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# box1.pos: [-0.500000 0.000000 0.000000]
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# box1->quat: [0.000000 0.000000 0.382683 0.923880]
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# box2->pos: [0.000000 0.000000 0.000000]
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# box2->quat: [0.000000 0.000000 0.000000 1.000000]
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# sep: [0.707107 0.000000 0.000000]
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# box1.pos: [-0.500000 0.100000 0.400000]
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# box1->quat: [0.000000 0.270598 0.270598 0.923880]
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# box2->pos: [0.000000 0.000000 0.000000]
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# box2->quat: [0.000000 0.000000 0.000000 1.000000]
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# sep: [0.633939 0.000000 -0.371353]
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# Pen 1: depth: 0.650000
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# Pen 1: dir: [1.000000 0.000000 0.000000]
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# Pen 1: pos: [0.096875 0.000000 0.000000]
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# Pen 2: depth: 0.250000
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# Pen 2: dir: [-0.000000 0.000000 -1.000000]
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# Pen 2: pos: [-0.058333 0.250000 0.583333]
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# Pen 3: depth: 0.900000
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# Pen 3: dir: [0.000000 0.000000 -1.000000]
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# Pen 3: pos: [0.111506 0.000000 0.050000]
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# Pen 4: depth: 0.607107
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# Pen 4: dir: [1.000000 0.000000 0.000000]
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# Pen 4: pos: [-0.153585 0.000000 0.000000]
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# Pen 5: depth: 0.429289
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# Pen 5: dir: [0.707107 -0.707107 0.000000]
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# Pen 5: pos: [-0.167157 0.379289 0.000000]
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# Pen 6: depth: 0.648412
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# Pen 6: dir: [0.862856 0.000000 -0.505449]
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# Pen 6: pos: [-0.148223 0.055362 0.319638]
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# Pen 7: depth: 0.622622
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# Pen 7: dir: [1.000000 0.000000 -0.000000]
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# Pen 7: pos: [-0.095997 0.063593 0.067678]
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# Pen 8: depth: 0.053553
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# Pen 8: dir: [1.000000 0.000000 0.000000]
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# Pen 8: pos: [-0.523223 -0.073223 0.020711]