026700740680098534, 0.027323570102453232]",,,,0.0,,,,,0.0
1868,62.266666412353516,0,1868,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558821, 'nanosec': 594055584}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
1869,62.29999923706055,0,1869,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15475045144557953, -0.32732170820236206, -0.14600379765033722, -0.08211725950241089, -0.1980753093957901, -0.026700520887970924, 0.023167120292782784]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15475045144557953, -0.32732170820236206, -0.14600379765033722, -0.08211725950241089, -0.1980753093957901, -0.026700520887970924, 0.023167120292782784]",,,,0.0,,,,,0.0
1870,62.33333206176758,0,1870,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 605286850}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1871,62.36666488647461,0,1871,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 722025031}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1872,62.400001525878906,0,1872,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15467290580272675, -0.3268873989582062, -0.1460012048482895, -0.08210568130016327, -0.1984815150499344, -0.02670021913945675, 0.01927866041660309]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15467290580272675, -0.3268873989582062, -0.1460012048482895, -0.08210568130016327, -0.1984815150499344, -0.02670021913945675, 0.01927866041660309]",,,,0.0,,,,,0.0
1873,62.43333435058594,0,1873,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558816, 'nanosec': 884049453}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
1874,62.46666717529297,0,1874,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558811, 'nanosec': 722095485}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1875,62.5,0,1875,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.015685729682445526]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.015685729682445526]",,,,0.0,,,,,0.0
1876,62.53333282470703,0,1876,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.012346870265901089]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.012346870265901089]",,,,0.0,,,,,0.0
1877,62.56666564941406,0,1877,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.009300320409238338]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.009300320409238338]",,,,0.0,,,,,0.0
1878,62.599998474121094,0,1878,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.006466680206358433]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15460547804832458, -0.32652729749679565, -0.14599992334842682, -0.08209999650716782, -0.1988338828086853, -0.026700079441070557, 0.006466680206358433]",,,,0.0,,,,,0.0
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1966,65.53333282470703,0,1966,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753088355064392, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.015736620873212814]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753088355064392, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.015736620873212814]",,,,0.0,,,,,0.0
1967,65.56666564941406,0,1967,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012392699718475342]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012392699718475342]",,,,0.0,,,,,0.0
1968,65.5999984741211,0,1968,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.009310930036008358]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.009310930036008358]",,,,0.0,,,,,0.0
1969,65.63333129882812,0,1969,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.006477859802544117]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.006477859802544117]",,,,0.0,,,,,0.0
1970,65.66666412353516,0,1970,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.0038924699183553457]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.0038924699183553457]",,,,0.0,,,,,0.0
1971,65.69999694824219,0,1971,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.0015160699840635061]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.0015160699840635061]",,,,0.0,,,,,0.0
1972,65.73332977294922,0,1972,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.0006275399937294424]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.0006275399937294424]",,,,0.0,,,,,0.0
1973,65.76667022705078,0,1973,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 434074906}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
1974,65.80000305175781,0,1974,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.002551520010456443]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14753398299217224, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.002551520010456443]",,,,0.0,,,,,0.0
1975,65.83333587646484,0,1975,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14753398 -0.0821     -0.1973     -0.0267    ]', 'velocities': '[0. 0. 0. 0. 0. 0.]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1976,65.86666870117188,0,1976,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 448025112}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1977,65.9000015258789,0,1977,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.146      -0.0821     -0.19883398 -0.0267    ]', 'velocities': '[-5.55111512e-16 -1.11022302e-15  0.00000000e+00  0.00000000e+00\n -3.06796158e-02  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1978,65.93333435058594,0,1978,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 570676197}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
1979,65.96666717529297,0,1979,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 570723345}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
1980,66.0,0,1980,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.328086256980896, -0.14600510895252228, -0.08212299644947052, -0.1974116861820221, -0.026700640097260475, 0.03177753835916519]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.328086256980896, -0.14600510895252228, -0.08212299644947052, -0.1974116861820221, -0.026700640097260475, 0.03177753835916519]",,,,0.0,,,,,0.0
1981,66.03333282470703,0,1981,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809722423553467, -0.1460057646036148, -0.08212591707706451, -0.19769470393657684, -0.026700720191001892, 0.027324670925736427]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809722423553467, -0.1460057646036148, -0.08212591707706451, -0.19769470393657684, -0.026700720191001892, 0.027324670925736427]",,,,0.0,,,,,0.0
1982,66.06666564941406,0,1982,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32806479930877686, -0.1460038423538208, -0.08211728185415268, -0.1980745494365692, -0.02670047990977764, 0.02317211963236332]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32806479930877686, -0.1460038423538208, -0.08211728185415268, -0.1980745494365692, -0.02670047990977764, 0.02317211963236332]",,,,0.0,,,,,0.0
1983,66.0999984741211,0,1983,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280215263366699, -0.14600127935409546, -0.08210574090480804, -0.19847926497459412, -0.026700159534811974, 0.019295470789074898]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280215263366699, -0.14600127935409546, -0.08210574090480804, -0.19847926497459412, -0.026700159534811974, 0.019295470789074898]",,,,0.0,,,,,0.0
1984,66.13333129882812,0,1984,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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'nanosec': 504057586}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 504057586}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 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1985,66.16666412353516,0,1985,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.015702810138463974]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.015702810138463974]",,,,0.0,,,,,0.0
1986,66.19999694824219,0,1986,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.012373100034892559]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.012373100034892559]",,,,0.0,,,,,0.0
1987,66.23332977294922,0,1987,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.009294560179114342]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.009294560179114342]",,,,0.0,,,,,0.0
1988,66.26667022705078,0,1988,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.006457369774580002]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.006457369774580002]",,,,0.0,,,,,0.0
1989,66.30000305175781,0,1989,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.0038785100914537907]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.0038785100914537907]",,,,0.0,,,,,0.0
1990,66.33333587646484,0,1990,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.0014713299460709095]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, 0.0014713299460709095]",,,,0.0,,,,,0.0
1991,66.36666870117188,0,1991,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, -0.0006318200030364096]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.19883398711681366, -0.02669999934732914, -0.0006318200030364096]",,,,0.0,,,,,0.0
1992,66.4000015258789,0,1992,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32646602 -0.146      -0.0821     -0.1976068  -0.02823398]', 'velocities': '[-5.55111512e-16  3.06796158e-02  0.00000000e+00  0.00000000e+00\n -6.13592315e-03 -3.06796158e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1993,66.43333435058594,0,1993,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.3276932  -0.146      -0.0821     -0.19736136 -0.02854078]', 'velocities': '[-5.55111512e-16  6.13592315e-03  0.00000000e+00  0.00000000e+00\n -1.22718463e-03 -3.68155389e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
1994,66.46666717529297,0,1994,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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'nanosec': 574027776}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 574027776}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 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1995,66.5,0,1995,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.14600512385368347, -0.08212301880121231, -0.1973063200712204, -0.02683277055621147, 0.03176923841238022]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.14600512385368347, -0.08212301880121231, -0.1973063200712204, -0.02683277055621147, 0.03176923841238022]",,,,0.0,,,,,0.0
1996,66.53333282470703,0,1996,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3280184268951416, -0.1460057646036148, -0.08212590962648392, -0.19731789827346802, -0.02717307023704052, 0.02730810083448887]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3280184268951416, -0.1460057646036148, -0.08212590962648392, -0.19731789827346802, -0.02717307023704052, 0.02730810083448887]",,,,0.0,,,,,0.0
1997,66.56666564941406,0,1997,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3279097378253937, -0.1460038274526596, -0.0821172371506691, -0.19733242690563202, -0.027629990130662918, 0.02315085008740425]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3279097378253937, -0.1460038274526596, -0.0821172371506691, -0.19733242690563202, -0.027629990130662918, 0.02315085008740425]",,,,0.0,,,,,0.0
1998,66.5999984741211,0,1998,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3277856409549713, -0.14600126445293427, -0.08210573345422745, -0.19734765589237213, -0.028115270659327507, 0.019279450178146362]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3277856409549713, -0.14600126445293427, -0.08210573345422745, -0.19734765589237213, -0.028115270659327507, 0.019279450178146362]",,,,0.0,,,,,0.0
1999,66.63333129882812,0,1999,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.015667619183659554]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.015667619183659554]",,,,0.0,,,,,0.0
2000,66.66666412353516,0,2000,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.01233907975256443]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.01233907975256443]",,,,0.0,,,,,0.0
2001,66.69999694824219,0,2001,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0092351995408535]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0092351995408535]",,,,0.0,,,,,0.0
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'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 644112822}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
2003,66.76667022705078,0,2003,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.006396559998393059]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.006396559998393059]",,,,0.0,,,,,0.0
2004,66.80000305175781,0,2004,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0037797100376337767]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0037797100376337767]",,,,0.0,,,,,0.0
2005,66.83333587646484,0,2005,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0014280700124800205]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, 0.0014280700124800205]",,,,0.0,,,,,0.0
2006,66.86666870117188,0,2006,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, -0.0007141099777072668]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, -0.0007141099777072668]",,,,0.0,,,,,0.0
2007,66.9000015258789,0,2007,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32947262 -0.14446602 -0.0821     -0.19731227 -0.02706816]', 'velocities': '[-5.55111512e-16 -2.94524311e-02  3.06796158e-02  0.00000000e+00\n -2.45436926e-04 -7.36310778e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
2008,66.93333435058594,0,2008,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, -0.002654799958691001]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3276931941509247, -0.1459999978542328, -0.08209999650716782, -0.19736136496067047, -0.028540780767798424, -0.002654799958691001]",,,,0.0,,,,,0.0
2009,66.96666717529297,0,2009,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32829452 -0.1456932  -0.0821     -0.19730245 -0.02523965]', 'velocities': '[-5.55111512e-16 -5.89048623e-03  6.13592315e-03  0.00000000e+00\n -4.90873852e-05  2.92069942e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
2010,67.0,0,2010,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 691593674}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2011,67.03333282470703,0,2011,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558812, 'nanosec': 810113240}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2012,67.06666564941406,0,2012,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489870309829712, -0.32810837030410767, -0.14598266780376434, -0.08212313801050186, -0.19730210304260254, -0.026593679562211037, 0.031721331179142]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489870309829712, -0.32810837030410767, -0.14598266780376434, -0.08212313801050186, -0.19730210304260254, -0.026593679562211037, 0.031721331179142]",,,,0.0,,,,,0.0
2013,67.0999984741211,0,2013,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558822, 'nanosec': 714177926}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 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2019,67.30000305175781,0,2019,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3282945156097412, -0.14569319784641266, -0.08209999650716782, -0.19730244576931, -0.025239650160074234, 0.009313009679317474]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3282945156097412, -0.14569319784641266, -0.08209999650716782, -0.19730244576931, -0.025239650160074234, 0.009313009679317474]",,,,0.0,,,,,0.0
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2813,93.76667022705078,0,2813,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, 0.0014551300555467606]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, 0.0014551300555467606]",,,,0.0,,,,,0.0
2814,93.80000305175781,0,2814,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558819, 'nanosec': 190886397}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
2815,93.83333587646484,0,2815,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558819, 'nanosec': 192233977}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2816,93.86666870117188,0,2816,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, -0.0006924199988134205]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, -0.0006924199988134205]",,,,0.0,,,,,0.0
2817,93.9000015258789,0,2817,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558819, 'nanosec': 313469164}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2818,93.93333435058594,0,2818,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558819, 'nanosec': 313530181}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
2819,93.96666717529297,0,2819,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, -0.002617900026962161]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3280029594898224, -0.1459415853023529, -0.08208773285150528, -0.19760385155677795, -0.026995019987225533, -0.002617900026962161]",,,,0.0,,,,,0.0
2820,94.0,0,2820,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32646602 -0.146      -0.0821     -0.19883398 -0.02823398]', 'velocities': '[-5.55111512e-16  3.06796158e-02  0.00000000e+00  0.00000000e+00\n -3.06796158e-02 -3.06796158e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
2821,94.03333282470703,0,2821,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.3276932  -0.146      -0.0821     -0.19914078 -0.02854078]', 'velocities': '[-5.55111512e-16  6.13592315e-03  0.00000000e+00  0.00000000e+00\n -3.68155389e-02 -3.68155389e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
2822,94.06666564941406,0,2822,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.14600512385368347, -0.0821230411529541, -0.19743448495864868, -0.02683321014046669, 0.031762149184942245]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.14600512385368347, -0.0821230411529541, -0.19743448495864868, -0.02683321014046669, 0.031762149184942245]",,,,0.0,,,,,0.0
2823,94.0999984741211,0,2823,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558829, 'nanosec': 224075588}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
2824,94.13333129882812,0,2824,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32801833748817444, -0.1460057646036148, -0.08212590217590332, -0.19777490198612213, -0.02717345952987671, 0.027307609096169472]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32801833748817444, -0.1460057646036148, -0.08212590217590332, -0.19777490198612213, -0.02717345952987671, 0.027307609096169472]",,,,0.0,,,,,0.0
2825,94.16666412353516,0,2825,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32791078090667725, -0.146003857254982, -0.08211734145879745, -0.19822683930397034, -0.027625879272818565, 0.02319267950952053]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32791078090667725, -0.146003857254982, -0.08211734145879745, -0.19822683930397034, -0.027625879272818565, 0.02319267950952053]",,,,0.0,,,,,0.0
2826,94.19999694824219,0,2826,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3277852237224579, -0.14600126445293427, -0.08210568875074387, -0.19871732592582703, -0.028116999194025993, 0.01927958056330681]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3277852237224579, -0.14600126445293427, -0.08210568875074387, -0.19871732592582703, -0.028116999194025993, 0.01927958056330681]",,,,0.0,,,,,0.0
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2988,99.5999984741211,0,2988,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.012356249615550041]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.012356249615550041]",,,,0.0,,,,,0.0
2989,99.63333129882812,0,2989,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558820, 'nanosec': 683175675}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2990,99.66666412353516,0,2990,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.009271989576518536]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.009271989576518536]",,,,0.0,,,,,0.0
2991,99.69999694824219,0,2991,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558820, 'nanosec': 683245853}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
2992,99.73332977294922,0,2992,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0064385198056697845]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0064385198056697845]",,,,0.0,,,,,0.0
2993,99.76667022705078,0,2993,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558820, 'nanosec': 684761967}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2994,99.80000305175781,0,2994,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0038295499980449677]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0038295499980449677]",,,,0.0,,,,,0.0
2995,99.83333587646484,0,2995,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558820, 'nanosec': 684809486}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
2996,99.86666870117188,0,2996,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0014773199800401926]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, 0.0014773199800401926]",,,,0.0,,,,,0.0
2997,99.9000015258789,0,2997,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558820, 'nanosec': 812327684}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
2998,99.93333435058594,0,2998,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, -0.0006741399993188679]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, -0.0006741399993188679]",,,,0.0,,,,,0.0
2999,99.96666717529297,0,2999,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, -0.0026134499348700047]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14569319784641266, -0.08209999650716782, -0.19723863899707794, -0.02646682970225811, -0.0026134499348700047]",,,,0.0,,,,,0.0
3000,100.0,0,3000,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558830, 'nanosec': 624063273}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3001,100.03333282470703,0,3001,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14593864 -0.0821     -0.19575375 -0.02818735]', 'velocities': '[-5.55111512e-16 -1.11022302e-15  1.22718463e-03  0.00000000e+00\n  3.09250527e-02 -2.97469554e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3002,100.06666564941406,0,3002,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.0043394300155341625]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, -0.0043394300155341625]",,,,0.0,,,,,0.0
3003,100.0999984741211,0,3003,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14445375 -0.0821     -0.19852473 -0.02699747]', 'velocities': '[-5.55111512e-16 -1.11022302e-15  3.09250527e-02  0.00000000e+00\n -2.44946052e-02 -5.94939109e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
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3124,104.13333129882812,0,3124,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3294726312160492, -0.14716583490371704, -0.083572618663311, -0.1991407871246338, -0.028540780767798424, 0.0038024201057851315]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3294726312160492, -0.14716583490371704, -0.083572618663311, -0.1991407871246338, -0.028540780767798424, 0.0038024201057851315]",,,,0.0,,,,,0.0
3125,104.16666412353516,0,3125,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3294726312160492, -0.14716583490371704, -0.083572618663311, -0.1991407871246338, -0.028540780767798424, 0.0014442700194194913]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3294726312160492, -0.14716583490371704, -0.083572618663311, -0.1991407871246338, -0.028540780767798424, 0.0014442700194194913]",,,,0.0,,,,,0.0
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'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 564037697}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3356,111.86666870117188,0,3356,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32808664441108704, -0.14589373767375946, -0.08212310075759888, -0.1973189264535904, -0.026718489825725555, 0.0364999994635582]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32808664441108704, -0.14589373767375946, -0.08212310075759888, -0.1973189264535904, -0.026718489825725555, 0.0364999994635582]",,,,0.0,,,,,0.0
3357,111.9000015258789,0,3357,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3280971944332123, -0.14561298489570618, -0.08212590962648392, -0.19736209511756897, -0.026763660833239555, 0.03177928924560547]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3280971944332123, -0.14561298489570618, -0.08212590962648392, -0.19736209511756897, -0.026763660833239555, 0.03177928924560547]",,,,0.0,,,,,0.0
3358,111.93333435058594,0,3358,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558823, 'nanosec': 582326782}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
3359,111.96666717529297,0,3359,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280644118785858, -0.1452278047800064, -0.08211716264486313, -0.19741986691951752, -0.0268248300999403, 0.02730724960565567]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280644118785858, -0.1452278047800064, -0.08211716264486313, -0.19741986691951752, -0.0268248300999403, 0.02730724960565567]",,,,0.0,,,,,0.0
3360,112.0,0,3360,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558829, 'nanosec': 964116394}",30.0,arm2_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
3361,112.03333282470703,0,3361,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280212879180908, -0.14482097327709198, -0.08210565894842148, -0.19748060405254364, -0.026889290660619736, 0.023163050413131714]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280212879180908, -0.14482097327709198, -0.08210565894842148, -0.19748060405254364, -0.026889290660619736, 0.023163050413131714]",,,,0.0,,,,,0.0
3362,112.06666564941406,0,3362,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558823, 'nanosec': 924068141}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
3363,112.0999984741211,0,3363,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32800009846687317, -0.14446836709976196, -0.08209999650716782, -0.1975337564945221, -0.026945440098643303, 0.019310329109430313]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32800009846687317, -0.14446836709976196, -0.08209999650716782, -0.1975337564945221, -0.026945440098643303, 0.019310329109430313]",,,,0.0,,,,,0.0
3364,112.13333129882812,0,3364,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32800009846687317, -0.14446836709976196, -0.08209999650716782, -0.1975337564945221, -0.026945440098643303, 0.015715129673480988]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32800009846687317, -0.14446836709976196, -0.08209999650716782, -0.1975337564945221, -0.026945440098643303, 0.015715129673480988]",,,,0.0,,,,,0.0
3365,112.16666412353516,0,3365,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32800002 -0.14722765 -0.0821     -0.19734675 -0.02521511]', 'velocities': '[-5.55111512e-16 -4.52389343e-07 -2.45530539e-02  0.00000000e+00\n -9.35016514e-04  2.96978523e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3366,112.19999694824219,0,3366,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012389009818434715]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012389009818434715]",,,,0.0,,,,,0.0
3367,112.23332977294922,0,3367,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 634157533}, 'frame_id': 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'nanosec': 704054104}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 704054104}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3376,112.53333282470703,0,3376,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558823, 'nanosec': 706527213}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
3377,112.56666564941406,0,3377,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.327976793050766, -0.14613200724124908, -0.08212298154830933, -0.19741195440292358, -0.02667945995926857, 0.03178631141781807]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.327976793050766, -0.14613200724124908, -0.08212298154830933, -0.19741195440292358, -0.02667945995926857, 0.03178631141781807]",,,,0.0,,,,,0.0
3378,112.5999984741211,0,3378,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558824, 'nanosec': 924365384}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
3379,112.63333129882812,0,3379,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3277053236961365, -0.1464604288339615, -0.08212593197822571, -0.1976964771747589, -0.02662483975291252, 0.027333449572324753]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3277053236961365, -0.1464604288339615, -0.08212593197822571, -0.1976964771747589, -0.02662483975291252, 0.027333449572324753]",,,,0.0,,,,,0.0
3380,112.66666412353516,0,3380,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558825, 'nanosec': 944119536}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
3381,112.69999694824219,0,3381,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3272877633571625, -0.14690479636192322, -0.08211717754602432, -0.198082834482193, -0.026550110429525375, 0.023139510303735733]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3272877633571625, -0.14690479636192322, -0.08211717754602432, -0.198082834482193, -0.026550110429525375, 0.023139510303735733]",,,,0.0,,,,,0.0
3382,112.73332977294922,0,3382,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32684046030044556, -0.14737117290496826, -0.08210568875074387, -0.19848856329917908, -0.026471540331840515, 0.01928001083433628]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32684046030044556, -0.14737117290496826, -0.08210568875074387, -0.19848856329917908, -0.026471540331840515, 0.01928001083433628]",,,,0.0,,,,,0.0
3383,112.76667022705078,0,3383,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558823, 'nanosec': 834867375}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
3384,112.80000305175781,0,3384,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32646602392196655, -0.14777950942516327, -0.08209999650716782, -0.1988433301448822, -0.026403019204735756, 0.015699079260230064]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32646602392196655, -0.14777950942516327, -0.08209999650716782, -0.1988433301448822, -0.026403019204735756, 0.015699079260230064]",,,,0.0,,,,,0.0
3385,112.83333587646484,0,3385,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.3276932  -0.1463559  -0.0821     -0.19760867 -0.02817459]', 'velocities': '[-5.55111512e-16  6.13590506e-03 -7.11804531e-03  0.00000000e+00\n -6.17332381e-03 -2.94917017e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3386,112.86666870117188,0,3386,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.1460307091474533, -0.0821230337023735, -0.19732411205768585, -0.026806659996509552, 0.03176524117588997]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32806432247161865, -0.1460307091474533, -0.0821230337023735, -0.19732411205768585, -0.026806659996509552, 0.03176524117588997]",,,,0.0,,,,,0.0
3387,112.9000015258789,0,3387,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558833, 'nanosec': 774111587}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558833, 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3724,124.13333129882812,0,3724,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32802170515060425, -0.14633092284202576, -0.08210579305887222, -0.197575181722641, -0.026700159534811974, 0.019309550523757935]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32802170515060425, -0.14633092284202576, -0.08210579305887222, -0.197575181722641, -0.026700159534811974, 0.019309550523757935]",,,,0.0,,,,,0.0
3725,124.16666412353516,0,3725,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558826, 'nanosec': 765116550}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
3726,124.19999694824219,0,3726,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558826, 'nanosec': 765159145}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
3727,124.23332977294922,0,3727,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14636816084384918, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.015702949836850166]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14636816084384918, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.015702949836850166]",,,,0.0,,,,,0.0
3728,124.26667022705078,0,3728,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558836, 'nanosec': 644030604}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3729,124.30000305175781,0,3729,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14636816084384918, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.012360700406134129]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.14636816084384918, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.012360700406134129]",,,,0.0,,,,,0.0
3730,124.33333587646484,0,3730,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14636816 -0.0821     -0.1976068  -0.0267    ]', 'velocities': '[0. 0. 0. 0. 0. 0.]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3731,124.36666870117188,0,3731,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32808640599250793, -0.14604344964027405, -0.0821230486035347, -0.19733385741710663, -0.026700640097260475, 0.031760718673467636]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32808640599250793, -0.14604344964027405, -0.0821230486035347, -0.19733385741710663, -0.026700640097260475, 0.031760718673467636]",,,,0.0,,,,,0.0
3732,124.4000015258789,0,3732,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809725403785706, -0.14613501727581024, -0.08212593197822571, -0.19740986824035645, -0.026700720191001892, 0.027339229360222816]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809725403785706, -0.14613501727581024, -0.08212593197822571, -0.19740986824035645, -0.026700720191001892, 0.027339229360222816]",,,,0.0,,,,,0.0
3733,124.43333435058594,0,3733,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280649483203888, -0.14624202251434326, -0.08211731910705566, -0.19749991595745087, -0.02670047990977764, 0.02319248951971531]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280649483203888, -0.14624202251434326, -0.08211731910705566, -0.19749991595745087, -0.02670047990977764, 0.02319248951971531]",,,,0.0,,,,,0.0
3734,124.46666717529297,0,3734,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280215561389923, -0.14633120596408844, -0.08210574835538864, -0.1975754201412201, -0.026700159534811974, 0.019308870658278465]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3280215561389923, -0.14633120596408844, -0.08210574835538864, -0.1975754201412201, -0.026700159534811974, 0.019308870658278465]",,,,0.0,,,,,0.0
3735,124.5,0,3735,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.146368145942688, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.01573128066956997]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.146368145942688, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.01573128066956997]",,,,0.0,,,,,0.0
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3860,128.6666717529297,0,3860,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32944145798683167, -0.14600124955177307, -0.0821056216955185, -0.19753719866275787, -0.026700159534811974, 0.019249700009822845]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32944145798683167, -0.14600124955177307, -0.0821056216955185, -0.19753719866275787, -0.026700159534811974, 0.019249700009822845]",,,,0.0,,,,,0.0
3861,128.6999969482422,0,3861,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3298407793045044, -0.1459999978542328, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.015694279223680496]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.3298407793045044, -0.1459999978542328, -0.08209999650716782, -0.19760680198669434, -0.02669999934732914, 0.015694279223680496]",,,,0.0,,,,,0.0
3862,128.73333740234375,0,3862,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32683417 -0.146      -0.0821     -0.19582738 -0.0267    ]', 'velocities': '[-5.55111512e-16  2.33165080e-02  0.00000000e+00  0.00000000e+00\n  2.94524311e-02  0.00000000e+00]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3863,128.76666259765625,0,3863,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012359930202364922]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012359930202364922]",,,,0.0,,,,,0.0
3864,128.8000030517578,0,3864,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32800203561782837, -0.14600512385368347, -0.08212307840585709, -0.1971951723098755, -0.026700640097260475, 0.0364999994635582]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32800203561782837, -0.14600512385368347, -0.08212307840585709, -0.1971951723098755, -0.026700640097260475, 0.0364999994635582]",,,,0.0,,,,,0.0
3865,128.8333282470703,0,3865,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558827, 'nanosec': 795746116}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
3866,128.86666870117188,0,3866,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32779744267463684, -0.1460057646036148, -0.08212590217590332, -0.1969236135482788, -0.026700720191001892, 0.031758878380060196]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32779744267463684, -0.1460057646036148, -0.08212590217590332, -0.1969236135482788, -0.026700720191001892, 0.031758878380060196]",,,,0.0,,,,,0.0
3867,128.89999389648438,0,3867,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558827, 'nanosec': 919919350}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
3868,128.93333435058594,0,3868,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3274751901626587, -0.1460038274526596, -0.08211720734834671, -0.19655698537826538, -0.02670047990977764, 0.027318039909005165]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3274751901626587, -0.1460038274526596, -0.08211720734834671, -0.19655698537826538, -0.02670047990977764, 0.027318039909005165]",,,,0.0,,,,,0.0
3869,128.96665954589844,0,3869,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558827, 'nanosec': 919970366}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
3870,129.0,0,3870,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3271218240261078, -0.14600124955177307, -0.08210562914609909, -0.1961645483970642, -0.026700159534811974, 0.02314399927854538]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.3271218240261078, -0.14600124955177307, -0.08210562914609909, -0.1961645483970642, -0.026700159534811974, 0.02314399927854538]",,,,0.0,,,,,0.0
3871,129.03334045410156,0,3871,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32683417201042175, -0.1459999978542328, -0.08209999650716782, -0.19582737982273102, -0.02669999934732914, 0.019331440329551697]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32683417201042175, -0.1459999978542328, -0.08209999650716782, -0.19582737982273102, -0.02669999934732914, 0.019331440329551697]",,,,0.0,,,,,0.0
3872,129.06666564941406,0,3872,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558837, 'nanosec': 834075637}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3873,129.10000610351562,0,3873,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32683417201042175, -0.1459999978542328, -0.08209999650716782, -0.19582737982273102, -0.02669999934732914, 0.015751659870147705]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32683417201042175, -0.1459999978542328, -0.08209999650716782, -0.19582737982273102, -0.02669999934732914, 0.015751659870147705]",,,,0.0,,,,,0.0
3874,129.13333129882812,0,3874,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32776683 -0.146      -0.0821     -0.19853946 -0.02823398]', 'velocities': '[-5.55111512e-16  4.66330160e-03  0.00000000e+00  0.00000000e+00\n -2.47891295e-02 -3.06796158e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
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3936,131.1999969482422,0,3936,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32817456126213074, -0.14600427448749542, -0.0821230337023735, -0.1973283439874649, -0.02659475989639759, 0.03176598995923996]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32817456126213074, -0.14600427448749542, -0.0821230337023735, -0.1973283439874649, -0.02659475989639759, 0.03176598995923996]",,,,0.0,,,,,0.0
3937,131.23333740234375,0,3937,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9996875162757026, 'y': -0.024997395914712332, 'z': 1.530649044698579e-18, 'w': 6.121320584773033e-17}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7071067812590626, 'y': 8.659560562354933e-17, 'z': 8.880526795522719e-27, 'w': 0.7071067811140325}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_upper_arm_link'}, 'child_frame_id': 'arm2_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07293518110673815, 'w': 0.9973366830498753}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558838, 'nanosec': 394045344}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
3938,131.26666259765625,0,3938,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3284110724925995, -0.14600273966789246, -0.08212591707706451, -0.1973961740732193, -0.026323940604925156, 0.027324069291353226]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3284110724925995, -0.14600273966789246, -0.08212591707706451, -0.1973961740732193, -0.026323940604925156, 0.027324069291353226]",,,,0.0,,,,,0.0
3939,131.3000030517578,0,3939,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32868245244026184, -0.14599791169166565, -0.08211731165647507, -0.19748641550540924, -0.025959130376577377, 0.023176539689302444]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.32868245244026184, -0.14599791169166565, -0.08211731165647507, -0.19748641550540924, -0.025959130376577377, 0.023176539689302444]",,,,0.0,,,,,0.0
3940,131.3333282470703,0,3940,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32896336913108826, -0.1459922343492508, -0.08210577815771103, -0.19758257269859314, -0.025569630786776543, 0.019298329949378967]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32896336913108826, -0.1459922343492508, -0.08210577815771103, -0.19758257269859314, -0.025569630786776543, 0.019298329949378967]",,,,0.0,,,,,0.0
3941,131.36666870117188,0,3941,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.329226553440094, -0.14598819613456726, -0.08209999650716782, -0.1976674199104309, -0.025227490812540054, 0.01569356955587864]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.329226553440094, -0.14598819613456726, -0.08209999650716782, -0.1976674199104309, -0.025227490812540054, 0.01569356955587864]",,,,0.0,,,,,0.0
3942,131.39999389648438,0,3942,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32922711968421936, -0.14598819613456726, -0.08209999650716782, -0.19766758382320404, -0.025226809084415436, 0.012346919625997543]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32922711968421936, -0.14598819613456726, -0.08209999650716782, -0.19766758382320404, -0.025226809084415436, 0.012346919625997543]",,,,0.0,,,,,0.0
3943,131.43333435058594,0,3943,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32824542 -0.14753162 -0.0821     -0.19583954 -0.02640536]', 'velocities': '[-5.55111512e-16 -4.90842197e-03 -3.06324133e-02  0.00000000e+00\n  2.92092592e-02  5.89274817e-03]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
3944,131.46665954589844,0,3944,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558828, 'nanosec': 568887567}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
3945,131.5,0,3945,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558828, 'nanosec': 964103498}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
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4016,133.86666870117188,0,4016,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1448194533586502, -0.08209999650716782, -0.19753611087799072, -0.02669999934732914, 0.012343260459601879]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1448194533586502, -0.08209999650716782, -0.19753611087799072, -0.02669999934732914, 0.012343260459601879]",,,,0.0,,,,,0.0
4017,133.89999389648438,0,4017,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14422991 -0.0821     -0.19581324 -0.02823398]', 'velocities': '[-5.55111512e-16 -1.11022302e-15  3.54018222e-02  0.00000000e+00\n  2.97351745e-02 -3.06796158e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
4018,133.93333435058594,0,4018,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.3280865252017975, -0.1458769142627716, -0.08212307840585709, -0.19719423353672028, -0.0268117506057024, 0.03174823150038719]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.3280865252017975, -0.1458769142627716, -0.08212307840585709, -0.19719423353672028, -0.0268117506057024, 0.03174823150038719]",,,,0.0,,,,,0.0
4019,133.96665954589844,0,4019,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809707522392273, -0.14554984867572784, -0.08212588727474213, -0.19691923260688782, -0.02709580957889557, 0.027293410152196884]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.32809707522392273, -0.14554984867572784, -0.08212588727474213, -0.19691923260688782, -0.02709580957889557, 0.027293410152196884]",,,,0.0,,,,,0.0
4020,134.0,0,4020,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280646800994873, -0.1451103240251541, -0.08211725205183029, -0.19655096530914307, -0.027474800124764442, 0.023161519318819046]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3280646800994873, -0.1451103240251541, -0.08211725205183029, -0.19655096530914307, -0.027474800124764442, 0.023161519318819046]",,,,0.0,,,,,0.0
4021,134.03334045410156,0,4021,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558829, 'nanosec': 207252835}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
4022,134.06666564941406,0,4022,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32802140712738037, -0.14463959634304047, -0.08210571110248566, -0.19615675508975983, -0.027880199253559113, 0.01928591914474964]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.32802140712738037, -0.14463959634304047, -0.08210571110248566, -0.19615675508975983, -0.027880199253559113, 0.01928591914474964]",,,,0.0,,,,,0.0
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94059183}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558839, 'nanosec': 94059183}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558839, 'nanosec': 94059183}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558839, 'nanosec': 94059183}, 'frame_id': 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{'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
4024,134.13333129882812,0,4024,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558831, 'nanosec': 974100275}",30.0,arm1_controller,Subscription to deprecated ~/state topic. Use ~/controller_state instead.,./src/joint_trajectory_controller.cpp,publish_state,1166.0
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4027,134.23333740234375,0,4027,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.328      -0.14717996 -0.0821     -0.19853663 -0.02854078]', 'velocities': '[-5.55111512e-16 -1.11022302e-15 -2.35992513e-02  0.00000000e+00\n -2.47325809e-02 -3.68155389e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
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4034,134.46665954589844,0,4034,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32646602 -0.14776997 -0.0821     -0.19754733 -0.02553417]', 'velocities': '[-5.55111512e-16  3.06796158e-02 -3.53994660e-02  0.00000000e+00\n -4.94651617e-03  2.33165080e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
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'frame_id': 'arm2_base_link_inertia'}, 'child_frame_id': 'arm2_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.07737259255031595, 'w': 0.9970022477016002}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 704053082}, 'frame_id': 'arm2_forearm_link'}, 'child_frame_id': 'arm2_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.04103847206172658, 'w': 0.9991575670587893}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 704053082}, 'frame_id': 'arm2_wrist_1_link'}, 'child_frame_id': 'arm2_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7036688518842467, 'y': 0.06964299670790913, 'z': -0.0696429966936251, 'w': 0.7036688517399218}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 704053082}, 'frame_id': 'arm2_wrist_2_link'}, 'child_frame_id': 'arm2_wrist_3_link', 'transform': {'translation': {'x': 0.0, 'y': 0.11655, 'z': -2.390480459346185e-11}, 'rotation': {'x': -0.7070437710257296, 'y': -0.0094395951326043, 'z': -0.00943959513066829, 'w': 0.7070437708807124}}}]",,,0.0,,,,,0.0
4214,140.46665954589844,0,4214,0,0.0,"{'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'arm2_base_link'}","['arm2_shoulder_pan_joint', 'arm2_shoulder_lift_joint', 'arm2_elbow_joint', 'arm2_wrist_1_joint', 'arm2_wrist_2_joint', 'arm2_wrist_3_joint']","[{'positions': '[-0.1549     -0.32615922 -0.1457526  -0.0821     -0.19734908 -0.02792532]', 'velocities': '[-5.55111512e-16  3.68155389e-02  4.94792989e-03  0.00000000e+00\n -9.81669164e-04 -2.45063862e-02]', 'accelerations': '[]', 'effort': '[]', 'time_from_start': {'sec': 0, 'nanosec': 50000000}}]",0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,,0.0,,,,,0.0
4215,140.5,0,4215,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012374499812722206]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.328000009059906, -0.1459999978542328, -0.08209999650716782, -0.1973000019788742, -0.02669999934732914, 0.012374499812722206]",,,,0.0,,,,,0.0
4216,140.53334045410156,0,4216,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32795238494873047, -0.14598709344863892, -0.08212312310934067, -0.19730551540851593, -0.02679005078971386, 0.0364999994635582]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548987179994583, -0.32795238494873047, -0.14598709344863892, -0.08212312310934067, -0.19730551540851593, -0.02679005078971386, 0.0364999994635582]",,,,0.0,,,,,0.0
4217,140.56666564941406,0,4217,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3276252746582031, -0.1459423303604126, -0.08212590962648392, -0.19731473922729492, -0.027014849707484245, 0.03178875148296356]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489855408668518, -0.3276252746582031, -0.1459423303604126, -0.08212590962648392, -0.19731473922729492, -0.027014849707484245, 0.03178875148296356]",,,,0.0,,,,,0.0
4218,140.60000610351562,0,4218,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3271383047103882, -0.14587931334972382, -0.08211731165647507, -0.1973261535167694, -0.027317270636558533, 0.027367720380425453]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489904582500458, -0.3271383047103882, -0.14587931334972382, -0.08211731165647507, -0.1973261535167694, -0.027317270636558533, 0.027367720380425453]",,,,0.0,,,,,0.0
4219,140.63333129882812,0,4219,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.326608270406723, -0.14581133425235748, -0.08210577070713043, -0.19733816385269165, -0.027640970423817635, 0.023213060572743416]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.1548996865749359, -0.326608270406723, -0.14581133425235748, -0.08210577070713043, -0.19733816385269165, -0.027640970423817635, 0.023213060572743416]",,,,0.0,,,,,0.0
4220,140.6666717529297,0,4220,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558830, 'nanosec': 761301980}",20.0,gripper2_controller,Accepted new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1242.0
4221,140.6999969482422,0,4221,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",,,"{'sec': 1758558830, 'nanosec': 762594775}",20.0,gripper2_controller,Received new action goal,./src/joint_trajectory_controller.cpp,goal_received_callback,1227.0
4222,140.73333740234375,0,4222,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32616034150123596, -0.14575275778770447, -0.08209999650716782, -0.19734905660152435, -0.027924569323658943, 0.019356749951839447]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32616034150123596, -0.14575275778770447, -0.08209999650716782, -0.19734905660152435, -0.027924569323658943, 0.019356749951839447]",,,,0.0,,,,,0.0
4223,140.76666259765625,0,4223,0,0.0,,,,0.0,"[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32615920901298523, -0.14575259387493134, -0.08209999650716782, -0.19734908640384674, -0.027925319969654083, 0.015759119763970375]","[-0.011300000362098217, -0.025499999523162842, 0.05260000005364418, -0.001500000013038516, 0.04729999974370003, 0.0, 0.05000000074505806, -0.15489999949932098, -0.32615920901298523, -0.14575259387493134, -0.08209999650716782, -0.19734908640384674, -0.027925319969654083, 0.015759119763970375]",,,,0.0,,,,,0.0
4224,140.8000030517578,0,4224,0,0.0,,,,0.0,"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]","[{'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_upper_arm_link'}, 'child_frame_id': 'arm1_forearm_link', 'transform': {'translation': {'x': -0.4784, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.026296968197021955, 'w': 0.9996541749343344}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_robotiq_85_left_inner_knuckle_link'}, 'child_frame_id': 'arm1_robotiq_85_left_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_left_inner_knuckle_link', 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'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_robotiq_85_base_link'}, 'child_frame_id': 'arm1_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.024997395914712332, 'w': 0.9996875162757025}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_shoulder_link'}, 'child_frame_id': 'arm1_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.7070493075145943, 'y': 0.009015367196315446, 'z': -0.009015367194466361, 'w': 0.707049307369576}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_base_link_inertia'}, 'child_frame_id': 'arm1_shoulder_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.1807}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0056499699396938136, 'w': 0.9999840387924601}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_forearm_link'}, 'child_frame_id': 'arm1_wrist_1_link', 'transform': {'translation': {'x': -0.36, 'y': 0.0, 'z': 0.17415}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0007499999296875019, 'w': 0.9999997187500131}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_wrist_1_link'}, 'child_frame_id': 'arm1_wrist_2_link', 'transform': {'translation': {'x': 0.0, 'y': -0.11985, 'z': -2.458164590756244e-11}, 'rotation': {'x': 0.7069090401097462, 'y': -0.016721516488318967, 'z': 0.01672151648488933, 'w': 0.7069090399647565}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm1_wrist_2_link'}, 'child_frame_id': 'arm1_wrist_3_link', 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'arm2_robotiq_85_left_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': 0.0127, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_left_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': 0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.9998334733720582, 'y': -0.0182489869517664, 'z': 1.1174281729081266e-18, 'w': 6.122214314227358e-17}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm2_robotiq_85_right_inner_knuckle_link'}, 'child_frame_id': 'arm2_robotiq_85_right_finger_tip_link', 'transform': {'translation': {'x': 0.04303959807, 'y': -0.03759940821, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': -0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_inner_knuckle_link', 'transform': {'translation': {'x': 0.06142, 'y': -0.0127, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm2_robotiq_85_base_link'}, 'child_frame_id': 'arm2_robotiq_85_right_knuckle_link', 'transform': {'translation': {'x': 0.05490451627, 'y': -0.03060114443, 'z': 0.0}, 'rotation': {'x': 0.0, 'y': 0.0, 'z': 0.0182489869517664, 'w': 0.9998334733720582}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 'frame_id': 'arm2_shoulder_link'}, 'child_frame_id': 'arm2_upper_arm_link', 'transform': {'translation': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'rotation': {'x': 0.6976189033900128, 'y': 0.11544637601704018, 'z': -0.11544637599336173, 'w': 0.6976189032469287}}}, {'header': {'stamp': {'sec': 1758558840, 'nanosec': 774023194}, 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