diff --git a/StorageFurniture/45168/hoi_trajectories/handle_2/trajectory.json b/StorageFurniture/45168/hoi_trajectories/handle_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a548289dec6e8c7f8bebcbe0160ab87275fc4071
--- /dev/null
+++ b/StorageFurniture/45168/hoi_trajectories/handle_2/trajectory.json
@@ -0,0 +1,20522 @@
+[
+ {
+ "phase": "approach",
+ "step": 0,
+ "virtual_xyz": [
+ 0.02177583798766136,
+ 0.0022973783779889345,
+ 0.8425032496452332
+ ],
+ "wrist_rpy": [
+ 0.0017995510715991259,
+ -0.014864337630569935,
+ 1.5714575052261353
+ ],
+ "finger_dofs": [
+ -0.007223006337881088,
+ 0.0018138893647119403,
+ 0.0006538715679198503,
+ 0.02496347576379776,
+ -0.0018696733750402927,
+ 0.0008988359477370977,
+ 0.00028333551017567515,
+ -0.0008372432785108685,
+ 3.0814849196758587e-06,
+ -0.0004287462797947228,
+ 0.0018019137205556035,
+ -0.0009119637543335557,
+ 0.023347023874521255,
+ 0.000695817987434566,
+ -0.0008060988038778305,
+ 0.008632060140371323,
+ -0.0011326567037031054,
+ 8.444624108960852e-05,
+ 0.031195467337965965,
+ 0.001987169962376356,
+ -0.03296656161546707,
+ 0.2026842087507248,
+ -0.0010954258032143116,
+ -0.0018796047661453485,
+ 0.09615767747163773,
+ -0.0016691522905603051,
+ -2.5543093215674162e-05,
+ 0.005120975896716118,
+ 0.00202396628446877,
+ -0.0034794446546584368,
+ 0.040123045444488525,
+ 0.001827131723985076,
+ -0.001751980627886951,
+ 0.021254824474453926,
+ -0.0014602186856791377,
+ 0.0015786094591021538,
+ 0.024685513228178024,
+ -0.009059300646185875,
+ 0.016000613570213318,
+ -0.0033601843751966953,
+ -0.002269525546580553,
+ 0.010794754140079021,
+ -0.002296171151101589,
+ -0.0017921741819009185,
+ 0.0032043473329395056
+ ],
+ "wrist_pos": [
+ 0.02177596464753151,
+ 0.0022973776794970036,
+ 0.8425031900405884
+ ],
+ "wrist_rot": [
+ -0.004620896652340889,
+ -0.005889971740543842,
+ 0.7073158621788025,
+ 0.7068579792976379
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5327831226485955e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 1,
+ "virtual_xyz": [
+ 0.022083239629864693,
+ 0.0022489994298666716,
+ 0.8397276401519775
+ ],
+ "wrist_rpy": [
+ 0.0006804515141993761,
+ -0.006108690518885851,
+ 1.5710651874542236
+ ],
+ "finger_dofs": [
+ 0.00041752480319701135,
+ 1.8487455236027017e-05,
+ 0.00020050500461366028,
+ 0.009156242944300175,
+ 9.192018478643149e-05,
+ 0.0002829840232152492,
+ 0.00033179696765728295,
+ -0.0002116695250151679,
+ 7.785102980051306e-07,
+ 0.0019586749840527773,
+ 9.119386231759563e-05,
+ -0.0002243633207399398,
+ 0.009863723069429398,
+ 0.00024309067521244287,
+ -0.0001924288080772385,
+ 0.002469077706336975,
+ -0.0002739408810157329,
+ 1.9381699530640617e-05,
+ 0.020686019212007523,
+ -0.0017876946367323399,
+ -0.007994159124791622,
+ 0.06506999582052231,
+ -0.0017022237880155444,
+ 0.00040880643064156175,
+ 0.02712384983897209,
+ -0.00037363352021202445,
+ 3.523379564285278e-05,
+ 0.004260982386767864,
+ -0.001367257907986641,
+ -0.0007842371705919504,
+ 0.015241100452840328,
+ 1.3791255696560256e-05,
+ -0.000319987564580515,
+ 0.0061765811406075954,
+ -0.0003302876721136272,
+ 0.0003400734858587384,
+ 0.014599187299609184,
+ -0.0009609806002117693,
+ 0.0036393136251717806,
+ 0.0020055307541042566,
+ 0.0018216174794360995,
+ 0.0027430811896920204,
+ 0.00182671332731843,
+ -0.00015506982163060457,
+ 0.00031483033671975136
+ ],
+ "wrist_pos": [
+ 0.02208336442708969,
+ 0.0022489987313747406,
+ 0.8397275805473328
+ ],
+ "wrist_rot": [
+ -0.0019195188069716096,
+ -0.002399957273155451,
+ 0.7071974873542786,
+ 0.7070092558860779
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5332294323044948e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 2,
+ "virtual_xyz": [
+ 0.022620951756834984,
+ 0.0022480932530015707,
+ 0.8396811485290527
+ ],
+ "wrist_rpy": [
+ 0.00027144639170728624,
+ -0.0026118154637515545,
+ 1.5709069967269897
+ ],
+ "finger_dofs": [
+ 0.001711249235086143,
+ -6.088347072363831e-05,
+ 4.2828109144466e-05,
+ 0.0036322784144431353,
+ 0.00010673033830244094,
+ 4.623606946552172e-05,
+ 0.0005522038554772735,
+ -4.8253081331495196e-05,
+ 2.0026526215133345e-07,
+ 0.0020523271523416042,
+ -2.2945321688894182e-05,
+ -3.612787259044126e-05,
+ 0.00392063707113266,
+ 5.337955371942371e-05,
+ -3.8255693652899936e-05,
+ 0.0011006590211763978,
+ -7.125855336198583e-05,
+ 6.653406217083102e-06,
+ 0.0049925451166927814,
+ -0.0006694659823551774,
+ -0.0016386037459596992,
+ 0.01639855094254017,
+ -0.0003589736588764936,
+ 0.0005110192578285933,
+ 0.007058922201395035,
+ -8.512946806149557e-05,
+ 1.6925980162341148e-05,
+ 0.002661454724147916,
+ -0.00048016331857070327,
+ -0.00013879766629543155,
+ 0.005240946542471647,
+ -3.1634899642085657e-05,
+ -1.0185055543843191e-05,
+ 0.0020964080467820168,
+ -7.913004810689017e-05,
+ 8.20713394205086e-05,
+ 0.005359658971428871,
+ 0.001679913024418056,
+ -0.00016043180949054658,
+ 0.0006919506122358143,
+ 0.0010450786212459207,
+ -0.00019186787540093064,
+ 0.0006248297868296504,
+ 0.00010809949162648991,
+ -0.000846459181047976
+ ],
+ "wrist_pos": [
+ 0.022621076554059982,
+ 0.0022480925545096397,
+ 0.839681088924408
+ ],
+ "wrist_rot": [
+ -0.0008275300497189164,
+ -0.0010192577028647065,
+ 0.7071449756622314,
+ 0.7070671916007996
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5333474490120125e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 3,
+ "virtual_xyz": [
+ 0.023365598171949387,
+ 0.002248209435492754,
+ 0.8396823406219482
+ ],
+ "wrist_rpy": [
+ 0.0001169261013274081,
+ -0.0011371946893632412,
+ 1.5708401203155518
+ ],
+ "finger_dofs": [
+ 0.002895497949793935,
+ -3.6548441130435094e-05,
+ 5.071996383776423e-06,
+ 0.0026224548928439617,
+ 4.84484808112029e-05,
+ -1.6033995052566752e-05,
+ 0.0009497754508629441,
+ -7.017799362074584e-06,
+ 5.193505003830978e-08,
+ 0.0029669292271137238,
+ -1.574298948980868e-05,
+ 2.043146923824679e-05,
+ 0.002715161070227623,
+ -9.493505785940215e-06,
+ 7.773877769068349e-06,
+ 0.0010864989599213004,
+ -2.1255025785649195e-05,
+ 3.5992652556160465e-06,
+ 0.0017356752650812268,
+ -0.00018854286463465542,
+ -0.0001421298220520839,
+ 0.004343405831605196,
+ 1.9742263248190284e-05,
+ 0.00036521899164654315,
+ 0.0022174816112965345,
+ -1.7977212337427773e-05,
+ 6.73149270369322e-06,
+ 0.003098884131759405,
+ -0.00011575612734304741,
+ 2.590728945506271e-05,
+ 0.002965741790831089,
+ -9.117386071011424e-06,
+ 5.9373203839641064e-05,
+ 0.0013417586451396346,
+ -1.8048076526611112e-05,
+ 2.064924410660751e-05,
+ 0.0023225394543260336,
+ 0.0036815903149545193,
+ -0.001832854119129479,
+ -0.0001451462449040264,
+ 0.00047623770660720766,
+ -0.0014939464163035154,
+ 5.257921293377876e-05,
+ 0.00014006783021613955,
+ -0.0018317622598260641
+ ],
+ "wrist_pos": [
+ 0.023365724831819534,
+ 0.002248208737000823,
+ 0.8396822810173035
+ ],
+ "wrist_rot": [
+ -0.00036059782723896205,
+ -0.00044330148375593126,
+ 0.7071218490600586,
+ 0.7070913314819336
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533378313212097e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 4,
+ "virtual_xyz": [
+ 0.02430976741015911,
+ 0.002248276025056839,
+ 0.839682936668396
+ ],
+ "wrist_rpy": [
+ 5.0135986384702846e-05,
+ -0.0004929832648485899,
+ 1.57081139087677
+ ],
+ "finger_dofs": [
+ 0.004491832572966814,
+ -2.5543889933032915e-05,
+ -2.936718146884232e-06,
+ 0.0032031547743827105,
+ 2.530573146941606e-05,
+ -3.4506832889746875e-05,
+ 0.001491469913162291,
+ 4.070698196301237e-06,
+ 1.346220201980941e-08,
+ 0.004505997523665428,
+ -1.0484788617759477e-05,
+ 4.434556467458606e-05,
+ 0.003248614491894841,
+ -3.3484007872175425e-05,
+ 2.7750875233323313e-05,
+ 0.0015205652453005314,
+ -9.500039595877752e-06,
+ 3.0809660529484972e-06,
+ 0.00397375226020813,
+ -0.00022403917682822794,
+ 0.00026539649115875363,
+ 0.0034908405505120754,
+ -0.00011718562745954841,
+ 0.00032746593933552504,
+ 0.0017942828126251698,
+ -7.15251871952205e-07,
+ 3.0122921543807024e-06,
+ 0.004547400400042534,
+ -3.0396622605621815e-05,
+ 8.747691026655957e-05,
+ 0.003308384446427226,
+ -1.0818757800734602e-05,
+ 9.890917863231152e-05,
+ 0.0015876463148742914,
+ -6.193930062181607e-07,
+ 2.89933564090461e-06,
+ 0.0023794665466994047,
+ 0.005977038759738207,
+ -0.003150909673422575,
+ -0.00013138381473254412,
+ 0.0003966132353525609,
+ -0.002485624048858881,
+ -1.4547636965289712e-05,
+ 0.00014871874009259045,
+ -0.002965235384181142
+ ],
+ "wrist_pos": [
+ 0.02430988848209381,
+ 0.002248275326564908,
+ 0.8396828770637512
+ ],
+ "wrist_rot": [
+ -0.00015654093294870108,
+ -0.00019185537530574948,
+ 0.7071119546890259,
+ 0.7071014642715454
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5333864178401768e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 5,
+ "virtual_xyz": [
+ 0.02544645592570305,
+ 0.0022483118809759617,
+ 0.8396834135055542
+ ],
+ "wrist_rpy": [
+ 2.0721578039228916e-05,
+ -0.00021445257880259305,
+ 1.570798635482788
+ ],
+ "finger_dofs": [
+ 0.006473638582974672,
+ -2.0931614926666953e-05,
+ -5.119114575791173e-06,
+ 0.004391828086227179,
+ 1.5377041563624516e-05,
+ -4.459906631382182e-05,
+ 0.0021601321641355753,
+ 7.816417564754374e-06,
+ 3.260854253284151e-09,
+ 0.006476569455116987,
+ -6.89187891111942e-06,
+ 5.9310081269359216e-05,
+ 0.004420517478138208,
+ -4.738137431559153e-05,
+ 3.949215169996023e-05,
+ 0.002160447183996439,
+ -7.590075711050304e-06,
+ 3.3452151910751127e-06,
+ 0.006275252439081669,
+ -0.00028191442834213376,
+ 0.00042749562999233603,
+ 0.004448768217116594,
+ -0.0001988566800719127,
+ 0.0003596147580537945,
+ 0.002253112616017461,
+ 4.073491709277732e-06,
+ 1.546293333376525e-06,
+ 0.006499030161648989,
+ -4.301457749988913e-07,
+ 0.00012042948947055265,
+ 0.004442153498530388,
+ -1.025509391183732e-05,
+ 0.00012731282913591713,
+ 0.0021770952735096216,
+ 4.526099019130925e-06,
+ -1.887781877485395e-06,
+ 0.0031888321973383427,
+ 0.0086984783411026,
+ -0.004580400418490171,
+ -0.00010792407556436956,
+ 0.0004314816615078598,
+ -0.0035745990462601185,
+ -2.436468275845982e-05,
+ 0.00016825967759359628,
+ -0.0043158032931387424
+ ],
+ "wrist_pos": [
+ 0.025446578860282898,
+ 0.0022483111824840307,
+ 0.8396833539009094
+ ],
+ "wrist_rot": [
+ -6.835226668044925e-05,
+ -8.301263733301312e-05,
+ 0.7071073055267334,
+ 0.7071061134338379
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5333885272639236e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 6,
+ "virtual_xyz": [
+ 0.026768658310174942,
+ 0.002248337958008051,
+ 0.8396835923194885
+ ],
+ "wrist_rpy": [
+ 7.600016942888033e-06,
+ -9.49506793403998e-05,
+ 1.570792555809021
+ ],
+ "finger_dofs": [
+ 0.008819999173283577,
+ -1.966903255379293e-05,
+ -6.2546710069000255e-06,
+ 0.0059193032793700695,
+ 1.119185981224291e-05,
+ -5.3056315664434806e-05,
+ 0.002947782166302204,
+ 9.765576578502078e-06,
+ 6.593424695111594e-10,
+ 0.008821164257824421,
+ -5.0767148422892205e-06,
+ 7.147387805161998e-05,
+ 0.005940631497651339,
+ -5.8030709624290466e-05,
+ 4.835495201405138e-05,
+ 0.002939655678346753,
+ -8.06001389719313e-06,
+ 3.830306468444178e-06,
+ 0.00859416276216507,
+ -0.00032684666803106666,
+ 0.0005295321461744606,
+ 0.005844308063387871,
+ -0.00023404648527503014,
+ 0.0004146042338106781,
+ 0.0029684603214263916,
+ 5.864055310667027e-06,
+ 9.58241685111716e-07,
+ 0.008839385583996773,
+ 1.38955174406874e-05,
+ 0.00014529253530781716,
+ 0.005951674655079842,
+ -8.306867130158935e-06,
+ 0.0001516729680588469,
+ 0.0029415511526167393,
+ 6.467263119702693e-06,
+ -3.192421672792989e-06,
+ 0.004285955335944891,
+ 0.011874089948832989,
+ -0.00621435372158885,
+ -0.0001237838005181402,
+ 0.0004915113095194101,
+ -0.004824358504265547,
+ -3.409181226743385e-05,
+ 0.00019369048823136836,
+ -0.005894660018384457
+ ],
+ "wrist_pos": [
+ 0.02676878497004509,
+ 0.00224833725951612,
+ 0.8396835327148438
+ ],
+ "wrist_rot": [
+ -3.0746625270694494e-05,
+ -3.613829176174477e-05,
+ 0.7071054577827454,
+ 0.7071080803871155
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 7,
+ "virtual_xyz": [
+ 0.02826939895749092,
+ 0.002248358214274049,
+ 0.8396840691566467
+ ],
+ "wrist_rpy": [
+ 1.6621218037471408e-06,
+ -4.412098860484548e-05,
+ 1.5707889795303345
+ ],
+ "finger_dofs": [
+ 0.011511299759149551,
+ -1.9824276023427956e-05,
+ -7.291623660421465e-06,
+ 0.007703268900513649,
+ 9.374829460284673e-06,
+ -6.113495328463614e-05,
+ 0.0038489424623548985,
+ 1.1253086995566264e-05,
+ 7.723707957929538e-12,
+ 0.01151258684694767,
+ -4.369483576738276e-06,
+ 8.247365622082725e-05,
+ 0.0077208345755934715,
+ -6.72781461616978e-05,
+ 5.597572817350738e-05,
+ 0.0038376478478312492,
+ -9.019337085192092e-06,
+ 4.369976068119286e-06,
+ 0.011212268844246864,
+ -0.0003724115958902985,
+ 0.0006139132892712951,
+ 0.007554885931313038,
+ -0.00026059223455376923,
+ 0.0004739552387036383,
+ 0.0038420530036091805,
+ 6.98825942890835e-06,
+ 7.028131676634075e-07,
+ 0.011529400944709778,
+ 2.245497853436973e-05,
+ 0.0001673885271884501,
+ 0.007727412506937981,
+ -5.946364581177477e-06,
+ 0.00017423952522221953,
+ 0.003834180533885956,
+ 7.673130312468857e-06,
+ -3.6936417018296197e-06,
+ 0.0055820937268435955,
+ 0.015499573200941086,
+ -0.008065013214945793,
+ -0.00014659974840469658,
+ 0.0005571662914007902,
+ -0.006237892434000969,
+ -4.278109554434195e-05,
+ 0.00022017468290869147,
+ -0.0076979417353868484
+ ],
+ "wrist_pos": [
+ 0.02826952189207077,
+ 0.002248357515782118,
+ 0.839684009552002
+ ],
+ "wrist_rot": [
+ -1.485697885073023e-05,
+ -1.6011399566195905e-05,
+ 0.7071042060852051,
+ 0.7071092128753662
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 8,
+ "virtual_xyz": [
+ 0.029941676184535027,
+ 0.002248377539217472,
+ 0.8396845459938049
+ ],
+ "wrist_rpy": [
+ -1.0072781151393428e-06,
+ -2.2795269615016878e-05,
+ 1.570786952972412
+ ],
+ "finger_dofs": [
+ 0.014531699940562248,
+ -2.0615854737116024e-05,
+ -8.342386536241975e-06,
+ 0.00971417035907507,
+ 8.614267244411167e-06,
+ -6.89676235197112e-05,
+ 0.004858904983848333,
+ 1.258352494915016e-05,
+ -1.1409059114120268e-10,
+ 0.014533230103552341,
+ -4.411881945998175e-06,
+ 9.282834798796102e-05,
+ 0.009729691781103611,
+ -7.572901085950434e-05,
+ 6.295730418059975e-05,
+ 0.004845768213272095,
+ -1.0000419024436269e-05,
+ 4.912269560009008e-06,
+ 0.014167480170726776,
+ -0.00041903762030415237,
+ 0.0006914596888236701,
+ 0.009521333500742912,
+ -0.00028523828950710595,
+ 0.0005325215752236545,
+ 0.0048394533805549145,
+ 8.01842543296516e-06,
+ 5.920920784774353e-07,
+ 0.014549223706126213,
+ 2.796190165099688e-05,
+ 0.00018817502132151276,
+ 0.009733322076499462,
+ -3.2595944503555074e-06,
+ 0.0001956549531314522,
+ 0.004839486908167601,
+ 8.768770385358948e-06,
+ -4.049039489473216e-06,
+ 0.007044616620987654,
+ 0.01956005021929741,
+ -0.010127227753400803,
+ -0.00017536361701786518,
+ 0.000651398382615298,
+ -0.00780872069299221,
+ -5.2775238145841286e-05,
+ 0.0002450978208798915,
+ -0.009718157351016998
+ ],
+ "wrist_pos": [
+ 0.029941797256469727,
+ 0.002248376840725541,
+ 0.8396844863891602
+ ],
+ "wrist_rot": [
+ -8.103898835543077e-06,
+ -7.669321348657832e-06,
+ 0.707103431224823,
+ 0.7071101069450378
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 9,
+ "virtual_xyz": [
+ 0.03177850693464279,
+ 0.002248395700007677,
+ 0.8396849036216736
+ ],
+ "wrist_rpy": [
+ -2.5143665425275685e-06,
+ -1.41359050758183e-05,
+ 1.5707858800888062
+ ],
+ "finger_dofs": [
+ 0.01786612719297409,
+ -2.143570782209281e-05,
+ -9.279588994104415e-06,
+ 0.011936348862946033,
+ 8.101676939986646e-06,
+ -7.644457218702883e-05,
+ 0.0059731691144406796,
+ 1.3798297004541382e-05,
+ -1.1392273929766716e-10,
+ 0.017867861315608025,
+ -4.878731488133781e-06,
+ 0.00010280431888531893,
+ 0.011950370855629444,
+ -8.374504977837205e-05,
+ 6.96930947015062e-05,
+ 0.005958549212664366,
+ -1.0926328286586795e-05,
+ 5.425089966593077e-06,
+ 0.017447033897042274,
+ -0.0005003929836675525,
+ 0.0007542796083725989,
+ 0.011714711785316467,
+ -0.0003031254163943231,
+ 0.0006331073818728328,
+ 0.005946687422692776,
+ 8.957917998486664e-06,
+ 5.111724021844566e-07,
+ 0.01788296364247799,
+ 3.185022796969861e-05,
+ 0.00020825944375246763,
+ 0.01195118110626936,
+ -1.3036276946820635e-08,
+ 0.00021594599820673466,
+ 0.005950148217380047,
+ 9.852094080997631e-06,
+ -4.341050498624099e-06,
+ 0.008673914708197117,
+ 0.02403959073126316,
+ -0.012395034544169903,
+ -0.0001914687018143013,
+ 0.0007821772596798837,
+ -0.009533179923892021,
+ -5.864752529305406e-05,
+ 0.0002691818808671087,
+ -0.011946800164878368
+ ],
+ "wrist_pos": [
+ 0.03177863731980324,
+ 0.002248395001515746,
+ 0.8396848440170288
+ ],
+ "wrist_rot": [
+ -5.5880527725094e-06,
+ -4.094142695976188e-06,
+ 0.7071030735969543,
+ 0.7071104645729065
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 10,
+ "virtual_xyz": [
+ 0.033772896975278854,
+ 0.0022484122309833765,
+ 0.8396852016448975
+ ],
+ "wrist_rpy": [
+ -3.5617497360362904e-06,
+ -1.1069387255702168e-05,
+ 1.5707842111587524
+ ],
+ "finger_dofs": [
+ 0.021500281989574432,
+ -2.2080361304688267e-05,
+ -1.0279116395395249e-05,
+ 0.014358364045619965,
+ 7.506670499424217e-06,
+ -8.375715697184205e-05,
+ 0.007187312003225088,
+ 1.4939661923563108e-05,
+ -2.2767844554127947e-10,
+ 0.021502166986465454,
+ -5.552399215957848e-06,
+ 0.00011230126256123185,
+ 0.014370598830282688,
+ -9.129022510023788e-05,
+ 7.599356467835605e-05,
+ 0.007171349134296179,
+ -1.1753519174817484e-05,
+ 5.922523541812552e-06,
+ 0.0210256390273571,
+ -0.0006121931946836412,
+ 0.0008198597352020442,
+ 0.014112919569015503,
+ -0.00031902792397886515,
+ 0.000752230582293123,
+ 0.0071544526144862175,
+ 1.0000097063311841e-05,
+ 4.354531029093778e-07,
+ 0.021515851840376854,
+ 3.507695873850025e-05,
+ 0.00022732721117790788,
+ 0.014367897994816303,
+ 4.079725840711035e-06,
+ 0.00023527673329226673,
+ 0.0071607837453484535,
+ 1.0953162927762605e-05,
+ -4.605427420756314e-06,
+ 0.01045266818255186,
+ 0.028918739408254623,
+ -0.01485974807292223,
+ -0.0002078373363474384,
+ 0.0009030975052155554,
+ -0.011405031196773052,
+ -6.656588811893016e-05,
+ 0.00029187180916778743,
+ -0.014375191181898117
+ ],
+ "wrist_pos": [
+ 0.033773019909858704,
+ 0.0022484115324914455,
+ 0.8396851420402527
+ ],
+ "wrist_rot": [
+ -4.925988378090551e-06,
+ -2.637591705934028e-06,
+ 0.7071024775505066,
+ 0.7071109414100647
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 11,
+ "virtual_xyz": [
+ 0.035917844623327255,
+ 0.0022484289947897196,
+ 0.8396855592727661
+ ],
+ "wrist_rpy": [
+ -4.336325673648389e-06,
+ -1.0524850949877873e-05,
+ 1.5707831382751465
+ ],
+ "finger_dofs": [
+ 0.025420276448130608,
+ -2.231441976618953e-05,
+ -1.127356335928198e-05,
+ 0.016970142722129822,
+ 6.548394594574347e-06,
+ -9.079472511075437e-05,
+ 0.008496930822730064,
+ 1.5984851415851153e-05,
+ -2.0664309152707006e-10,
+ 0.02542228065431118,
+ -6.25417578703491e-06,
+ 0.00012139526370447129,
+ 0.016979746520519257,
+ -9.844388841884211e-05,
+ 8.201186574297026e-05,
+ 0.008479713462293148,
+ -1.250166224053828e-05,
+ 6.399488938768627e-06,
+ 0.02488560415804386,
+ -0.0007274324889294803,
+ 0.0008836334454827011,
+ 0.01669718325138092,
+ -0.00033293396700173616,
+ 0.0008643449400551617,
+ 0.008456396870315075,
+ 1.1060181350330822e-05,
+ 3.4062037457260885e-07,
+ 0.025433605536818504,
+ 3.838397969957441e-05,
+ 0.0002454695350024849,
+ 0.016972513869404793,
+ 9.212352779286448e-06,
+ 0.00025372719392180443,
+ 0.008466635830700397,
+ 1.2064812835888006e-05,
+ -4.835836080019362e-06,
+ 0.012369759380817413,
+ 0.0341813825070858,
+ -0.017512468621134758,
+ -0.00022560871730092913,
+ 0.0010163553524762392,
+ -0.013417301699519157,
+ -7.566233398392797e-05,
+ 0.00031299213878810406,
+ -0.016994534060359
+ ],
+ "wrist_pos": [
+ 0.0359179712831974,
+ 0.0022484282962977886,
+ 0.8396854996681213
+ ],
+ "wrist_rot": [
+ -5.058403530711075e-06,
+ -2.240354206151096e-06,
+ 0.7071020603179932,
+ 0.7071113586425781
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 12,
+ "virtual_xyz": [
+ 0.038206372410058975,
+ 0.0022484443616122007,
+ 0.8396857976913452
+ ],
+ "wrist_rpy": [
+ -5.001737918064464e-06,
+ -1.1038169759558514e-05,
+ 1.5707823038101196
+ ],
+ "finger_dofs": [
+ 0.029613450169563293,
+ -2.227960249001626e-05,
+ -1.2296611203055363e-05,
+ 0.01976342685520649,
+ 5.391920694819419e-06,
+ -9.760455577634275e-05,
+ 0.009897678159177303,
+ 1.694636739557609e-05,
+ -5.490498680704725e-11,
+ 0.02961544692516327,
+ -7.09571531842812e-06,
+ 0.00013006848166696727,
+ 0.019769884645938873,
+ -0.00010517945338506252,
+ 8.769292617216706e-05,
+ 0.009879247285425663,
+ -1.3155085980542935e-05,
+ 6.8615408963523805e-06,
+ 0.029012473300099373,
+ -0.0008415920892730355,
+ 0.0009447760530747473,
+ 0.019458062946796417,
+ -0.0003437306731939316,
+ 0.000971379631664604,
+ 0.009847593493759632,
+ 1.2160665392002556e-05,
+ 2.4075853843896766e-07,
+ 0.02962380088865757,
+ 4.131644527660683e-05,
+ 0.00026270345551893115,
+ 0.019757365807890892,
+ 1.5281602827599272e-05,
+ 0.0002712653949856758,
+ 0.009863406419754028,
+ 1.3208686141297221e-05,
+ -5.0459138947189786e-06,
+ 0.014420052990317345,
+ 0.039810437709093094,
+ -0.020344484597444534,
+ -0.00024369574384763837,
+ 0.001122375950217247,
+ -0.015563375316560268,
+ -8.562158473068848e-05,
+ 0.0003326034639030695,
+ -0.019796138629317284
+ ],
+ "wrist_pos": [
+ 0.03820649906992912,
+ 0.0022484436631202698,
+ 0.8396857380867004
+ ],
+ "wrist_rot": [
+ -5.45564489584649e-06,
+ -2.1079449652461335e-06,
+ 0.7071018218994141,
+ 0.7071115970611572
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 13,
+ "virtual_xyz": [
+ 0.0406314879655838,
+ 0.0022484587971121073,
+ 0.8396860361099243
+ ],
+ "wrist_rpy": [
+ -5.575891464104643e-06,
+ -1.2129611604905222e-05,
+ 1.5707817077636719
+ ],
+ "finger_dofs": [
+ 0.034066129475831985,
+ -2.1827143427799456e-05,
+ -1.3346772902878001e-05,
+ 0.022728750482201576,
+ 3.850513166980818e-06,
+ -0.00010418135934742168,
+ 0.011385158635675907,
+ 1.781980063242372e-05,
+ -2.2850298042609296e-10,
+ 0.03406807407736778,
+ -7.957389243529178e-06,
+ 0.0001383240014547482,
+ 0.022731129080057144,
+ -0.00011152691149618477,
+ 9.304900595452636e-05,
+ 0.011365575715899467,
+ -1.3723452866543084e-05,
+ 7.306640782189788e-06,
+ 0.03339111804962158,
+ -0.0009550557006150484,
+ 0.0010029986733570695,
+ 0.022386187687516212,
+ -0.0003510229871608317,
+ 0.0010728890774771571,
+ 0.01132364571094513,
+ 1.3248630239104386e-05,
+ 1.2361451240394672e-07,
+ 0.03407251462340355,
+ 4.439381882548332e-05,
+ 0.0002789682475849986,
+ 0.02271217666566372,
+ 2.2416741558117792e-05,
+ 0.00028789896168746054,
+ 0.011346572078764439,
+ 1.4363577065523714e-05,
+ -5.221076662564883e-06,
+ 0.0165947787463665,
+ 0.04578866809606552,
+ -0.02334706299006939,
+ -0.0002628440270200372,
+ 0.0012208244297653437,
+ -0.01783663220703602,
+ -9.610099368728697e-05,
+ 0.0003506564535200596,
+ -0.022771203890442848
+ ],
+ "wrist_pos": [
+ 0.04063161462545395,
+ 0.0022484580986201763,
+ 0.8396859765052795
+ ],
+ "wrist_rot": [
+ -5.9852973208762705e-06,
+ -2.372778453718638e-06,
+ 0.7071015238761902,
+ 0.7071118950843811
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 14,
+ "virtual_xyz": [
+ 0.04318619146943092,
+ 0.002248472534120083,
+ 0.8396861553192139
+ ],
+ "wrist_rpy": [
+ -6.106903583713574e-06,
+ -1.3455854968924541e-05,
+ 1.5707811117172241
+ ],
+ "finger_dofs": [
+ 0.03876548260450363,
+ -2.101677455357276e-05,
+ -1.442149641661672e-05,
+ 0.025857768952846527,
+ 2.0144755126239033e-06,
+ -0.0001105174160329625,
+ 0.012955013662576675,
+ 1.8607192032504827e-05,
+ -2.9921198851923236e-10,
+ 0.03876732662320137,
+ -8.886027899279725e-06,
+ 0.00014614920655731112,
+ 0.025855375453829765,
+ -0.0001174441640614532,
+ 9.806628077058122e-05,
+ 0.012934341095387936,
+ -1.4200356417859439e-05,
+ 7.733330676273908e-06,
+ 0.038013432174921036,
+ -0.0010677088284865022,
+ 0.0010580881498754025,
+ 0.025476224720478058,
+ -0.00035518931690603495,
+ 0.0011690366081893444,
+ 0.012881075032055378,
+ 1.4350411220220849e-05,
+ -9.332041805976132e-09,
+ 0.0387672558426857,
+ 4.723879465018399e-05,
+ 0.0002943164436146617,
+ 0.0258293766528368,
+ 3.0515133403241634e-05,
+ 0.0003035712579730898,
+ 0.012911921367049217,
+ 1.5529800293734297e-05,
+ -5.365059678297257e-06,
+ 0.01888933591544628,
+ 0.052098702639341354,
+ -0.02651144564151764,
+ -0.0002809009747579694,
+ 0.001312062842771411,
+ -0.020230324938893318,
+ -0.00010622554691508412,
+ 0.00036713830195367336,
+ -0.02591102011501789
+ ],
+ "wrist_pos": [
+ 0.04318632185459137,
+ 0.002248471835628152,
+ 0.8396860957145691
+ ],
+ "wrist_rot": [
+ -6.647364898526575e-06,
+ -2.5051988359336974e-06,
+ 0.7071014046669006,
+ 0.7071120142936707
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 15,
+ "virtual_xyz": [
+ 0.045863498002290726,
+ 0.002248484641313553,
+ 0.8396863341331482
+ ],
+ "wrist_rpy": [
+ -6.5510207605257165e-06,
+ -1.5091982277226634e-05,
+ 1.5707802772521973
+ ],
+ "finger_dofs": [
+ 0.043697915971279144,
+ -1.973086182260886e-05,
+ -1.5581857951474376e-05,
+ 0.029141001403331757,
+ -2.7226761289966817e-07,
+ -0.00011671800893964246,
+ 0.014602859504520893,
+ 1.9318627892062068e-05,
+ -3.951012017555655e-10,
+ 0.043699588626623154,
+ -9.745570423547179e-06,
+ 0.00015350853209383786,
+ 0.029132604598999023,
+ -0.00012295872147660702,
+ 0.0001026441968861036,
+ 0.014581163413822651,
+ -1.4585642020392697e-05,
+ 8.145643732859753e-06,
+ 0.042857225984334946,
+ -0.0011832627933472395,
+ 0.001109996112063527,
+ 0.028713509440422058,
+ -0.00035426628892309964,
+ 0.001260112621821463,
+ 0.014514189213514328,
+ 1.546074236102868e-05,
+ -1.617917888552256e-07,
+ 0.04369373992085457,
+ 5.0642229325603694e-05,
+ 0.00030863124993629754,
+ 0.029097899794578552,
+ 3.975939762312919e-05,
+ 0.0003180884523317218,
+ 0.014554821886122227,
+ 1.6681686247466132e-05,
+ -5.446840532385977e-06,
+ 0.021292680874466896,
+ 0.058722954243421555,
+ -0.029829038307070732,
+ -0.00030270303250290453,
+ 0.001395089435391128,
+ -0.022738436236977577,
+ -0.00011758981418097392,
+ 0.000382141035515815,
+ -0.029206786304712296
+ ],
+ "wrist_pos": [
+ 0.045863620936870575,
+ 0.002248483942821622,
+ 0.8396862745285034
+ ],
+ "wrist_rot": [
+ -7.441841717081843e-06,
+ -3.034863539141952e-06,
+ 0.7071009874343872,
+ 0.7071124315261841
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 16,
+ "virtual_xyz": [
+ 0.04865642637014389,
+ 0.0022484958171844482,
+ 0.8396865129470825
+ ],
+ "wrist_rpy": [
+ -6.967610261199297e-06,
+ -1.6826757928356528e-05,
+ 1.5707793235778809
+ ],
+ "finger_dofs": [
+ 0.04885072633624077,
+ -1.8079887013300322e-05,
+ -1.676913962000981e-05,
+ 0.03257041051983833,
+ -2.8699446374957915e-06,
+ -0.00012267606507521123,
+ 0.01632433757185936,
+ 1.994528793147765e-05,
+ -7.650720335039551e-11,
+ 0.04885220155119896,
+ -1.0653727258613799e-05,
+ 0.00016044000221882015,
+ 0.03255526348948479,
+ -0.00012805750884581357,
+ 0.0001068830824806355,
+ 0.01630169339478016,
+ -1.488500402047066e-05,
+ 8.54014160722727e-06,
+ 0.047917671501636505,
+ -0.0012971991673111916,
+ 0.0011586787877604365,
+ 0.03209676221013069,
+ -0.00035018028574995697,
+ 0.0013456594897434115,
+ 0.016220878809690475,
+ 1.6579115253989585e-05,
+ -3.2399475458078086e-07,
+ 0.04884002357721329,
+ 5.386835982790217e-05,
+ 0.00032204209128394723,
+ 0.032511208206415176,
+ 4.992259346181527e-05,
+ 0.00033161567989736795,
+ 0.01627119816839695,
+ 1.7838337953435257e-05,
+ -5.48747084394563e-06,
+ 0.023802850395441055,
+ 0.06564413011074066,
+ -0.033290937542915344,
+ -0.00032332955743186176,
+ 0.001470802933908999,
+ -0.02535383217036724,
+ -0.00012835455709137022,
+ 0.00039558581192977726,
+ -0.032649800181388855
+ ],
+ "wrist_pos": [
+ 0.04865655303001404,
+ 0.0022484951186925173,
+ 0.8396864533424377
+ ],
+ "wrist_rot": [
+ -8.10390520200599e-06,
+ -3.4321121802349808e-06,
+ 0.7071007490158081,
+ 0.7071126699447632
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 17,
+ "virtual_xyz": [
+ 0.051557961851358414,
+ 0.002248507458716631,
+ 0.8396865725517273
+ ],
+ "wrist_rpy": [
+ -7.3097203312499914e-06,
+ -1.871914901130367e-05,
+ 1.5707789659500122
+ ],
+ "finger_dofs": [
+ 0.05421067029237747,
+ -1.5997287846403196e-05,
+ -1.7922866391018033e-05,
+ 0.0361369326710701,
+ -5.885415703232866e-06,
+ -0.00012830548803322017,
+ 0.018115071579813957,
+ 2.0468251022975892e-05,
+ -2.7330943064285407e-10,
+ 0.05421190708875656,
+ -1.1551423995115329e-05,
+ 0.00016698935360182077,
+ 0.03611406683921814,
+ -0.00013280234998092055,
+ 0.00011087417806265876,
+ 0.018091542646288872,
+ -1.5111641005205456e-05,
+ 8.910564247344155e-06,
+ 0.053179677575826645,
+ -0.0014082110719755292,
+ 0.0012042976450175047,
+ 0.03561117500066757,
+ -0.0003478584694676101,
+ 0.0014258461305871606,
+ 0.017994197085499763,
+ 1.769880145729985e-05,
+ -5.133476292940031e-07,
+ 0.054192423820495605,
+ 5.7353910960955545e-05,
+ 0.0003345336008351296,
+ 0.036059580743312836,
+ 6.106779619585723e-05,
+ 0.0003441791341174394,
+ 0.018056506291031837,
+ 1.8987295334227383e-05,
+ -5.48918433196377e-06,
+ 0.026410989463329315,
+ 0.0728444829583168,
+ -0.03688850998878479,
+ -0.0003456428530625999,
+ 0.001538628712296486,
+ -0.028070230036973953,
+ -0.00013951804430689663,
+ 0.00040750190964899957,
+ -0.03623131290078163
+ ],
+ "wrist_pos": [
+ 0.05155808478593826,
+ 0.0022485067602247,
+ 0.8396865129470825
+ ],
+ "wrist_rot": [
+ -8.898382475308608e-06,
+ -3.961775291827507e-06,
+ 0.7071006298065186,
+ 0.7071127891540527
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 18,
+ "virtual_xyz": [
+ 0.05456113815307617,
+ 0.002248518168926239,
+ 0.8396868109703064
+ ],
+ "wrist_rpy": [
+ -7.6127985266793985e-06,
+ -2.0672443497460335e-05,
+ 1.570778489112854
+ ],
+ "finger_dofs": [
+ 0.05976500362157822,
+ -1.3589727132057305e-05,
+ -1.9116920157102868e-05,
+ 0.03983239829540253,
+ -9.151678568741772e-06,
+ -0.00013372105604503304,
+ 0.01997070387005806,
+ 2.091689020744525e-05,
+ -3.3221200790301e-10,
+ 0.05976589396595955,
+ -1.2492824680521153e-05,
+ 0.0001730943185975775,
+ 0.03980116918683052,
+ -0.00013713225780520588,
+ 0.00011448501754784957,
+ 0.019946381449699402,
+ -1.5249905118253082e-05,
+ 9.261906598112546e-06,
+ 0.058633025735616684,
+ -0.0015155068831518292,
+ 0.0012465796899050474,
+ 0.039251599460840225,
+ -0.00034217783831991255,
+ 0.0015001095598563552,
+ 0.019830863922834396,
+ 1.882979631773196e-05,
+ -7.04077706359385e-07,
+ 0.05973854288458824,
+ 6.070733070373535e-05,
+ 0.0003460810403339565,
+ 0.03973551094532013,
+ 7.302731683012098e-05,
+ 0.00035570564796216786,
+ 0.019906558096408844,
+ 2.01355815079296e-05,
+ -5.461599357658997e-06,
+ 0.02911309152841568,
+ 0.08030648529529572,
+ -0.040613140910863876,
+ -0.00036751237348653376,
+ 0.001599277020432055,
+ -0.03088107518851757,
+ -0.00015043572057038546,
+ 0.00041797952144406736,
+ -0.03994261845946312
+ ],
+ "wrist_pos": [
+ 0.05456126853823662,
+ 0.002248517470434308,
+ 0.8396867513656616
+ ],
+ "wrist_rot": [
+ -9.825273082242347e-06,
+ -4.623854692908935e-06,
+ 0.7071005702018738,
+ 0.7071130275726318
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 19,
+ "virtual_xyz": [
+ 0.057658933103084564,
+ 0.002248527482151985,
+ 0.8396869897842407
+ ],
+ "wrist_rpy": [
+ -7.873411959735677e-06,
+ -2.269761353090871e-05,
+ 1.5707781314849854
+ ],
+ "finger_dofs": [
+ 0.06550049036741257,
+ -1.083475217455998e-05,
+ -2.0338680769782513e-05,
+ 0.043647896498441696,
+ -1.2716072887997143e-05,
+ -0.0001388903910992667,
+ 0.02188686653971672,
+ 2.1282843590597622e-05,
+ -5.212678066968124e-10,
+ 0.06550099700689316,
+ -1.344082374998834e-05,
+ 0.0001787544460967183,
+ 0.043607521802186966,
+ -0.00014104641741141677,
+ 0.00011773109872592613,
+ 0.021861815825104713,
+ -1.5305407941923477e-05,
+ 9.593145477992948e-06,
+ 0.064264677464962,
+ -0.001619175891391933,
+ 0.001285565085709095,
+ 0.043009355664253235,
+ -0.0003321000549476594,
+ 0.0015688070561736822,
+ 0.021726658567786217,
+ 1.995708043978084e-05,
+ -9.065172434929991e-07,
+ 0.06546512246131897,
+ 6.404692976502702e-05,
+ 0.00035665748873725533,
+ 0.04352998360991478,
+ 8.576967229600996e-05,
+ 0.00036617880687117577,
+ 0.021816957741975784,
+ 2.1268728232826106e-05,
+ -5.4029683269618545e-06,
+ 0.031902581453323364,
+ 0.0880124419927597,
+ -0.04445606842637062,
+ -0.000389289140002802,
+ 0.0016526145627722144,
+ -0.03377979248762131,
+ -0.00016117346240207553,
+ 0.00042698788456618786,
+ -0.043774936348199844
+ ],
+ "wrist_pos": [
+ 0.05765905976295471,
+ 0.002248526783660054,
+ 0.839686930179596
+ ],
+ "wrist_rot": [
+ -1.0619749446050264e-05,
+ -5.153517577127786e-06,
+ 0.7071003317832947,
+ 0.7071130871772766
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 20,
+ "virtual_xyz": [
+ 0.060844387859106064,
+ 0.0022485365625470877,
+ 0.8396872282028198
+ ],
+ "wrist_rpy": [
+ -8.049501047935337e-06,
+ -2.4826646040310152e-05,
+ 1.5707781314849854
+ ],
+ "finger_dofs": [
+ 0.07140407711267471,
+ -7.751714292680845e-06,
+ -2.1580850443569943e-05,
+ 0.047574739903211594,
+ -1.6570758816669695e-05,
+ -0.000143803030368872,
+ 0.023859184235334396,
+ 2.1566806026385166e-05,
+ -3.7092520721593303e-10,
+ 0.07140414416790009,
+ -1.4390807336894795e-05,
+ 0.00018398706743028015,
+ 0.047524478286504745,
+ -0.00014457367069553584,
+ 0.00012063511530868709,
+ 0.02383347600698471,
+ -1.5284369510482065e-05,
+ 9.904420949169435e-06,
+ 0.0700632706284523,
+ -0.0017005372792482376,
+ 0.001321592484600842,
+ 0.04687771573662758,
+ -0.00031813103123568,
+ 0.0016339750727638602,
+ 0.023678038269281387,
+ 2.1052543161204085e-05,
+ -1.114296878768073e-06,
+ 0.07135891169309616,
+ 6.754812056897208e-05,
+ 0.0003662219678517431,
+ 0.047434087842702866,
+ 9.924051119014621e-05,
+ 0.00037568219704553485,
+ 0.023783277720212936,
+ 2.2397643988369964e-05,
+ -5.3262260735209566e-06,
+ 0.03477189689874649,
+ 0.09594480693340302,
+ -0.048408735543489456,
+ -0.00041245200554840267,
+ 0.0016984717221930623,
+ -0.03676009178161621,
+ -0.00017222137830685824,
+ 0.0004346306377556175,
+ -0.04771954566240311
+ ],
+ "wrist_pos": [
+ 0.06084451079368591,
+ 0.0022485358640551567,
+ 0.839687168598175
+ ],
+ "wrist_rot": [
+ -1.1414223990868777e-05,
+ -5.948007128608879e-06,
+ 0.7071003317832947,
+ 0.7071130871772766
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 21,
+ "virtual_xyz": [
+ 0.06411048769950867,
+ 0.0022485435474663973,
+ 0.8396874070167542
+ ],
+ "wrist_rpy": [
+ -8.120730853988789e-06,
+ -2.6953195629175752e-05,
+ 1.5707778930664062
+ ],
+ "finger_dofs": [
+ 0.07746296375989914,
+ -4.423302925715689e-06,
+ -2.289052827109117e-05,
+ 0.05160466581583023,
+ -2.057790698017925e-05,
+ -0.00014849593571852893,
+ 0.025883298367261887,
+ 2.178202885261271e-05,
+ -3.755258604076772e-10,
+ 0.07746249437332153,
+ -1.5372152120107785e-05,
+ 0.00018873390217777342,
+ 0.05154397711157799,
+ -0.00014765700325369835,
+ 0.00012311576574575156,
+ 0.025857001543045044,
+ -1.51816357174539e-05,
+ 1.0200156793871429e-05,
+ 0.07602572441101074,
+ -0.0017058791127055883,
+ 0.0013542324304580688,
+ 0.05085257813334465,
+ -0.00030283621163107455,
+ 0.0016942414222285151,
+ 0.025682242587208748,
+ 2.209966078225989e-05,
+ -1.3116490436004824e-06,
+ 0.07740740478038788,
+ 7.093989552231506e-05,
+ 0.00037474281270988286,
+ 0.05144040659070015,
+ 0.00011325065861456096,
+ 0.00038419407792389393,
+ 0.02580123208463192,
+ 2.352365481783636e-05,
+ -5.259360023046611e-06,
+ 0.03771718218922615,
+ 0.10408595204353333,
+ -0.05246247351169586,
+ -0.00043487196671776474,
+ 0.0017373140435665846,
+ -0.039815209805965424,
+ -0.00018283051031176,
+ 0.0004409013781696558,
+ -0.05176772177219391
+ ],
+ "wrist_pos": [
+ 0.06411061435937881,
+ 0.0022485428489744663,
+ 0.8396873474121094
+ ],
+ "wrist_rot": [
+ -1.2076287930540275e-05,
+ -6.610085165448254e-06,
+ 0.7071002125740051,
+ 0.7071132063865662
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 22,
+ "virtual_xyz": [
+ 0.06745027005672455,
+ 0.002248551696538925,
+ 0.8396875262260437
+ ],
+ "wrist_rpy": [
+ -8.175500624929555e-06,
+ -2.9116696168784983e-05,
+ 1.5707778930664062
+ ],
+ "finger_dofs": [
+ 0.08366400748491287,
+ -8.442764283245197e-07,
+ -2.4158929591067135e-05,
+ 0.05572882667183876,
+ -2.4823913918226026e-05,
+ -0.0001528439752291888,
+ 0.027954842895269394,
+ 2.1909789211349562e-05,
+ -2.843623947423879e-10,
+ 0.0836629569530487,
+ -1.6397605577367358e-05,
+ 0.00019309823983348906,
+ 0.05565718933939934,
+ -0.00015039411664474756,
+ 0.0001253471418749541,
+ 0.027928026393055916,
+ -1.501360566180665e-05,
+ 1.0471510904608294e-05,
+ 0.08212626725435257,
+ -0.001709599862806499,
+ 0.0013867114903405309,
+ 0.05492071062326431,
+ -0.0002835386258084327,
+ 0.0017250730888918042,
+ 0.02773243561387062,
+ 2.3213704480440356e-05,
+ -1.5101979897735873e-06,
+ 0.08359755575656891,
+ 7.421003101626411e-05,
+ 0.00038238047272898257,
+ 0.05553983896970749,
+ 0.00012779647659044713,
+ 0.00039175449637696147,
+ 0.027866531163454056,
+ 2.462450720486231e-05,
+ -5.165621587366331e-06,
+ 0.04073168709874153,
+ 0.11241810768842697,
+ -0.056608546525239944,
+ -0.0004570631426759064,
+ 0.0017690830864012241,
+ -0.042938679456710815,
+ -0.0001931472506839782,
+ 0.0004458573821466416,
+ -0.05591074004769325
+ ],
+ "wrist_pos": [
+ 0.0674503967165947,
+ 0.002248550998046994,
+ 0.8396874666213989
+ ],
+ "wrist_rot": [
+ -1.287076338485349e-05,
+ -7.404574716929346e-06,
+ 0.7071002125740051,
+ 0.7071132063865662
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 23,
+ "virtual_xyz": [
+ 0.07085671275854111,
+ 0.00224855775013566,
+ 0.8396875858306885
+ ],
+ "wrist_rpy": [
+ -8.200297997973394e-06,
+ -3.130200275336392e-05,
+ 1.5707775354385376
+ ],
+ "finger_dofs": [
+ 0.08999405801296234,
+ 2.986096660606563e-06,
+ -2.5495908630546182e-05,
+ 0.05993847921490669,
+ -2.9246477424749173e-05,
+ -0.00015697802882641554,
+ 0.030069444328546524,
+ 2.1972826289129443e-05,
+ -3.9026420983745425e-10,
+ 0.08999234437942505,
+ -1.7391275832778774e-05,
+ 0.00019697296374943107,
+ 0.05985533818602562,
+ -0.00015271393931470811,
+ 0.000127138860989362,
+ 0.030042186379432678,
+ -1.4773797374800779e-05,
+ 1.0727940207289066e-05,
+ 0.08835336565971375,
+ -0.0017075100913643837,
+ 0.0014153769006952643,
+ 0.059073567390441895,
+ -0.0002612280077300966,
+ 0.0017214794643223286,
+ 0.029825380071997643,
+ 2.4260956706712022e-05,
+ -1.6948841903285938e-06,
+ 0.08991625159978867,
+ 7.753232785034925e-05,
+ 0.000388944084988907,
+ 0.059723712503910065,
+ 0.00014278148591984063,
+ 0.0003982559428550303,
+ 0.02997480146586895,
+ 2.5690567781566642e-05,
+ -5.055905148765305e-06,
+ 0.043810565024614334,
+ 0.1209234744310379,
+ -0.0608382523059845,
+ -0.00047832546988502145,
+ 0.001783848158083856,
+ -0.04612402245402336,
+ -0.0002031312178587541,
+ 0.00044947306741960347,
+ -0.060139842331409454
+ ],
+ "wrist_pos": [
+ 0.07085683941841125,
+ 0.002248557051643729,
+ 0.8396875262260437
+ ],
+ "wrist_rot": [
+ -1.3665235201187897e-05,
+ -8.199065632652491e-06,
+ 0.7071000933647156,
+ 0.7071133255958557
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 24,
+ "virtual_xyz": [
+ 0.07432283461093903,
+ 0.0022485621739178896,
+ 0.8396876454353333
+ ],
+ "wrist_rpy": [
+ -8.163083293766249e-06,
+ -3.3514628739794716e-05,
+ 1.5707772970199585
+ ],
+ "finger_dofs": [
+ 0.09644023329019547,
+ 7.053436547721503e-06,
+ -2.6786074158735573e-05,
+ 0.06422512233257294,
+ -3.384107185411267e-05,
+ -0.00016075650637503713,
+ 0.032222721725702286,
+ 2.1954489056952298e-05,
+ -5.400233038521662e-10,
+ 0.0964377224445343,
+ -1.83826941793086e-05,
+ 0.0002004562848014757,
+ 0.0641300231218338,
+ -0.00015469024947378784,
+ 0.00012868591875303537,
+ 0.032195109874010086,
+ -1.4481189282378182e-05,
+ 1.0957309314107988e-05,
+ 0.09468855708837509,
+ -0.0017069631721824408,
+ 0.001439373125322163,
+ 0.06329325586557388,
+ -0.0002360821672482416,
+ 0.0017200332367792726,
+ 0.03195427730679512,
+ 2.5370005459990352e-05,
+ -1.8871347720050835e-06,
+ 0.09635055810213089,
+ 8.086850721156225e-05,
+ 0.0003947643272113055,
+ 0.06398355960845947,
+ 0.00015809267642907798,
+ 0.0004035981837660074,
+ 0.03212175890803337,
+ 2.6702200557338074e-05,
+ -4.898431598121533e-06,
+ 0.046945326030254364,
+ 0.12958596646785736,
+ -0.0651431679725647,
+ -0.0004969942383468151,
+ 0.001783925574272871,
+ -0.049364909529685974,
+ -0.00021059016580693424,
+ 0.0004520731163211167,
+ -0.06444627046585083
+ ],
+ "wrist_pos": [
+ 0.07432295382022858,
+ 0.0022485614754259586,
+ 0.8396875858306885
+ ],
+ "wrist_rot": [
+ -1.4459710655501112e-05,
+ -8.993555638880935e-06,
+ 0.7071000933647156,
+ 0.7071133255958557
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 25,
+ "virtual_xyz": [
+ 0.077841617166996,
+ 0.0022485656663775444,
+ 0.8396878242492676
+ ],
+ "wrist_rpy": [
+ -8.06623120297445e-06,
+ -3.580718475859612e-05,
+ 1.5707772970199585
+ ],
+ "finger_dofs": [
+ 0.10298918187618256,
+ 1.1348809493938461e-05,
+ -2.8080934498575516e-05,
+ 0.06857983022928238,
+ -3.863720121444203e-05,
+ -0.00016420141037087888,
+ 0.03441035747528076,
+ 2.185987432312686e-05,
+ -2.924925024405667e-10,
+ 0.10298594832420349,
+ -1.9315846657264046e-05,
+ 0.00020348203543107957,
+ 0.0684722438454628,
+ -0.00015629177505616099,
+ 0.00012991404219064862,
+ 0.034382451325654984,
+ -1.413456629961729e-05,
+ 1.1166277545271441e-05,
+ 0.10112369060516357,
+ -0.0017083368729799986,
+ 0.0014611372025683522,
+ 0.06757912784814835,
+ -0.00020912554464302957,
+ 0.0017201622249558568,
+ 0.034116342663764954,
+ 2.6461762899998575e-05,
+ -2.069617266897694e-06,
+ 0.10288716852664948,
+ 8.440692909061909e-05,
+ 0.00039959579589776695,
+ 0.0683104395866394,
+ 0.00017369036504533142,
+ 0.0004079356440342963,
+ 0.034303002059459686,
+ 2.7664133085636422e-05,
+ -4.717122919828398e-06,
+ 0.05013017728924751,
+ 0.1383855640888214,
+ -0.06951436400413513,
+ -0.0005174755933694541,
+ 0.0017840135842561722,
+ -0.052654869854450226,
+ -0.00021903924061916769,
+ 0.0004533801693469286,
+ -0.06882129609584808
+ ],
+ "wrist_pos": [
+ 0.07784175127744675,
+ 0.0022485649678856134,
+ 0.8396877646446228
+ ],
+ "wrist_rot": [
+ -1.5254186109814327e-05,
+ -9.788044735614676e-06,
+ 0.7071000933647156,
+ 0.7071133255958557
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 26,
+ "virtual_xyz": [
+ 0.0814061239361763,
+ 0.0022485696244984865,
+ 0.8396880030632019
+ ],
+ "wrist_rpy": [
+ -7.937539521662984e-06,
+ -3.8092253817012534e-05,
+ 1.5707775354385376
+ ],
+ "finger_dofs": [
+ 0.10962830483913422,
+ 1.5754305422888137e-05,
+ -2.9359516702243127e-05,
+ 0.07299452275037766,
+ -4.3499258026713505e-05,
+ -0.00016733417578507215,
+ 0.03662791848182678,
+ 2.17008673644159e-05,
+ -6.536393648559624e-10,
+ 0.1096242293715477,
+ -2.0267134459572844e-05,
+ 0.00020609136845450848,
+ 0.07287419587373734,
+ -0.00015755300410091877,
+ 0.00013082526857033372,
+ 0.03659980744123459,
+ -1.3737027074967045e-05,
+ 1.1353067748132162e-05,
+ 0.10765105485916138,
+ -0.0017104550497606397,
+ 0.0014801969518885016,
+ 0.07192717492580414,
+ -0.00018252423615194857,
+ 0.0017208528006449342,
+ 0.03630868345499039,
+ 2.7465854145702906e-05,
+ -2.2382844235835364e-06,
+ 0.10951382666826248,
+ 8.775803144089878e-05,
+ 0.00040350647759623826,
+ 0.07269695401191711,
+ 0.00018939310393761843,
+ 0.0004113909089937806,
+ 0.0365142747759819,
+ 2.8588121494976804e-05,
+ -4.53730035587796e-06,
+ 0.05336028337478638,
+ 0.1473049521446228,
+ -0.07394333928823471,
+ -0.0005384079413488507,
+ 0.0017840906511992216,
+ -0.05598731338977814,
+ -0.00022780195286031812,
+ 0.00045349987340159714,
+ -0.07325625419616699
+ ],
+ "wrist_pos": [
+ 0.08140625059604645,
+ 0.0022485689260065556,
+ 0.8396879434585571
+ ],
+ "wrist_rot": [
+ -1.6048661564127542e-05,
+ -1.0582533832348417e-05,
+ 0.7071000933647156,
+ 0.7071133255958557
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 27,
+ "virtual_xyz": [
+ 0.08500932902097702,
+ 0.0022485724184662104,
+ 0.8396880030632019
+ ],
+ "wrist_rpy": [
+ -7.792166798026301e-06,
+ -4.03039921366144e-05,
+ 1.5707776546478271
+ ],
+ "finger_dofs": [
+ 0.11634457856416702,
+ 2.0249579392839223e-05,
+ -3.0654384318040684e-05,
+ 0.07746060937643051,
+ -4.8362671805080026e-05,
+ -0.00017019368533510715,
+ 0.03887108713388443,
+ 2.1488724087248556e-05,
+ -6.283970566123287e-10,
+ 0.11633969098329544,
+ -2.1229785488685593e-05,
+ 0.00020823374507017434,
+ 0.07732748985290527,
+ -0.00015842301945667714,
+ 0.00013136088091414422,
+ 0.03884284570813179,
+ -1.3283897715155035e-05,
+ 1.151894230133621e-05,
+ 0.11425917595624924,
+ -0.00171269744168967,
+ 0.0014957461971789598,
+ 0.0763305202126503,
+ -0.00015436875401064754,
+ 0.0017216240521520376,
+ 0.03852766007184982,
+ 2.8409820515662432e-05,
+ -2.388013626841712e-06,
+ 0.11621762812137604,
+ 9.082432370632887e-05,
+ 0.00040645513217896223,
+ 0.07713481038808823,
+ 0.00020501177641563118,
+ 0.0004138393560424447,
+ 0.038751270622015,
+ 2.9450038709910586e-05,
+ -4.350305971456692e-06,
+ 0.05663016065955162,
+ 0.15632657706737518,
+ -0.07842130959033966,
+ -0.0005587859195657074,
+ 0.001784139545634389,
+ -0.05935557931661606,
+ -0.00023621157743036747,
+ 0.00045245036017149687,
+ -0.07774236053228378
+ ],
+ "wrist_pos": [
+ 0.08500945568084717,
+ 0.0022485717199742794,
+ 0.8396879434585571
+ ],
+ "wrist_rot": [
+ -1.671072095632553e-05,
+ -1.1509437172207981e-05,
+ 0.7071000933647156,
+ 0.7071133255958557
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 28,
+ "virtual_xyz": [
+ 0.08862536400556564,
+ 0.0022529440466314554,
+ 0.8397060036659241
+ ],
+ "wrist_rpy": [
+ -0.00012624468945432454,
+ -0.001418250729329884,
+ 1.5708197355270386
+ ],
+ "finger_dofs": [
+ 0.12383374571800232,
+ -2.3946366127347574e-05,
+ 1.76292141986778e-05,
+ 0.08259543776512146,
+ 8.909498865250498e-05,
+ 0.0002455761714372784,
+ 0.04113062843680382,
+ -3.165413363603875e-05,
+ 1.6852071738071572e-08,
+ 0.0997130498290062,
+ 0.002368510002270341,
+ -0.013942397199571133,
+ 0.08084613084793091,
+ 0.0026098445523530245,
+ -0.002312656259164214,
+ 0.039550699293613434,
+ 0.0005762766231782734,
+ -1.3851034964318387e-05,
+ 0.13040128350257874,
+ -0.0010474345181137323,
+ -0.002796847140416503,
+ 0.08058962225914001,
+ 0.0018132301047444344,
+ -0.0004195052897557616,
+ 0.042208585888147354,
+ -0.0006327712908387184,
+ 5.0642029236769304e-05,
+ 0.12779100239276886,
+ -0.000635415141005069,
+ -0.0005544142914004624,
+ 0.07890627533197403,
+ 0.00048424387932755053,
+ -0.0009965522913262248,
+ 0.04251522570848465,
+ -0.00042969713103957474,
+ 0.00039923840085975826,
+ 0.06467299908399582,
+ 0.16227015852928162,
+ -0.08005791902542114,
+ 0.0010770979570224881,
+ 6.995516741881147e-05,
+ -0.06135839596390724,
+ -0.00022156107297632843,
+ -0.0010441129561513662,
+ -0.08142482489347458
+ ],
+ "wrist_pos": [
+ 0.08862549066543579,
+ 0.0022529433481395245,
+ 0.8397059440612793
+ ],
+ "wrist_rot": [
+ -0.0005458396044559777,
+ -0.0004566760908346623,
+ 0.7071146965026855,
+ 0.7070983648300171
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 29,
+ "virtual_xyz": [
+ 0.09228378534317017,
+ 0.002250098390504718,
+ 0.8397098779678345
+ ],
+ "wrist_rpy": [
+ -0.000273504585493356,
+ -0.002503187395632267,
+ 1.5707143545150757
+ ],
+ "finger_dofs": [
+ 0.1309533268213272,
+ 8.67346261657076e-06,
+ 5.8223064115736634e-05,
+ 0.0873565822839737,
+ 0.00012652108853217214,
+ 0.0005068453610874712,
+ 0.04340473562479019,
+ -6.491686508525163e-05,
+ -4.1037424125534017e-08,
+ 0.08889970183372498,
+ 0.002544943941757083,
+ -0.02536267600953579,
+ 0.08807054907083511,
+ 0.0032757839653640985,
+ -0.002648083958774805,
+ 0.036475300788879395,
+ 0.0018314991611987352,
+ -3.355509034008719e-05,
+ 0.1423249989748001,
+ -0.0015341106336563826,
+ -0.0048308828845620155,
+ 0.08457650244235992,
+ 0.0018027311889454722,
+ -0.0007149090524762869,
+ 0.04522794857621193,
+ -0.0010479206684976816,
+ 0.00027937485720030963,
+ 0.1372581273317337,
+ -0.0009218744817189872,
+ -0.0007958219503052533,
+ 0.08161989599466324,
+ 0.000607223657425493,
+ -0.0011829780414700508,
+ 0.045735914260149,
+ -0.0007373932166956365,
+ 0.0007347956416197121,
+ 0.07045404613018036,
+ 0.16947734355926514,
+ -0.08276467770338058,
+ 0.0008823942625895143,
+ 0.0003397350665181875,
+ -0.06440912187099457,
+ -0.000444767385488376,
+ -0.001041429117321968,
+ -0.08537803590297699
+ ],
+ "wrist_pos": [
+ 0.09228391945362091,
+ 0.002250097692012787,
+ 0.8397098183631897
+ ],
+ "wrist_rot": [
+ -0.0009814389050006866,
+ -0.0007882823119871318,
+ 0.7070772647857666,
+ 0.7071350812911987
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 30,
+ "virtual_xyz": [
+ 0.0959160327911377,
+ 0.0022781293373554945,
+ 0.8397472500801086
+ ],
+ "wrist_rpy": [
+ 0.00020627339836210012,
+ -0.008641022257506847,
+ 1.5714904069900513
+ ],
+ "finger_dofs": [
+ 0.11726593971252441,
+ -0.00197579781524837,
+ 0.012560812756419182,
+ 0.10521011054515839,
+ -0.002553274156525731,
+ 0.0022705441806465387,
+ 0.04286482557654381,
+ -0.0018168243113905191,
+ 2.5678555175545625e-06,
+ 0.043205250054597855,
+ 0.0035127887967973948,
+ -0.040565986186265945,
+ 0.1975679248571396,
+ 0.0028404737822711468,
+ 0.002933167852461338,
+ 0.05012936517596245,
+ -0.0017680249875411391,
+ -0.0007729397621005774,
+ 0.1746329963207245,
+ -0.0020969812758266926,
+ -0.012852725572884083,
+ 0.0828845426440239,
+ 0.0021245204843580723,
+ -0.0005269252578727901,
+ 0.05145411565899849,
+ -0.0018458007834851742,
+ -0.0007964801625348628,
+ 0.16222761571407318,
+ -0.0018598733004182577,
+ -0.003956043627113104,
+ 0.07457943260669708,
+ 0.0018900277791544795,
+ -0.001327012781985104,
+ 0.05324874445796013,
+ -0.0018110652454197407,
+ 0.001148974639363587,
+ 0.08542469143867493,
+ 0.17559458315372467,
+ -0.08373690396547318,
+ 0.0018440623534843326,
+ -0.0007242176798172295,
+ -0.06940405815839767,
+ -0.0005981483263894916,
+ -0.0018248785054311156,
+ -0.08724936842918396
+ ],
+ "wrist_pos": [
+ 0.09591615200042725,
+ 0.0022781286388635635,
+ 0.8397471904754639
+ ],
+ "wrist_rot": [
+ -0.0029832611326128244,
+ -0.0031268892344087362,
+ 0.7073450684547424,
+ 0.7068549990653992
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 31,
+ "virtual_xyz": [
+ 0.09962230175733566,
+ 0.0022698405664414167,
+ 0.8397729396820068
+ ],
+ "wrist_rpy": [
+ 0.0009986036457121372,
+ -0.012270472012460232,
+ 1.572054147720337
+ ],
+ "finger_dofs": [
+ 0.10144398361444473,
+ -0.002711686072871089,
+ 0.024911807850003242,
+ 0.1295487880706787,
+ -0.0037113050930202007,
+ 0.0035921214148402214,
+ 0.03931407630443573,
+ -0.0020118881948292255,
+ 5.5112800509959925e-06,
+ 0.060368847101926804,
+ 0.0025292756035923958,
+ -0.04275079816579819,
+ 0.19115053117275238,
+ 0.0027436327654868364,
+ -0.0021137765143066645,
+ 0.05349644646048546,
+ -0.00015603947394993156,
+ -0.0010870367987081409,
+ 0.18678845465183258,
+ -0.001873615081422031,
+ -0.014919976703822613,
+ 0.08633425831794739,
+ 0.001891366788186133,
+ 0.0017006894340738654,
+ 0.055146314203739166,
+ -0.0017362427897751331,
+ -0.0013462018687278032,
+ 0.17358866333961487,
+ -0.0013567963615059853,
+ -0.005228686612099409,
+ 0.07493121176958084,
+ 0.0018258850323036313,
+ 4.405543222674169e-06,
+ 0.057208675891160965,
+ -0.0016407103976234794,
+ 0.0007907896069809794,
+ 0.09021494537591934,
+ 0.1855504959821701,
+ -0.08840350061655045,
+ 0.0010516397887840867,
+ 9.670621511759236e-05,
+ -0.07409495860338211,
+ -0.0007771967793814838,
+ -0.001408325508236885,
+ -0.09108004719018936
+ ],
+ "wrist_pos": [
+ 0.09962242841720581,
+ 0.0022698398679494858,
+ 0.8397728800773621
+ ],
+ "wrist_rot": [
+ -0.003988092299550772,
+ -0.0046887448988854885,
+ 0.7075356245040894,
+ 0.7066507339477539
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 32,
+ "virtual_xyz": [
+ 0.10333728045225143,
+ 0.0022616605274379253,
+ 0.8397465944290161
+ ],
+ "wrist_rpy": [
+ 0.0010986702982336283,
+ -0.009608468040823936,
+ 1.5720113515853882
+ ],
+ "finger_dofs": [
+ 0.1105462983250618,
+ -0.0024552487302571535,
+ 0.03062840737402439,
+ 0.08423973619937897,
+ -0.00371770397759974,
+ 0.003511451417580247,
+ 0.0378030501306057,
+ -0.0020202447194606066,
+ 4.414744580572005e-06,
+ 0.09467646479606628,
+ 0.0027952862437814474,
+ -0.03221709653735161,
+ 0.14818811416625977,
+ 0.0033010474871844053,
+ -0.0021382325794547796,
+ 0.05194742605090141,
+ 0.0011169962817803025,
+ -0.001192391966469586,
+ 0.1768769472837448,
+ -0.0019044037908315659,
+ -0.01084241271018982,
+ 0.09352115541696548,
+ 0.001892637461423874,
+ 0.001883816090412438,
+ 0.054593514651060104,
+ -0.0015347303124144673,
+ -0.001173664233647287,
+ 0.1695796698331833,
+ -0.0012283558025956154,
+ -0.004024107474833727,
+ 0.08611854910850525,
+ 0.001814044313505292,
+ 0.00011590192298172042,
+ 0.056010372936725616,
+ -0.0013078738702461123,
+ 0.0004312342789489776,
+ 0.0862024649977684,
+ 0.19700056314468384,
+ -0.09580329805612564,
+ 0.0007652091444469988,
+ 0.0009686505072750151,
+ -0.07692568004131317,
+ -0.0009275218471884727,
+ -0.001033719745464623,
+ -0.09738324582576752
+ ],
+ "wrist_pos": [
+ 0.10333740711212158,
+ 0.0022616598289459944,
+ 0.8397465348243713
+ ],
+ "wrist_rot": [
+ -0.0030109446961432695,
+ -0.003783639520406723,
+ 0.7075259685516357,
+ 0.7066707015037537
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 33,
+ "virtual_xyz": [
+ 0.1069951206445694,
+ 0.002275655744597316,
+ 0.8398130536079407
+ ],
+ "wrist_rpy": [
+ 0.002386079402640462,
+ -0.013709899969398975,
+ 1.5725327730178833
+ ],
+ "finger_dofs": [
+ 0.07850196957588196,
+ -0.00305931200273335,
+ 0.028059430420398712,
+ 0.1757177710533142,
+ -0.004013850353658199,
+ 0.004068684298545122,
+ 0.04126596823334694,
+ -0.0020691854879260063,
+ 5.865711045771604e-06,
+ 0.09174512326717377,
+ 0.0032433499582111835,
+ -0.03624367341399193,
+ 0.21280768513679504,
+ 0.0025331610813736916,
+ -0.0016243611462414265,
+ 0.06662336736917496,
+ -0.0004749889194499701,
+ -0.0015098813455551863,
+ 0.1986137479543686,
+ -0.002164926379919052,
+ -0.016035836189985275,
+ 0.09384869784116745,
+ 0.002117058029398322,
+ 0.002076143166050315,
+ 0.05910008028149605,
+ -0.0018392178462818265,
+ -0.0018003550358116627,
+ 0.1887117177248001,
+ -0.0018152572447434068,
+ -0.006191999185830355,
+ 0.08238678425550461,
+ 0.0019185019191354513,
+ 0.00010474706505192444,
+ 0.06185436621308327,
+ -0.0018125210190191865,
+ 0.0005908344755880535,
+ 0.09754965454339981,
+ 0.20560972392559052,
+ -0.09839362651109695,
+ 0.001599529292434454,
+ 0.0002431816392345354,
+ -0.08274240791797638,
+ -0.0011960521806031466,
+ -0.0017959579126909375,
+ -0.09959996491670609
+ ],
+ "wrist_pos": [
+ 0.10699525475502014,
+ 0.002275655046105385,
+ 0.8398129940032959
+ ],
+ "wrist_rot": [
+ -0.00400833273306489,
+ -0.0056871757842600346,
+ 0.7076973915100098,
+ 0.7064812779426575
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 34,
+ "virtual_xyz": [
+ 0.11068215221166611,
+ 0.0022688652388751507,
+ 0.8397868275642395
+ ],
+ "wrist_rpy": [
+ 0.003318715374916792,
+ -0.014194688759744167,
+ 1.5728962421417236
+ ],
+ "finger_dofs": [
+ 0.08277131617069244,
+ -0.003565962426364422,
+ 0.034920670092105865,
+ 0.18569396436214447,
+ -0.004798030015081167,
+ 0.005259394180029631,
+ 0.0367489792406559,
+ -0.0022119267378002405,
+ 7.0107953433762304e-06,
+ 0.1248343214392662,
+ 0.0027601439505815506,
+ -0.02809797413647175,
+ 0.18356651067733765,
+ 0.003816905664280057,
+ -0.000646874017547816,
+ 0.06509734690189362,
+ -0.0009254164178855717,
+ -0.0017010940937325358,
+ 0.20042480528354645,
+ -0.001981458393856883,
+ -0.016059329733252525,
+ 0.09893158078193665,
+ 0.002008462091907859,
+ 0.002111568581312895,
+ 0.06068485602736473,
+ -0.0018058189889416099,
+ -0.0018259311327710748,
+ 0.1934683918952942,
+ -0.0010761348530650139,
+ -0.006902621127665043,
+ 0.08773382008075714,
+ 0.0018838845426216722,
+ 0.0012913362588733435,
+ 0.06356734782457352,
+ -0.0017396621406078339,
+ 4.8281690396834165e-05,
+ 0.09920808672904968,
+ 0.21668578684329987,
+ -0.1045663133263588,
+ 0.0005789977731183171,
+ 3.8773792766733095e-05,
+ -0.08603405207395554,
+ -0.001123387599363923,
+ -0.0014149770140647888,
+ -0.10467878729104996
+ ],
+ "wrist_pos": [
+ 0.11068227887153625,
+ 0.0022688645403832197,
+ 0.8397867679595947
+ ],
+ "wrist_rot": [
+ -0.0038516554050147533,
+ -0.006187767256051302,
+ 0.7078214883804321,
+ 0.7063536047935486
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 35,
+ "virtual_xyz": [
+ 0.11434554308652878,
+ 0.0022664072457700968,
+ 0.8397690653800964
+ ],
+ "wrist_rpy": [
+ 0.004168505780398846,
+ -0.012833678163588047,
+ 1.5731244087219238
+ ],
+ "finger_dofs": [
+ 0.08701158314943314,
+ -0.0033275194000452757,
+ 0.03137839585542679,
+ 0.15986374020576477,
+ -0.005358697846531868,
+ 0.0039018671959638596,
+ 0.035802874714136124,
+ -0.0020987039897590876,
+ 7.151260433602147e-06,
+ 0.17611703276634216,
+ 0.0010554349282756448,
+ -0.015386922284960747,
+ 0.12171202898025513,
+ 0.0017731788102537394,
+ 0.0010123453103005886,
+ 0.0687866359949112,
+ -0.0015298181679099798,
+ -0.001779319834895432,
+ 0.20209264755249023,
+ -0.0003475528792478144,
+ -0.017556628212332726,
+ 0.10781125724315643,
+ 0.0018654495943337679,
+ 0.001969193806871772,
+ 0.062127936631441116,
+ -0.0015777961816638708,
+ -0.0017910435562953353,
+ 0.19547457993030548,
+ -0.00037268473533913493,
+ -0.007708749733865261,
+ 0.09678149223327637,
+ 0.0018229820998385549,
+ 0.0016996487975120544,
+ 0.064323790371418,
+ -0.0015234430320560932,
+ -0.000498065841384232,
+ 0.10235415399074554,
+ 0.22625409066677094,
+ -0.11034336686134338,
+ 0.000583336572162807,
+ -0.0009743800619617105,
+ -0.0868937075138092,
+ -0.0006453999667428434,
+ -0.0013601875398308039,
+ -0.11035605520009995
+ ],
+ "wrist_pos": [
+ 0.11434567719697952,
+ 0.002266406547278166,
+ 0.8397690057754517
+ ],
+ "wrist_rot": [
+ -0.0030705544631928205,
+ -0.006007519084960222,
+ 0.7079037427902222,
+ 0.7062765955924988
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 36,
+ "virtual_xyz": [
+ 0.1179804652929306,
+ 0.0022714061196893454,
+ 0.839776873588562
+ ],
+ "wrist_rpy": [
+ 0.0033267084509134293,
+ -0.01216003019362688,
+ 1.5728627443313599
+ ],
+ "finger_dofs": [
+ 0.10972721874713898,
+ -0.003055538283661008,
+ 0.02711612358689308,
+ 0.11580729484558105,
+ -0.005877078045159578,
+ 0.004309303127229214,
+ 0.03712346777319908,
+ -0.002147852210327983,
+ 6.537044100696221e-06,
+ 0.1850772351026535,
+ 0.002684744307771325,
+ -0.025400392711162567,
+ 0.17188143730163574,
+ 0.0025617098435759544,
+ -0.0027204484213143587,
+ 0.0736362561583519,
+ -0.0009041732992045581,
+ -0.0015933280810713768,
+ 0.2077970802783966,
+ -0.002042830688878894,
+ -0.013383885845541954,
+ 0.10934168845415115,
+ 0.002045076573267579,
+ 0.0019219673704355955,
+ 0.06436877697706223,
+ -0.0018188292160630226,
+ -0.0015696925111114979,
+ 0.2021874189376831,
+ -0.001376115600578487,
+ -0.005946745630353689,
+ 0.10017590969800949,
+ 0.0018770141759887338,
+ 0.0013210050528869033,
+ 0.06677905470132828,
+ -0.0017974497750401497,
+ -0.00018427304166834801,
+ 0.10287593305110931,
+ 0.23546254634857178,
+ -0.11511450260877609,
+ 0.001132003148086369,
+ 0.0011131749488413334,
+ -0.09204762428998947,
+ -0.0011494113132357597,
+ -0.0014654663391411304,
+ -0.11497508734464645
+ ],
+ "wrist_pos": [
+ 0.11798059195280075,
+ 0.0022714054211974144,
+ 0.8397768139839172
+ ],
+ "wrist_rot": [
+ -0.0031286736484616995,
+ -0.005472016520798206,
+ 0.7078157067298889,
+ 0.7063690423965454
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 37,
+ "virtual_xyz": [
+ 0.12159014493227005,
+ 0.0022706901654601097,
+ 0.839807391166687
+ ],
+ "wrist_rpy": [
+ 0.0014976096572354436,
+ -0.01503676176071167,
+ 1.572265625
+ ],
+ "finger_dofs": [
+ 0.13264279067516327,
+ -0.0020290513057261705,
+ 0.014711315743625164,
+ 0.07410386949777603,
+ -0.003524899948388338,
+ 0.0023382375948131084,
+ 0.048122040927410126,
+ -0.001845083897933364,
+ 5.957878784101922e-06,
+ 0.16376210749149323,
+ 0.003521214472129941,
+ -0.04501572251319885,
+ 0.3168838322162628,
+ 0.0023619942367076874,
+ -0.003917858470231295,
+ 0.08229831606149673,
+ -0.0002507973404135555,
+ -0.0008283438510261476,
+ 0.222770556807518,
+ -0.0021343219559639692,
+ -0.00849485956132412,
+ 0.10351366549730301,
+ 0.002154724672436714,
+ 0.0009844651212915778,
+ 0.06891253590583801,
+ -0.0018514505354687572,
+ -0.0005474858917295933,
+ 0.21792471408843994,
+ -0.001838883850723505,
+ -0.0030926750041544437,
+ 0.09450103342533112,
+ 0.0019025140209123492,
+ -0.00048441518447361887,
+ 0.07298529893159866,
+ -0.0018179041799157858,
+ 0.000696560658980161,
+ 0.10515204817056656,
+ 0.2429402768611908,
+ -0.11728392541408539,
+ 0.0012736305361613631,
+ 0.0019130525179207325,
+ -0.1002454161643982,
+ -0.0018254859605804086,
+ -0.0017985292943194509,
+ -0.1177121251821518
+ ],
+ "wrist_pos": [
+ 0.1215902715921402,
+ 0.0022706894669681787,
+ 0.8398073315620422
+ ],
+ "wrist_rot": [
+ -0.0047910031862556934,
+ -0.005842032376676798,
+ 0.70760178565979,
+ 0.7065709829330444
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 38,
+ "virtual_xyz": [
+ 0.12505900859832764,
+ 0.0023100932594388723,
+ 0.8398733735084534
+ ],
+ "wrist_rpy": [
+ 0.0027200172189623117,
+ -0.02288658358156681,
+ 1.5732769966125488
+ ],
+ "finger_dofs": [
+ 0.16011495888233185,
+ 0.0021450219210237265,
+ -0.02613970823585987,
+ 0.09650279581546783,
+ -0.0039290450513362885,
+ 0.003711617784574628,
+ 0.048628244549036026,
+ -0.0020281535107642412,
+ 2.205879172834102e-05,
+ 0.2044575810432434,
+ 0.004102020524442196,
+ -0.06248927116394043,
+ 0.36706775426864624,
+ 0.002343802945688367,
+ -0.004001257941126823,
+ 0.09608779847621918,
+ -0.0018582453485578299,
+ -0.0012099456507712603,
+ 0.25908491015434265,
+ -0.0023564575240015984,
+ -0.01642351597547531,
+ 0.09908334910869598,
+ 0.0024614466819912195,
+ 0.0018525293562561274,
+ 0.07698910683393478,
+ -0.0019651686307042837,
+ -0.0016467919340357184,
+ 0.2482481598854065,
+ -0.001916490844450891,
+ -0.007702247239649296,
+ 0.08245182037353516,
+ 0.002048692898824811,
+ 0.001736402278766036,
+ 0.08411822468042374,
+ -0.0019031710689887404,
+ -0.0006577814347110689,
+ 0.12339217215776443,
+ 0.2513085603713989,
+ -0.12041793763637543,
+ 0.0018611664418131113,
+ -0.00047408626414835453,
+ -0.10541308671236038,
+ -0.0018077821005135775,
+ -0.001855557202361524,
+ -0.11957024782896042
+ ],
+ "wrist_pos": [
+ 0.1250591278076172,
+ 0.0023100925609469414,
+ 0.8398733139038086
+ ],
+ "wrist_rot": [
+ -0.007141013164073229,
+ -0.009044071659445763,
+ 0.7079250812530518,
+ 0.7061933875083923
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 39,
+ "virtual_xyz": [
+ 0.1285441517829895,
+ 0.0023513841442763805,
+ 0.8399948477745056
+ ],
+ "wrist_rpy": [
+ 0.004459094256162643,
+ -0.031012946739792824,
+ 1.5737743377685547
+ ],
+ "finger_dofs": [
+ 0.2164960652589798,
+ 0.002452170243486762,
+ -0.10113058239221573,
+ 0.15676374733448029,
+ -0.009325213730335236,
+ -0.003109887009486556,
+ 0.04128509387373924,
+ 0.001133597339503467,
+ 5.4735763114877045e-05,
+ 0.24904488027095795,
+ 0.006326338276267052,
+ -0.08041663467884064,
+ 0.43815121054649353,
+ 0.002230765065178275,
+ -0.0051905023865401745,
+ 0.11290628463029861,
+ -0.0019788232166320086,
+ -0.00024173365090973675,
+ 0.2954273223876953,
+ -0.002322800224646926,
+ -0.02111123688519001,
+ 0.10023530572652817,
+ 0.0023721775505691767,
+ -0.0011693323031067848,
+ 0.08565930277109146,
+ -0.0019657020457088947,
+ -0.001106215175241232,
+ 0.2755481004714966,
+ -0.00188640714623034,
+ -0.009534354321658611,
+ 0.07347991317510605,
+ 0.0020235907286405563,
+ 0.001375157735310495,
+ 0.09506560117006302,
+ -0.0019105939427390695,
+ -0.0017241027671843767,
+ 0.14205002784729004,
+ 0.25882378220558167,
+ -0.12208779901266098,
+ 0.0019451556727290154,
+ -0.0016985902329906821,
+ -0.11050020903348923,
+ -0.0011275382712483406,
+ -0.0018882793374359608,
+ -0.12105569988489151
+ ],
+ "wrist_pos": [
+ 0.12854427099227905,
+ 0.0023513834457844496,
+ 0.8399947881698608
+ ],
+ "wrist_rot": [
+ -0.009406459517776966,
+ -0.012526516802608967,
+ 0.7080474495887756,
+ 0.7059910297393799
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 40,
+ "virtual_xyz": [
+ 0.13205654919147491,
+ 0.0023340582847595215,
+ 0.8400412797927856
+ ],
+ "wrist_rpy": [
+ 0.004353474825620651,
+ -0.03323141857981682,
+ 1.5729713439941406
+ ],
+ "finger_dofs": [
+ 0.23547716438770294,
+ 0.004906198475509882,
+ -0.13464553654193878,
+ 0.3277100920677185,
+ -0.0048994082026183605,
+ -0.008226028643548489,
+ 0.04802757129073143,
+ 0.002376463497057557,
+ 5.811164010083303e-05,
+ 0.27578291296958923,
+ 0.008178865537047386,
+ -0.08669154345989227,
+ 0.5033103823661804,
+ 0.004281576257199049,
+ -0.004495604429394007,
+ 0.10804318636655807,
+ -0.0019555557519197464,
+ 0.0018464465392753482,
+ 0.3094978928565979,
+ -0.0024274999741464853,
+ -0.01818685792386532,
+ 0.10609989613294601,
+ 0.0025271964259445667,
+ -0.0019459364702925086,
+ 0.09017477184534073,
+ -0.0020068485755473375,
+ 0.0006199643248692155,
+ 0.28462010622024536,
+ -0.0019646771252155304,
+ -0.006558920722454786,
+ 0.07503630965948105,
+ 0.0020718779414892197,
+ -0.001144981011748314,
+ 0.09924248605966568,
+ -0.0019315461395308375,
+ -0.0013006292283535004,
+ 0.14756235480308533,
+ 0.2652481198310852,
+ -0.12353690713644028,
+ 0.001944685005582869,
+ -0.001363694085739553,
+ -0.11476181447505951,
+ -0.0015250617871060967,
+ -0.0019185326527804136,
+ -0.12411990761756897
+ ],
+ "wrist_pos": [
+ 0.13205665349960327,
+ 0.0023340575862675905,
+ 0.8400412201881409
+ ],
+ "wrist_rot": [
+ -0.010223748162388802,
+ -0.013276181183755398,
+ 0.7077502608299255,
+ 0.7062638998031616
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 41,
+ "virtual_xyz": [
+ 0.13548478484153748,
+ 0.0022817158605903387,
+ 0.840050220489502
+ ],
+ "wrist_rpy": [
+ 0.0037438832223415375,
+ -0.03373010829091072,
+ 1.5716296434402466
+ ],
+ "finger_dofs": [
+ 0.23405857384204865,
+ 0.009172589518129826,
+ -0.14502210915088654,
+ 0.4803658723831177,
+ -0.0048362938687205315,
+ -0.0039596050046384335,
+ 0.060730841010808945,
+ 0.002017010934650898,
+ 2.407283682259731e-05,
+ 0.31282302737236023,
+ 0.00886254757642746,
+ -0.09046129882335663,
+ 0.5713140368461609,
+ 0.002714789705350995,
+ -0.004601325374096632,
+ 0.10637136548757553,
+ -0.0019291864009574056,
+ 0.0018865603487938643,
+ 0.31181931495666504,
+ -0.002326606074348092,
+ -0.011941689066588879,
+ 0.11310134828090668,
+ 0.0024303875397890806,
+ -0.0020362166687846184,
+ 0.09205362945795059,
+ -0.0019769612699747086,
+ 0.0018442844739183784,
+ 0.30361708998680115,
+ 0.0018243362428620458,
+ -0.0342845655977726,
+ 0.12408734112977982,
+ -0.0022089125122874975,
+ -0.002906905021518469,
+ 0.11370674520730972,
+ -0.0020574070513248444,
+ -0.0004847395175602287,
+ 0.14727547764778137,
+ 0.2732374370098114,
+ -0.1259675920009613,
+ 0.001885050325654447,
+ -0.0013748807832598686,
+ -0.11922036856412888,
+ -0.0018133121775463223,
+ -0.0019118433119729161,
+ -0.12802357971668243
+ ],
+ "wrist_pos": [
+ 0.13548490405082703,
+ 0.0022817151620984077,
+ 0.8400501608848572
+ ],
+ "wrist_rot": [
+ -0.01060671079903841,
+ -0.013243683613836765,
+ 0.7072769403457642,
+ 0.7067328095436096
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 42,
+ "virtual_xyz": [
+ 0.13883903622627258,
+ 0.0022516821045428514,
+ 0.8400360345840454
+ ],
+ "wrist_rpy": [
+ 0.0026962447445839643,
+ -0.0329032726585865,
+ 1.5702909231185913
+ ],
+ "finger_dofs": [
+ 0.25206634402275085,
+ 0.012383556924760342,
+ -0.15065254271030426,
+ 0.5886415839195251,
+ 0.003845623228698969,
+ 0.003560646204277873,
+ 0.0744238868355751,
+ -0.00186042336281389,
+ -6.47101160211605e-07,
+ 0.3216063976287842,
+ 0.010190761648118496,
+ -0.0916600227355957,
+ 0.6521350145339966,
+ 0.0019170785089954734,
+ -0.004538191948086023,
+ 0.11481734365224838,
+ -0.0019547436386346817,
+ 0.0019089567940682173,
+ 0.3109702169895172,
+ -0.002297694329172373,
+ -0.006827475503087044,
+ 0.11765629798173904,
+ 0.0023812970612198114,
+ -0.0020700423046946526,
+ 0.09307105094194412,
+ -0.0019595762714743614,
+ 0.0018632574938237667,
+ 0.3229301869869232,
+ 0.002867563394829631,
+ -0.05944688618183136,
+ 0.19799502193927765,
+ -0.0033109053038060665,
+ -0.004538426641374826,
+ 0.1358713060617447,
+ -0.0023337709717452526,
+ 0.0009236576734110713,
+ 0.1454143077135086,
+ 0.28124722838401794,
+ -0.12915250658988953,
+ 0.0017356590833514929,
+ -0.001163295703008771,
+ -0.12306880205869675,
+ -0.0018319354858249426,
+ -0.001886859885416925,
+ -0.13257938623428345
+ ],
+ "wrist_pos": [
+ 0.13883915543556213,
+ 0.0022516814060509205,
+ 0.8400359749794006
+ ],
+ "wrist_rot": [
+ -0.010676005855202675,
+ -0.012588197365403175,
+ 0.7068160772323608,
+ 0.7072046995162964
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 43,
+ "virtual_xyz": [
+ 0.14209102094173431,
+ 0.002238920424133539,
+ 0.840034544467926
+ ],
+ "wrist_rpy": [
+ 0.0006246007978916168,
+ -0.028863267973065376,
+ 1.569042682647705
+ ],
+ "finger_dofs": [
+ 0.2812359631061554,
+ 0.012850072234869003,
+ -0.1517484039068222,
+ 0.6455777287483215,
+ 0.004228971898555756,
+ 0.004101611208170652,
+ 0.08551958203315735,
+ -0.0018793306080624461,
+ -1.5159434042288922e-05,
+ 0.3392544388771057,
+ 0.014950769953429699,
+ -0.08248527348041534,
+ 0.7279508113861084,
+ 0.004343378823250532,
+ -0.009008482098579407,
+ 0.10409366339445114,
+ -0.0019926016684621572,
+ 0.0019273129291832447,
+ 0.30258387327194214,
+ -0.0021997219882905483,
+ -0.0016761195147410035,
+ 0.13058412075042725,
+ 0.002237916924059391,
+ -0.002211888087913394,
+ 0.09210599213838577,
+ -0.0019318602280691266,
+ 0.0018977358704432845,
+ 0.3088560402393341,
+ 0.0028081301134079695,
+ -0.07838667184114456,
+ 0.2610095739364624,
+ -0.004793349653482437,
+ -0.0019098712364211679,
+ 0.13669705390930176,
+ -0.0018608334939926863,
+ 0.0018435810925439,
+ 0.14225918054580688,
+ 0.2875747084617615,
+ -0.13368165493011475,
+ 0.001861520460806787,
+ -0.0011747947428375483,
+ -0.12320704758167267,
+ -0.0018090842058882117,
+ -0.0018773289630189538,
+ -0.13902431726455688
+ ],
+ "wrist_pos": [
+ 0.14209114015102386,
+ 0.0022389197256416082,
+ 0.8400344848632812
+ ],
+ "wrist_rot": [
+ -0.009974349290132523,
+ -0.010433755815029144,
+ 0.7064096331596375,
+ 0.7076559066772461
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 44,
+ "virtual_xyz": [
+ 0.1452939361333847,
+ 0.0022268234752118587,
+ 0.8399993777275085
+ ],
+ "wrist_rpy": [
+ -0.0015959448646754026,
+ -0.025775521993637085,
+ 1.5679349899291992
+ ],
+ "finger_dofs": [
+ 0.29983195662498474,
+ 0.015310115180909634,
+ -0.1532120257616043,
+ 0.713860273361206,
+ 0.0041614859364926815,
+ 0.0035143722780048847,
+ 0.09126334637403488,
+ -0.001821871381253004,
+ -2.3035558115225285e-05,
+ 0.33771201968193054,
+ 0.01181054301559925,
+ -0.07896337658166885,
+ 0.793813169002533,
+ 0.002089962363243103,
+ -0.0040339212864637375,
+ 0.1090635359287262,
+ -0.0018701977096498013,
+ 0.0019046658417209983,
+ 0.2983519434928894,
+ -0.0021915938705205917,
+ 0.002684768056496978,
+ 0.13666923344135284,
+ 0.0022417190484702587,
+ -0.0021997380536049604,
+ 0.09234366565942764,
+ -0.0019281069980934262,
+ 0.0018974390113726258,
+ 0.31904274225234985,
+ 0.005439742002636194,
+ -0.09982705116271973,
+ 0.36253926157951355,
+ -0.010066850110888481,
+ -0.007525121793150902,
+ 0.17041191458702087,
+ -0.002616719575598836,
+ 0.0018689368152990937,
+ 0.13981404900550842,
+ 0.29437655210494995,
+ -0.13762570917606354,
+ 0.0016389488009735942,
+ -0.0009650071733631194,
+ -0.1253003180027008,
+ -0.0018102749017998576,
+ -0.0018498338758945465,
+ -0.1443154364824295
+ ],
+ "wrist_pos": [
+ 0.14529405534267426,
+ 0.002226822776719928,
+ 0.8399993181228638
+ ],
+ "wrist_rot": [
+ -0.009664541110396385,
+ -0.008562379516661167,
+ 0.7060427069664001,
+ 0.7080513834953308
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 45,
+ "virtual_xyz": [
+ 0.1483965516090393,
+ 0.002208566991612315,
+ 0.8400120735168457
+ ],
+ "wrist_rpy": [
+ -0.0024048227351158857,
+ -0.024824149906635284,
+ 1.5667734146118164
+ ],
+ "finger_dofs": [
+ 0.32111382484436035,
+ 0.018256235867738724,
+ -0.1442287713289261,
+ 0.7768108248710632,
+ 0.0035330471582710743,
+ 0.0023636003024876118,
+ 0.09480996429920197,
+ -0.0006172812427394092,
+ -2.9949953386676498e-05,
+ 0.34606289863586426,
+ 0.013875722885131836,
+ -0.07465477287769318,
+ 0.8808329701423645,
+ 0.0030837918166071177,
+ -0.004330329596996307,
+ 0.10886040329933167,
+ -0.001882589072920382,
+ 0.0019632952753454447,
+ 0.3036699891090393,
+ -0.002244283678010106,
+ 0.005789727903902531,
+ 0.1381121575832367,
+ 0.002272584941238165,
+ -0.0022924859076738358,
+ 0.09426668286323547,
+ -0.0019423922058194876,
+ 0.0019300354178994894,
+ 0.3250717520713806,
+ 0.013836952857673168,
+ -0.10295762866735458,
+ 0.44270020723342896,
+ -0.008569153025746346,
+ -0.007914593443274498,
+ 0.1822306215763092,
+ -0.0027687058318406343,
+ 0.0019275430822744966,
+ 0.14227740466594696,
+ 0.30259379744529724,
+ -0.14059412479400635,
+ 0.0018660571658983827,
+ -0.00041832748684100807,
+ -0.12951260805130005,
+ -0.0018083505565300584,
+ -0.00186834204941988,
+ -0.14810994267463684
+ ],
+ "wrist_pos": [
+ 0.14839667081832886,
+ 0.002208566293120384,
+ 0.8400120139122009
+ ],
+ "wrist_rot": [
+ -0.009610391221940517,
+ -0.007945481687784195,
+ 0.7056386470794678,
+ 0.7084621787071228
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 46,
+ "virtual_xyz": [
+ 0.1514054387807846,
+ 0.0022232418414205313,
+ 0.8400101661682129
+ ],
+ "wrist_rpy": [
+ -0.003659220179542899,
+ -0.02351997047662735,
+ 1.5666429996490479
+ ],
+ "finger_dofs": [
+ 0.32583463191986084,
+ 0.02047404833137989,
+ -0.14950400590896606,
+ 0.8520803451538086,
+ 0.004417271353304386,
+ 0.0017221457092091441,
+ 0.09922318160533905,
+ 0.00044998672092333436,
+ -2.826951094903052e-05,
+ 0.3661758005619049,
+ 0.014014936983585358,
+ -0.06977181136608124,
+ 0.9450646042823792,
+ 0.0035780691541731358,
+ -0.005089784972369671,
+ 0.11078145354986191,
+ -0.0019105540122836828,
+ 0.0018938217544928193,
+ 0.30383560061454773,
+ -0.0020756120793521404,
+ 0.006402603350579739,
+ 0.1462450921535492,
+ 0.002068067668005824,
+ -0.0022390831727534533,
+ 0.09493183344602585,
+ -0.001886447542347014,
+ 0.0019049968104809523,
+ 0.315536767244339,
+ 0.019178392365574837,
+ -0.11278054118156433,
+ 0.5076829195022583,
+ -0.004871442448347807,
+ -0.008184331469237804,
+ 0.13288229703903198,
+ -0.002618451602756977,
+ 0.0018827292369678617,
+ 0.14343875646591187,
+ 0.30934616923332214,
+ -0.14561492204666138,
+ 0.0018374883802607656,
+ -0.00011335726594552398,
+ -0.13101528584957123,
+ -0.0018012665677815676,
+ -0.0018349139718338847,
+ -0.15302737057209015
+ ],
+ "wrist_pos": [
+ 0.15140554308891296,
+ 0.0022232411429286003,
+ 0.8400101065635681
+ ],
+ "wrist_rot": [
+ -0.009594162926077843,
+ -0.007041639182716608,
+ 0.7056019902229309,
+ 0.708508312702179
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 47,
+ "virtual_xyz": [
+ 0.1543089896440506,
+ 0.00222512218169868,
+ 0.8400281667709351
+ ],
+ "wrist_rpy": [
+ -0.004504656419157982,
+ -0.02232055738568306,
+ 1.5666521787643433
+ ],
+ "finger_dofs": [
+ 0.33146777749061584,
+ 0.02209511026740074,
+ -0.1466522067785263,
+ 0.9187222123146057,
+ 0.004437427036464214,
+ -0.002203217474743724,
+ 0.10223641246557236,
+ 0.0018149090465158224,
+ -2.3982813218026422e-05,
+ 0.38632988929748535,
+ 0.011406435631215572,
+ -0.06477891653776169,
+ 1.0055783987045288,
+ 0.002404268365353346,
+ -0.004232065752148628,
+ 0.12223373353481293,
+ -0.0019201842369511724,
+ 0.0019166847923770547,
+ 0.30613842606544495,
+ -0.0021403287537395954,
+ 0.0065025282092392445,
+ 0.14990943670272827,
+ 0.00217828038148582,
+ -0.0022504322696477175,
+ 0.09646330028772354,
+ -0.001919722417369485,
+ 0.001914188964292407,
+ 0.32801592350006104,
+ 0.02120799943804741,
+ -0.1274937391281128,
+ 0.6035680770874023,
+ -0.01649443991482258,
+ -0.0108468197286129,
+ 0.1636669933795929,
+ -0.0028423983603715897,
+ 0.0019242640119045973,
+ 0.1453271359205246,
+ 0.3167976438999176,
+ -0.150347039103508,
+ 0.0018195310840383172,
+ -0.0005488813039846718,
+ -0.13256581127643585,
+ -0.0017885270062834024,
+ -0.0018385404255241156,
+ -0.15761204063892365
+ ],
+ "wrist_pos": [
+ 0.15430910885334015,
+ 0.002225121483206749,
+ 0.8400281071662903
+ ],
+ "wrist_rot": [
+ -0.009470595046877861,
+ -0.006318290252238512,
+ 0.7056121230125427,
+ 0.7085068225860596
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 48,
+ "virtual_xyz": [
+ 0.15704840421676636,
+ 0.002272604499012232,
+ 0.8402366042137146
+ ],
+ "wrist_rpy": [
+ -0.005007750820368528,
+ -0.020922347903251648,
+ 1.565247654914856
+ ],
+ "finger_dofs": [
+ 0.3467666506767273,
+ 0.021296819671988487,
+ -0.14329643547534943,
+ 0.9787136912345886,
+ 0.005698854569345713,
+ -0.0020410004071891308,
+ 0.10423833876848221,
+ 0.0018051244551315904,
+ -1.929595418914687e-05,
+ 0.44238415360450745,
+ 0.008347265422344208,
+ -0.06370197236537933,
+ 1.0120973587036133,
+ -0.0007417429005727172,
+ -0.0024595947470515966,
+ 0.12464556843042374,
+ -0.0017894819611683488,
+ 0.0018598450114950538,
+ 0.3147321045398712,
+ -0.002345204586163163,
+ 0.011011469177901745,
+ 0.15114563703536987,
+ 0.002291229320690036,
+ -0.0024567025247961283,
+ 0.09971282631158829,
+ -0.001972625497728586,
+ 0.001990802353248,
+ 0.3529805541038513,
+ 0.02161468379199505,
+ -0.13265453279018402,
+ 0.6214429140090942,
+ -0.015817994251847267,
+ -0.009018938057124615,
+ 0.21144133806228638,
+ -0.0028828426729887724,
+ 0.0019973719026893377,
+ 0.14930495619773865,
+ 0.32400596141815186,
+ -0.15308263897895813,
+ 0.001964184921234846,
+ -0.0006652801530435681,
+ -0.13449768722057343,
+ -0.0015431911451742053,
+ -0.0018567823572084308,
+ -0.16171123087406158
+ ],
+ "wrist_pos": [
+ 0.1570485234260559,
+ 0.002272603800520301,
+ 0.8402365446090698
+ ],
+ "wrist_rot": [
+ -0.00915160495787859,
+ -0.005651991814374924,
+ 0.7051198482513428,
+ 0.7090064287185669
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 49,
+ "virtual_xyz": [
+ 0.1596645563840866,
+ 0.0023432928137481213,
+ 0.8405748605728149
+ ],
+ "wrist_rpy": [
+ -0.005223384592682123,
+ -0.019834809005260468,
+ 1.565018892288208
+ ],
+ "finger_dofs": [
+ 0.3808867633342743,
+ 0.021957531571388245,
+ -0.1397506296634674,
+ 1.0076829195022583,
+ 0.004656121134757996,
+ -0.0021499451249837875,
+ 0.10443580895662308,
+ 0.0018052593804895878,
+ -3.3351486763422145e-06,
+ 0.522643506526947,
+ 0.008988487534224987,
+ -0.06320405006408691,
+ 0.9841465950012207,
+ 0.003686301875859499,
+ 0.002922317013144493,
+ 0.12216512113809586,
+ 0.0001064359603333287,
+ 0.001878296840004623,
+ 0.32277238368988037,
+ -0.0023539524991065264,
+ 0.012338466010987759,
+ 0.1547510027885437,
+ 0.00229380140081048,
+ -0.002394270384684205,
+ 0.1024109348654747,
+ -0.001988720614463091,
+ 0.001977140549570322,
+ 0.3622252345085144,
+ 0.02332809939980507,
+ -0.14285649359226227,
+ 0.6507382988929749,
+ -0.016113102436065674,
+ -0.010458618402481079,
+ 0.2347702980041504,
+ -0.0031289448961615562,
+ 0.0019874293357133865,
+ 0.15405040979385376,
+ 0.3326522409915924,
+ -0.15908095240592957,
+ 0.0019998049829155207,
+ -0.0013793254038318992,
+ -0.13379113376140594,
+ -0.0005691820988431573,
+ -0.001818374847061932,
+ -0.16727443039417267
+ ],
+ "wrist_pos": [
+ 0.15966467559337616,
+ 0.0023432921152561903,
+ 0.8405748009681702
+ ],
+ "wrist_rot": [
+ -0.00884407851845026,
+ -0.0051913876086473465,
+ 0.7050423622131348,
+ 0.7090908885002136
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 50,
+ "virtual_xyz": [
+ 0.16210593283176422,
+ 0.0024451096542179585,
+ 0.8410254120826721
+ ],
+ "wrist_rpy": [
+ -0.00476189935579896,
+ -0.013511945493519306,
+ 1.5632281303405762
+ ],
+ "finger_dofs": [
+ 0.4468848705291748,
+ 0.01738622412085533,
+ -0.12855231761932373,
+ 0.9843108654022217,
+ 0.004153773654252291,
+ 0.0018319004448130727,
+ 0.10341320186853409,
+ 0.0014159564161673188,
+ 1.2886011973023415e-05,
+ 0.6325655579566956,
+ 0.00046346383169293404,
+ -0.05516807734966278,
+ 0.8986907601356506,
+ 0.0012151823611930013,
+ -0.0014995929086580873,
+ 0.12030774354934692,
+ -0.0017957055242732167,
+ 0.00199620658531785,
+ 0.3105427920818329,
+ -0.0014752368442714214,
+ 0.019584760069847107,
+ 0.16950654983520508,
+ 0.0019491270650178194,
+ -0.00241236574947834,
+ 0.10143738985061646,
+ -0.001906875055283308,
+ 0.001976872095838189,
+ 0.3671454191207886,
+ 0.02620427869260311,
+ -0.15481632947921753,
+ 0.6865540146827698,
+ -0.016050908714532852,
+ -0.009347008541226387,
+ 0.23914207518100739,
+ -0.0030310852453112602,
+ 0.001955793472006917,
+ 0.1533007025718689,
+ 0.34288930892944336,
+ -0.16539637744426727,
+ -0.000559902167879045,
+ -0.0018775255884975195,
+ -0.1291196048259735,
+ 0.0012845309684053063,
+ -0.0006961491308175027,
+ -0.17475701868534088
+ ],
+ "wrist_pos": [
+ 0.16210605204105377,
+ 0.002445108722895384,
+ 0.8410253524780273
+ ],
+ "wrist_rot": [
+ -0.006448885425925255,
+ -0.0031179976649582386,
+ 0.7044191360473633,
+ 0.7097480297088623
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 51,
+ "virtual_xyz": [
+ 0.1644945591688156,
+ 0.0024794163182377815,
+ 0.8415488004684448
+ ],
+ "wrist_rpy": [
+ -0.006814322900027037,
+ -0.00923212617635727,
+ 1.5602672100067139
+ ],
+ "finger_dofs": [
+ 0.5274822115898132,
+ 0.012478849850594997,
+ -0.1119648888707161,
+ 0.9597768783569336,
+ 0.0037904006894677877,
+ 0.0019830577075481415,
+ 0.10219522565603256,
+ 0.0007722518057562411,
+ 1.4737759556737728e-05,
+ 0.7114840149879456,
+ -0.003133654361590743,
+ -0.05014234036207199,
+ 0.8195714950561523,
+ 0.0018540157470852137,
+ 0.0027903467416763306,
+ 0.10681262612342834,
+ -5.9013193094870076e-05,
+ 0.0020234729163348675,
+ 0.31088507175445557,
+ -0.0020415184553712606,
+ 0.03401561081409454,
+ 0.17397768795490265,
+ 0.001916789449751377,
+ -0.0026717325672507286,
+ 0.10302215069532394,
+ -0.0019167138962075114,
+ 0.0020686269272118807,
+ 0.39008215069770813,
+ 0.02779611200094223,
+ -0.15615445375442505,
+ 0.7364391088485718,
+ -0.017442336305975914,
+ -0.009386364370584488,
+ 0.24750752747058868,
+ -0.0029855191241949797,
+ 0.0020150900818407536,
+ 0.15205800533294678,
+ 0.3486231863498688,
+ -0.16644449532032013,
+ -0.00016553972091060132,
+ -0.0018302216194570065,
+ -0.13008971512317657,
+ 0.0016304765595123172,
+ -0.0001482719526393339,
+ -0.17949789762496948
+ ],
+ "wrist_pos": [
+ 0.16449466347694397,
+ 0.002479415386915207,
+ 0.8415487408638
+ ],
+ "wrist_rot": [
+ -0.005668541416525841,
+ -0.0008846757118590176,
+ 0.7033738493919373,
+ 0.7107968926429749
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 52,
+ "virtual_xyz": [
+ 0.16676923632621765,
+ 0.0024574967101216316,
+ 0.8418338894844055
+ ],
+ "wrist_rpy": [
+ -0.006275876425206661,
+ -0.005272941663861275,
+ 1.5568848848342896
+ ],
+ "finger_dofs": [
+ 0.5983832478523254,
+ 0.01104376744478941,
+ -0.09877371042966843,
+ 0.9008999466896057,
+ 0.0053949858993291855,
+ 0.00373720726929605,
+ 0.10033869743347168,
+ -0.0011598225682973862,
+ 7.854380783101078e-06,
+ 0.8207520246505737,
+ 0.006185506470501423,
+ -0.05512404814362526,
+ 0.7661377191543579,
+ -0.0023374399170279503,
+ -0.0038127724546939135,
+ 0.12445633113384247,
+ -0.0019668848253786564,
+ 0.002039087237790227,
+ 0.2996671497821808,
+ 0.0020900056697428226,
+ 0.04374270886182785,
+ 0.1861993968486786,
+ -0.0019821315072476864,
+ -0.0031631949823349714,
+ 0.10259034484624863,
+ -0.0018221652135252953,
+ 0.0021720032673329115,
+ 0.4032825529575348,
+ 0.02881339006125927,
+ -0.1606973558664322,
+ 0.7820010185241699,
+ -0.01808527670800686,
+ -0.008631439879536629,
+ 0.24621696770191193,
+ -0.0028578457422554493,
+ 0.002047512913122773,
+ 0.15050657093524933,
+ 0.356685996055603,
+ -0.16757610440254211,
+ -0.002280429471284151,
+ -0.0020867250859737396,
+ -0.131036177277565,
+ 0.0017422671662643552,
+ 0.00044238122063688934,
+ -0.1830722689628601
+ ],
+ "wrist_pos": [
+ 0.1667693555355072,
+ 0.002457495778799057,
+ 0.8418338298797607
+ ],
+ "wrist_rot": [
+ -0.004085290711373091,
+ 0.0003261954116169363,
+ 0.7021710872650146,
+ 0.7119964957237244
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 53,
+ "virtual_xyz": [
+ 0.16887280344963074,
+ 0.002471852581948042,
+ 0.8423693180084229
+ ],
+ "wrist_rpy": [
+ -0.004469378851354122,
+ -0.0019283853471279144,
+ 1.5543928146362305
+ ],
+ "finger_dofs": [
+ 0.6703381538391113,
+ 0.005379077512770891,
+ -0.0890374407172203,
+ 0.8220070600509644,
+ 0.004061883315443993,
+ 0.006030391436070204,
+ 0.09829068183898926,
+ -0.0019218282541260123,
+ 3.1332974685938098e-06,
+ 0.9051296710968018,
+ 0.003724845824763179,
+ -0.03454701974987984,
+ 0.6867246031761169,
+ -0.0017445230623707175,
+ -0.0033147726207971573,
+ 0.1581428050994873,
+ -0.002082135993987322,
+ 0.0021207176614552736,
+ 0.29761287569999695,
+ 0.0018622087081894279,
+ 0.04665901139378548,
+ 0.20284782350063324,
+ -0.0019719074480235577,
+ -0.0030601131729781628,
+ 0.10122981667518616,
+ -0.001849727239459753,
+ 0.002177492482587695,
+ 0.40233197808265686,
+ 0.027333412319421768,
+ -0.1628899872303009,
+ 0.8478550314903259,
+ -0.01579737663269043,
+ -0.007057234179228544,
+ 0.23404328525066376,
+ -0.0026050866581499577,
+ 0.002137373201549053,
+ 0.15854912996292114,
+ 0.3650023639202118,
+ -0.17009350657463074,
+ -0.0017885493580251932,
+ -0.0020421184599399567,
+ -0.13204516470432281,
+ 0.001867001410573721,
+ 0.0009143169736489654,
+ -0.18592196702957153
+ ],
+ "wrist_pos": [
+ 0.1688729226589203,
+ 0.0024718516506254673,
+ 0.8423692584037781
+ ],
+ "wrist_rot": [
+ -0.0022691863123327494,
+ 0.0008798404596745968,
+ 0.7012828588485718,
+ 0.712878942489624
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 54,
+ "virtual_xyz": [
+ 0.17085546255111694,
+ 0.0024386332370340824,
+ 0.8426995873451233
+ ],
+ "wrist_rpy": [
+ -0.01070389524102211,
+ 0.01204706635326147,
+ 1.552261471748352
+ ],
+ "finger_dofs": [
+ 0.7243049144744873,
+ 0.0009525256464257836,
+ -0.07060682028532028,
+ 0.8520048260688782,
+ 0.00477299140766263,
+ 0.0024814317002892494,
+ 0.10471946001052856,
+ -0.0012323908740654588,
+ 7.562318387499545e-06,
+ 0.9056816697120667,
+ -0.001960314577445388,
+ -0.019470971077680588,
+ 0.7100430727005005,
+ -0.005638218950480223,
+ -0.0044672079384326935,
+ 0.11476349085569382,
+ 2.4186185328289866e-05,
+ 0.0020855586044490337,
+ 0.26840031147003174,
+ 0.000813369348179549,
+ 0.05874840170145035,
+ 0.21715624630451202,
+ -0.002455355366691947,
+ -0.003450859570875764,
+ 0.09866710752248764,
+ -0.0015605901135131717,
+ 0.002330642892047763,
+ 0.3849911391735077,
+ 0.026700759306550026,
+ -0.1640145480632782,
+ 0.9130938053131104,
+ -0.011720222420990467,
+ -0.0032191837672144175,
+ 0.19802351295948029,
+ -0.001919014728628099,
+ 0.002021915977820754,
+ 0.14001579582691193,
+ 0.3639847934246063,
+ -0.17632800340652466,
+ -0.0009001863072626293,
+ -0.0015153042040765285,
+ -0.12061239033937454,
+ 0.0018088568467646837,
+ 0.0018995688296854496,
+ -0.19748853147029877
+ ],
+ "wrist_pos": [
+ 0.1708555817604065,
+ 0.0024386325385421515,
+ 0.8426995277404785
+ ],
+ "wrist_rot": [
+ 0.0004003551439382136,
+ 0.008047550916671753,
+ 0.7004775404930115,
+ 0.713628888130188
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 55,
+ "virtual_xyz": [
+ 0.17259256541728973,
+ 0.002476608147844672,
+ 0.8433138132095337
+ ],
+ "wrist_rpy": [
+ -0.01984069123864174,
+ 0.029388006776571274,
+ 1.5481269359588623
+ ],
+ "finger_dofs": [
+ 0.7528554201126099,
+ -0.003737639170140028,
+ -0.04289562627673149,
+ 0.8306229114532471,
+ 0.0037214288022369146,
+ 0.0028159539215266705,
+ 0.10539095848798752,
+ -0.0017672256799414754,
+ 6.242270319489762e-05,
+ 0.906298816204071,
+ 0.0016265322919934988,
+ -0.008394223637878895,
+ 0.7523816823959351,
+ -0.0018182425992563367,
+ -0.0035137406084686518,
+ 0.06973112374544144,
+ 0.001930762897245586,
+ 0.0022087085526436567,
+ 0.24015332758426666,
+ 0.001833383459597826,
+ 0.07192128896713257,
+ 0.22790804505348206,
+ -0.002641633152961731,
+ -0.003248439868912101,
+ 0.09777622669935226,
+ -0.0018031266517937183,
+ 0.0022711483761668205,
+ 0.40899696946144104,
+ 0.022594276815652847,
+ -0.16433116793632507,
+ 0.9278008341789246,
+ -0.005929288454353809,
+ 0.0024236408062279224,
+ 0.14309947192668915,
+ 0.0018929472425952554,
+ 0.001876380993053317,
+ 0.12136868387460709,
+ 0.3645789921283722,
+ -0.1804811656475067,
+ -0.0014223193284124136,
+ -0.0018618276808410883,
+ -0.11071380972862244,
+ 0.0020418837666511536,
+ 0.002000214299187064,
+ -0.2077946811914444
+ ],
+ "wrist_pos": [
+ 0.1725926697254181,
+ 0.0024766072165220976,
+ 0.8433137536048889
+ ],
+ "wrist_rot": [
+ 0.0031780393328517675,
+ 0.017440302297472954,
+ 0.6988323926925659,
+ 0.715065598487854
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 56,
+ "virtual_xyz": [
+ 0.17419764399528503,
+ 0.0025017699226737022,
+ 0.8439152836799622
+ ],
+ "wrist_rpy": [
+ -0.02529565617442131,
+ 0.04795806109905243,
+ 1.5473880767822266
+ ],
+ "finger_dofs": [
+ 0.7958150506019592,
+ -0.0038931763265281916,
+ -0.055534727871418,
+ 0.7732933163642883,
+ 0.004697596654295921,
+ 0.0032837132457643747,
+ 0.10858194530010223,
+ -0.0017873337492346764,
+ 0.00011858467769343406,
+ 0.8850038647651672,
+ 0.0022714424412697554,
+ -0.011488164775073528,
+ 0.8363421559333801,
+ -0.002752825850620866,
+ -0.002053068485110998,
+ 0.037610121071338654,
+ 0.0020537388045340776,
+ 0.00015053058450575918,
+ 0.20548929274082184,
+ 0.002175903646275401,
+ 0.06679698824882507,
+ 0.24157631397247314,
+ -0.0029084542766213417,
+ -0.002748724538832903,
+ 0.09676427394151688,
+ -0.0014407115522772074,
+ 0.0021214098669588566,
+ 0.4400232136249542,
+ 0.015531893819570541,
+ -0.16904768347740173,
+ 0.9115117192268372,
+ -0.011810563504695892,
+ -0.002829563105478883,
+ 0.13050931692123413,
+ 5.653458720189519e-05,
+ -0.0019704317674040794,
+ 0.10606206208467484,
+ 0.36832597851753235,
+ -0.19316288828849792,
+ -0.0019464308861643076,
+ -0.0020697875879704952,
+ -0.09352400153875351,
+ 0.0021426721941679716,
+ 0.0021968232467770576,
+ -0.22051474452018738
+ ],
+ "wrist_pos": [
+ 0.17419776320457458,
+ 0.0025017689913511276,
+ 0.8439152240753174
+ ],
+ "wrist_rot": [
+ 0.007708844728767872,
+ 0.025985199958086014,
+ 0.6983086466789246,
+ 0.7152833342552185
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 57,
+ "virtual_xyz": [
+ 0.17570680379867554,
+ 0.0025228620506823063,
+ 0.844346821308136
+ ],
+ "wrist_rpy": [
+ -0.02592652104794979,
+ 0.059196632355451584,
+ 1.5436294078826904
+ ],
+ "finger_dofs": [
+ 0.8161701560020447,
+ -0.0058689727447927,
+ -0.016193872317671776,
+ 0.7586790323257446,
+ -0.002141772536560893,
+ -0.0026221484877169132,
+ 0.10328815877437592,
+ 0.0008426878484897316,
+ 0.00024373091582674533,
+ 0.9152913689613342,
+ -0.0017147898906841874,
+ -0.008033721707761288,
+ 0.8119962215423584,
+ -0.0026545238215476274,
+ -0.00021042555454187095,
+ 0.043529052287340164,
+ 0.001847444917075336,
+ 0.001989788142964244,
+ 0.19986934959888458,
+ 0.0017581828869879246,
+ 0.07621164619922638,
+ 0.2419750839471817,
+ -0.0029227212071418762,
+ -0.004024507012218237,
+ 0.09826220571994781,
+ -0.0018753829644992948,
+ 0.002549770288169384,
+ 0.49362632632255554,
+ 0.016180692240595818,
+ -0.18907397985458374,
+ 0.8442268371582031,
+ -0.013165830634534359,
+ 0.00010552464664215222,
+ 0.11524225026369095,
+ 0.0019327657064422965,
+ 0.0007628707680851221,
+ 0.10489824414253235,
+ 0.3747987449169159,
+ -0.19209571182727814,
+ -0.0010669154580682516,
+ -0.002076983917504549,
+ -0.09462704509496689,
+ 0.0021891952492296696,
+ 0.0020124551374465227,
+ -0.22196809947490692
+ ],
+ "wrist_pos": [
+ 0.1757069230079651,
+ 0.0025228611193597317,
+ 0.8443467617034912
+ ],
+ "wrist_rot": [
+ 0.011352643370628357,
+ 0.030243420973420143,
+ 0.696797788143158,
+ 0.716539740562439
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 58,
+ "virtual_xyz": [
+ 0.17703890800476074,
+ 0.0023850086145102978,
+ 0.8448236584663391
+ ],
+ "wrist_rpy": [
+ -0.02636614441871643,
+ 0.07107172161340714,
+ 1.5442917346954346
+ ],
+ "finger_dofs": [
+ 0.869464099407196,
+ -0.010051731951534748,
+ 0.0037863291800022125,
+ 0.6930740475654602,
+ 0.0013350361259654164,
+ -0.0019014907302334905,
+ 0.1016823947429657,
+ 0.0006457032868638635,
+ 0.00047804939094930887,
+ 0.9303061962127686,
+ -0.0038423375226557255,
+ -0.004149196669459343,
+ 0.7986767292022705,
+ -0.0032004525419324636,
+ -0.0010951502481475472,
+ 0.03253839164972305,
+ 0.001992073841392994,
+ 0.0018419901607558131,
+ 0.19991910457611084,
+ 0.0018763209227472544,
+ 0.0717247873544693,
+ 0.2578418254852295,
+ -0.003161519765853882,
+ -0.004342623520642519,
+ 0.10665085166692734,
+ -0.0019236885709688067,
+ 0.0025374183896929026,
+ 0.5725210309028625,
+ 0.005119424778968096,
+ -0.19656871259212494,
+ 0.7820848822593689,
+ -0.01731220819056034,
+ -0.0026103893760591745,
+ 0.10421323031187057,
+ 0.0009600798948667943,
+ -0.0008483052370138466,
+ 0.1035439521074295,
+ 0.38034388422966003,
+ -0.20225103199481964,
+ -0.0008218290749937296,
+ -0.0021963249891996384,
+ -0.08388426899909973,
+ 0.0023197124246507883,
+ 0.0020940485410392284,
+ -0.22964805364608765
+ ],
+ "wrist_pos": [
+ 0.1770390272140503,
+ 0.002385007916018367,
+ 0.8448235988616943
+ ],
+ "wrist_rot": [
+ 0.015346960164606571,
+ 0.03464226424694061,
+ 0.6968374252319336,
+ 0.7162275314331055
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 59,
+ "virtual_xyz": [
+ 0.17817072570323944,
+ 0.0023452267050743103,
+ 0.8453550934791565
+ ],
+ "wrist_rpy": [
+ -0.027289357036352158,
+ 0.07851128280162811,
+ 1.5449997186660767
+ ],
+ "finger_dofs": [
+ 0.9122337102890015,
+ -0.003935785032808781,
+ -0.01394071988761425,
+ 0.6423999667167664,
+ 0.0073321107774972916,
+ 0.0036692917346954346,
+ 0.10566596686840057,
+ -0.0014912798069417477,
+ 0.0007899511838331819,
+ 0.9538189172744751,
+ -0.004362808540463448,
+ -0.008527792990207672,
+ 0.7730714678764343,
+ -0.002816008636727929,
+ 0.0028027179650962353,
+ 0.028108946979045868,
+ 0.0019927104003727436,
+ -0.0016968249110504985,
+ 0.20991413295269012,
+ 0.0022803880274295807,
+ 0.06455744057893753,
+ 0.27877554297447205,
+ -0.003506585257127881,
+ -0.003463460598140955,
+ 0.11495006084442139,
+ -0.001874531153589487,
+ 0.002270798198878765,
+ 0.5953052639961243,
+ 0.004978572018444538,
+ -0.20024003088474274,
+ 0.7564268708229065,
+ -0.022181682288646698,
+ -0.0032755618449300528,
+ 0.11809465289115906,
+ 0.0005031194887124002,
+ -0.001969491597265005,
+ 0.1049337089061737,
+ 0.38517841696739197,
+ -0.20989063382148743,
+ 0.00021574135462287813,
+ -0.0022256039083003998,
+ -0.0780821442604065,
+ 0.0025570716243237257,
+ 0.0022531813010573387,
+ -0.2345699965953827
+ ],
+ "wrist_pos": [
+ 0.178170844912529,
+ 0.0023452260065823793,
+ 0.8453550338745117
+ ],
+ "wrist_rot": [
+ 0.01762414537370205,
+ 0.03761909157037735,
+ 0.6969415545463562,
+ 0.7159236073493958
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 60,
+ "virtual_xyz": [
+ 0.17910082638263702,
+ 0.0024774717167019844,
+ 0.8456293344497681
+ ],
+ "wrist_rpy": [
+ -0.028678789734840393,
+ 0.08259160071611404,
+ 1.542721152305603
+ ],
+ "finger_dofs": [
+ 0.9194950461387634,
+ -0.007441274356096983,
+ -0.03310026228427887,
+ 0.6429383754730225,
+ 0.010596915148198605,
+ 0.003688832512125373,
+ 0.11681138724088669,
+ -0.0017863322282209992,
+ 0.0007537048077210784,
+ 0.9835603833198547,
+ -0.003793151583522558,
+ 0.0014411782613024116,
+ 0.7416313886642456,
+ -0.002876106183975935,
+ -0.001768210669979453,
+ 0.022436080500483513,
+ 0.0020150220952928066,
+ -0.0005723164649680257,
+ 0.21770964562892914,
+ 0.0027708285488188267,
+ 0.06969507038593292,
+ 0.2920868992805481,
+ -0.00367092271335423,
+ -0.003367034252732992,
+ 0.12210816890001297,
+ -0.0018335327040404081,
+ 0.002187267178669572,
+ 0.590540885925293,
+ 0.01172959990799427,
+ -0.18695759773254395,
+ 0.7725121974945068,
+ -0.02129554934799671,
+ -0.0030228164978325367,
+ 0.14401082694530487,
+ -0.00027599313762038946,
+ -0.0020497783552855253,
+ 0.1040499284863472,
+ 0.38629207015037537,
+ -0.20741388201713562,
+ -0.0019723328296095133,
+ -0.0023658641148358583,
+ -0.08047472685575485,
+ 0.00238711666315794,
+ 0.0023547790478914976,
+ -0.23521359264850616
+ ],
+ "wrist_pos": [
+ 0.17910094559192657,
+ 0.00247747078537941,
+ 0.8456292748451233
+ ],
+ "wrist_rot": [
+ 0.01850508525967598,
+ 0.039583247154951096,
+ 0.6960209012031555,
+ 0.7166905999183655
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 61,
+ "virtual_xyz": [
+ 0.17986415326595306,
+ 0.0023956492077559233,
+ 0.8453431725502014
+ ],
+ "wrist_rpy": [
+ -0.027361245825886726,
+ 0.09307723492383957,
+ 1.543458104133606
+ ],
+ "finger_dofs": [
+ 0.9442718029022217,
+ -0.0028745653107762337,
+ -0.034137628972530365,
+ 0.6347978711128235,
+ -0.0019660508260130882,
+ 0.0019659744575619698,
+ 0.10717233270406723,
+ -0.0006710936431773007,
+ 0.000838492822367698,
+ 0.9954298734664917,
+ 0.0009358577663078904,
+ -0.016117669641971588,
+ 0.7667574882507324,
+ -0.0011397687485441566,
+ -0.0005458605010062456,
+ 0.012961581349372864,
+ 0.0021679457277059555,
+ -0.001959211425855756,
+ 0.19318775832653046,
+ 0.0030387849546968937,
+ 0.058787330985069275,
+ 0.31093695759773254,
+ -0.00367662962526083,
+ -0.0031534212175756693,
+ 0.12635257840156555,
+ -0.001899317605420947,
+ 0.0021237460896372795,
+ 0.6467685103416443,
+ -0.001400875160470605,
+ -0.18680816888809204,
+ 0.7573562264442444,
+ -0.01771751418709755,
+ -0.0013180566020309925,
+ 0.09397172927856445,
+ 0.002012376906350255,
+ -0.0022083332296460867,
+ 0.09069003164768219,
+ 0.39387959241867065,
+ -0.2193327248096466,
+ -0.002170545281842351,
+ -0.0024742234963923693,
+ -0.06598304212093353,
+ 0.002426226856186986,
+ 0.0024442183785140514,
+ -0.2437020242214203
+ ],
+ "wrist_pos": [
+ 0.17986427247524261,
+ 0.0023956485092639923,
+ 0.8453431129455566
+ ],
+ "wrist_rot": [
+ 0.022646136581897736,
+ 0.04286905750632286,
+ 0.6960989236831665,
+ 0.7163068652153015
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 62,
+ "virtual_xyz": [
+ 0.18050357699394226,
+ 0.0024073636159300804,
+ 0.8454345464706421
+ ],
+ "wrist_rpy": [
+ -0.027769211679697037,
+ 0.09679223597049713,
+ 1.5432308912277222
+ ],
+ "finger_dofs": [
+ 0.9678552746772766,
+ -0.010350896045565605,
+ -0.018288491293787956,
+ 0.5887837409973145,
+ -0.002592611825093627,
+ -0.0008199151488952339,
+ 0.1015634536743164,
+ 1.6514934031874873e-05,
+ 0.0010211366461589932,
+ 1.006066083908081,
+ 0.002867819042876363,
+ -0.01490926556289196,
+ 0.773560106754303,
+ -0.002900228137150407,
+ -0.002266579307615757,
+ 0.010641735047101974,
+ 0.0020722420886158943,
+ 0.0002705110819078982,
+ 0.2070387601852417,
+ 0.0028208286967128515,
+ 0.05472934618592262,
+ 0.3153851330280304,
+ -0.0039029368199408054,
+ -0.004287896677851677,
+ 0.13103774189949036,
+ -0.0019049776019528508,
+ 0.0024397328961640596,
+ 0.7120789289474487,
+ 0.00412761839106679,
+ -0.17439690232276917,
+ 0.7119356393814087,
+ -0.018930068239569664,
+ -0.004169469233602285,
+ 0.06947116553783417,
+ 0.00194411666598171,
+ -0.0018547276267781854,
+ 0.09517452865839005,
+ 0.3950348198413849,
+ -0.21928077936172485,
+ -0.0016459476901218295,
+ -0.0024497953709214926,
+ -0.068207748234272,
+ 0.0024873760994523764,
+ 0.002285591559484601,
+ -0.24298644065856934
+ ],
+ "wrist_pos": [
+ 0.1805036962032318,
+ 0.0024073629174381495,
+ 0.8454344868659973
+ ],
+ "wrist_rot": [
+ 0.0237897802144289,
+ 0.04434257373213768,
+ 0.6959289908409119,
+ 0.7163452506065369
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 63,
+ "virtual_xyz": [
+ 0.18084046244621277,
+ 0.0022840879391878843,
+ 0.8455914258956909
+ ],
+ "wrist_rpy": [
+ -0.02830127440392971,
+ 0.10231396555900574,
+ 1.5427944660186768
+ ],
+ "finger_dofs": [
+ 0.9847978353500366,
+ -0.004935436882078648,
+ -0.006124045234173536,
+ 0.5611765384674072,
+ -0.0029844697564840317,
+ -0.0025728808250278234,
+ 0.09734773635864258,
+ 0.0017999854171648622,
+ 0.0014475982170552015,
+ 1.0012539625167847,
+ 0.00025603905669413507,
+ -0.015309376642107964,
+ 0.7717833518981934,
+ -0.002632202347740531,
+ 0.0023822570219635963,
+ 0.014345130883157253,
+ 0.0020241423044353724,
+ -0.0014476145152002573,
+ 0.20423614978790283,
+ 0.0027389200404286385,
+ 0.052744291722774506,
+ 0.32457834482192993,
+ -0.003922782372683287,
+ -0.003454378107562661,
+ 0.13056886196136475,
+ -0.0018804927822202444,
+ 0.0023042624816298485,
+ 0.708942174911499,
+ -0.0014228069921955466,
+ -0.16950231790542603,
+ 0.727937638759613,
+ -0.01560536865144968,
+ -0.002675715135410428,
+ 0.06124741956591606,
+ 0.0021445497404783964,
+ -0.0020649065263569355,
+ 0.09309829771518707,
+ 0.3971638083457947,
+ -0.2228955328464508,
+ -0.0015059126308187842,
+ -0.0026001385413110256,
+ -0.0633908361196518,
+ 0.002652090508490801,
+ 0.0024140463210642338,
+ -0.24601227045059204
+ ],
+ "wrist_pos": [
+ 0.18084058165550232,
+ 0.0022840872406959534,
+ 0.8455913662910461
+ ],
+ "wrist_rot": [
+ 0.025512974709272385,
+ 0.046508267521858215,
+ 0.695637047290802,
+ 0.7164322137832642
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 64,
+ "virtual_xyz": [
+ 0.18094287812709808,
+ 0.0022292188368737698,
+ 0.8453145027160645
+ ],
+ "wrist_rpy": [
+ -0.03144253417849541,
+ 0.10633666068315506,
+ 1.5406965017318726
+ ],
+ "finger_dofs": [
+ 0.9828152656555176,
+ -0.006269026547670364,
+ -0.025128502398729324,
+ 0.5678493976593018,
+ 0.0065291766077280045,
+ 0.005111135542392731,
+ 0.10019854456186295,
+ -0.0018833662616088986,
+ 0.0017943537095561624,
+ 1.0022187232971191,
+ -0.000287930277409032,
+ -0.005876679439097643,
+ 0.775883674621582,
+ -0.0022521819919347763,
+ -0.0006532838451676071,
+ 0.013006007298827171,
+ 0.002145088044926524,
+ -0.00018428778275847435,
+ 0.19829332828521729,
+ 0.002950766822323203,
+ 0.0598321259021759,
+ 0.3262278437614441,
+ -0.0038766751531511545,
+ -0.003138634841889143,
+ 0.1327921450138092,
+ -0.0018899589776992798,
+ 0.00213739019818604,
+ 0.6778507828712463,
+ -0.004678631667047739,
+ -0.16412711143493652,
+ 0.7570338845252991,
+ -0.015370763838291168,
+ -0.0013032021233811975,
+ 0.057815421372652054,
+ 0.002159580122679472,
+ -0.0022257748059928417,
+ 0.08521153032779694,
+ 0.3949911892414093,
+ -0.21956157684326172,
+ -0.0023035260383039713,
+ -0.0025675625074654818,
+ -0.06437663733959198,
+ 0.0024705461692065,
+ 0.0024867195170372725,
+ -0.2460058331489563
+ ],
+ "wrist_pos": [
+ 0.18094299733638763,
+ 0.002229218138381839,
+ 0.8453144431114197
+ ],
+ "wrist_rot": [
+ 0.025737470015883446,
+ 0.049066539853811264,
+ 0.6947154402732849,
+ 0.7171473503112793
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 0,
+ "virtual_xyz": [
+ 0.18093837797641754,
+ 0.002322602551430464,
+ 0.8456152677536011
+ ],
+ "wrist_rpy": [
+ -0.032033730298280716,
+ 0.11011749505996704,
+ 1.5406948328018188
+ ],
+ "finger_dofs": [
+ 0.9638323187828064,
+ -0.01161511242389679,
+ -0.03544114902615547,
+ 0.5940484404563904,
+ 0.006485369522124529,
+ 0.006827945355325937,
+ 0.10683071613311768,
+ -0.0019057850586250424,
+ 0.0017352764261886477,
+ 0.9815102815628052,
+ -0.0010746073676273227,
+ -0.00978009682148695,
+ 0.7949944734573364,
+ -0.0018944849725812674,
+ 0.002839835127815604,
+ 0.007196458056569099,
+ 0.0020125312730669975,
+ -0.0017768149264156818,
+ 0.19625695049762726,
+ 0.0028436884749680758,
+ 0.05917903780937195,
+ 0.3284277617931366,
+ -0.004070613067597151,
+ -0.0035457664635032415,
+ 0.1332227736711502,
+ -0.0018972527468577027,
+ 0.0023175529204308987,
+ 0.6624908447265625,
+ -0.005088071338832378,
+ -0.16569533944129944,
+ 0.7733757495880127,
+ -0.0163962934166193,
+ -0.0015852117212489247,
+ 0.059535153210163116,
+ 0.002193507505580783,
+ -0.0021577286534011364,
+ 0.08701173961162567,
+ 0.3969951272010803,
+ -0.22288191318511963,
+ -0.0019976000767201185,
+ -0.0026339588221162558,
+ -0.0617150142788887,
+ 0.00258628255687654,
+ 0.002456681802868843,
+ -0.2479458451271057
+ ],
+ "wrist_pos": [
+ 0.1809384971857071,
+ 0.002322601852938533,
+ 0.8456152081489563
+ ],
+ "wrist_rot": [
+ 0.02684113197028637,
+ 0.05062529817223549,
+ 0.6946074962615967,
+ 0.717103123664856
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 1,
+ "virtual_xyz": [
+ 0.18094220757484436,
+ 0.002314393874257803,
+ 0.8457262516021729
+ ],
+ "wrist_rpy": [
+ -0.03192424401640892,
+ 0.1122329905629158,
+ 1.5410566329956055
+ ],
+ "finger_dofs": [
+ 0.95810866355896,
+ -0.010797038674354553,
+ -0.03617780655622482,
+ 0.596775472164154,
+ 0.007145480718463659,
+ 0.00673938263207674,
+ 0.11195023357868195,
+ -0.0018815613584592938,
+ 0.0017322765197604895,
+ 0.9788457751274109,
+ -0.0033368526492267847,
+ -0.009787648916244507,
+ 0.8033051490783691,
+ -0.0023906908463686705,
+ 0.002502248389646411,
+ 0.012681350111961365,
+ 0.0020471743773669004,
+ -0.00167843175586313,
+ 0.19414497911930084,
+ 0.002764140022918582,
+ 0.05959933251142502,
+ 0.3273203670978546,
+ -0.004015741869807243,
+ -0.003837064141407609,
+ 0.1345507800579071,
+ -0.001924561569467187,
+ 0.002405972685664892,
+ 0.6737753748893738,
+ -0.002174592111259699,
+ -0.16654780507087708,
+ 0.7617279887199402,
+ -0.015911536291241646,
+ -0.002690492896363139,
+ 0.0595138743519783,
+ 0.002116330899298191,
+ -0.002055692719295621,
+ 0.08798450976610184,
+ 0.4007832705974579,
+ -0.2253192663192749,
+ -0.001730311312712729,
+ -0.0026363995857536793,
+ -0.06082044914364815,
+ 0.0026446455158293247,
+ 0.0024359070230275393,
+ -0.24995830655097961
+ ],
+ "wrist_pos": [
+ 0.1809423267841339,
+ 0.002314393175765872,
+ 0.8457261919975281
+ ],
+ "wrist_rot": [
+ 0.027625564485788345,
+ 0.05133940652012825,
+ 0.694687008857727,
+ 0.7169455885887146
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 2,
+ "virtual_xyz": [
+ 0.18096309900283813,
+ 0.002322581596672535,
+ 0.845684826374054
+ ],
+ "wrist_rpy": [
+ -0.03204864263534546,
+ 0.11287634819746017,
+ 1.541072130203247
+ ],
+ "finger_dofs": [
+ 0.9579002261161804,
+ -0.009825492277741432,
+ -0.01836784929037094,
+ 0.593907356262207,
+ -0.003841055789962411,
+ -0.0036387164145708084,
+ 0.112950898706913,
+ -0.0006700239609926939,
+ 0.00177098682615906,
+ 0.9754047393798828,
+ 0.003601592034101486,
+ -0.00674790283665061,
+ 0.7990747690200806,
+ -0.0024890184868127108,
+ 0.0013900052290409803,
+ 0.01846272125840187,
+ 0.002087173517793417,
+ -0.000445011246483773,
+ 0.19523265957832336,
+ 0.002887786366045475,
+ 0.060864049941301346,
+ 0.3259161710739136,
+ -0.004050232004374266,
+ -0.003865655278787017,
+ 0.1377490609884262,
+ -0.001880632946267724,
+ 0.0023779652547091246,
+ 0.6826179027557373,
+ -0.003324040910229087,
+ -0.16284482181072235,
+ 0.7444390058517456,
+ -0.018863635137677193,
+ -0.0031148914713412523,
+ 0.06592754274606705,
+ 0.0021115546114742756,
+ -0.0020665887277573347,
+ 0.08923453092575073,
+ 0.4060046970844269,
+ -0.2262437492609024,
+ -0.002092373324558139,
+ -0.0026004950050264597,
+ -0.06329656392335892,
+ 0.0025430661626160145,
+ 0.00243701902218163,
+ -0.2519768476486206
+ ],
+ "wrist_pos": [
+ 0.18096321821212769,
+ 0.002322580898180604,
+ 0.8456847667694092
+ ],
+ "wrist_rot": [
+ 0.027805285528302193,
+ 0.05161261558532715,
+ 0.6946730017662048,
+ 0.7169325947761536
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 3,
+ "virtual_xyz": [
+ 0.18095356225967407,
+ 0.002303930465131998,
+ 0.8456346392631531
+ ],
+ "wrist_rpy": [
+ -0.03249060735106468,
+ 0.11358232796192169,
+ 1.5400972366333008
+ ],
+ "finger_dofs": [
+ 0.9559913277626038,
+ -0.006655598990619183,
+ -0.010915955528616905,
+ 0.602399468421936,
+ -0.004143118392676115,
+ -0.0035829010885208845,
+ 0.11722411960363388,
+ 0.0011219220468774438,
+ 0.0018005826277658343,
+ 0.9753955006599426,
+ 0.0026450257282704115,
+ -0.00022064795484766364,
+ 0.8041130304336548,
+ -0.0030866225715726614,
+ -0.0009340938413515687,
+ 0.03170553594827652,
+ 0.002103738486766815,
+ 0.00040772417560219765,
+ 0.19591829180717468,
+ 0.0026062261313199997,
+ 0.06663032621145248,
+ 0.3290371596813202,
+ -0.0038316582795232534,
+ -0.0035291132517158985,
+ 0.14451152086257935,
+ -0.0018793841591104865,
+ 0.0023125791922211647,
+ 0.6949997544288635,
+ 0.0011669014347717166,
+ -0.1525222659111023,
+ 0.727257251739502,
+ -0.018108798190951347,
+ -0.0036688074469566345,
+ 0.07545880228281021,
+ 0.002028116025030613,
+ -0.0020721741020679474,
+ 0.08814417570829391,
+ 0.4129241108894348,
+ -0.22666725516319275,
+ -0.001963746501132846,
+ -0.002636041259393096,
+ -0.06614983826875687,
+ 0.0025943235959857702,
+ 0.002447655890136957,
+ -0.25544244050979614
+ ],
+ "wrist_pos": [
+ 0.18095368146896362,
+ 0.002303929766640067,
+ 0.8456345796585083
+ ],
+ "wrist_rot": [
+ 0.027867166325449944,
+ 0.052032288163900375,
+ 0.6942940354347229,
+ 0.7172667980194092
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 4,
+ "virtual_xyz": [
+ 0.18096968531608582,
+ 0.002253493992611766,
+ 0.8455265164375305
+ ],
+ "wrist_rpy": [
+ -0.032791752368211746,
+ 0.11547987908124924,
+ 1.5400211811065674
+ ],
+ "finger_dofs": [
+ 0.9541912078857422,
+ -0.008116372860968113,
+ -0.011239917948842049,
+ 0.5988320708274841,
+ -0.0038371931295841932,
+ -0.0036886653397232294,
+ 0.12868808209896088,
+ 0.0003572946006897837,
+ 0.0018044207245111465,
+ 0.9807577729225159,
+ 0.0017685209168121219,
+ 0.0024486337788403034,
+ 0.8002408146858215,
+ -0.0033331296872347593,
+ -0.002596331061795354,
+ 0.04194096475839615,
+ 0.002135230926796794,
+ -0.0002751045976765454,
+ 0.19483675062656403,
+ 0.002574428217485547,
+ 0.07034923136234283,
+ 0.3336517810821533,
+ -0.0036803868133574724,
+ -0.0034428697545081377,
+ 0.15213483572006226,
+ -0.0018596223089843988,
+ 0.002333492273464799,
+ 0.7011054158210754,
+ 0.002017582068219781,
+ -0.1414051502943039,
+ 0.6916886568069458,
+ -0.016356389969587326,
+ -0.002843725262209773,
+ 0.09209143370389938,
+ 0.0021796943619847298,
+ -0.0020042064134031534,
+ 0.08733860403299332,
+ 0.4231938123703003,
+ -0.2303047925233841,
+ -0.0023574791848659515,
+ -0.0026243804022669792,
+ -0.06758192181587219,
+ 0.002486933721229434,
+ 0.0024560142774134874,
+ -0.2607220709323883
+ ],
+ "wrist_pos": [
+ 0.18096980452537537,
+ 0.002253493294119835,
+ 0.8455264568328857
+ ],
+ "wrist_rot": [
+ 0.02841717191040516,
+ 0.052817195653915405,
+ 0.6942099928855896,
+ 0.717269241809845
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 5,
+ "virtual_xyz": [
+ 0.18100355565547943,
+ 0.002210314152762294,
+ 0.8454157114028931
+ ],
+ "wrist_rpy": [
+ -0.0334576778113842,
+ 0.11333690583705902,
+ 1.5405590534210205
+ ],
+ "finger_dofs": [
+ 0.9576598405838013,
+ -0.008625763468444347,
+ -0.01642782613635063,
+ 0.5981082320213318,
+ -0.0025339520070701838,
+ -0.0025814995169639587,
+ 0.1428569108247757,
+ -1.3904164916311856e-05,
+ 0.001808865461498499,
+ 0.9868099689483643,
+ 0.0012920955196022987,
+ 0.00021964317420497537,
+ 0.7928728461265564,
+ -0.003074944717809558,
+ -0.002152509056031704,
+ 0.054393332451581955,
+ 0.002135073533281684,
+ -0.00020559960103128105,
+ 0.20662058889865875,
+ 0.0021242580842226744,
+ 0.07270978391170502,
+ 0.3365747630596161,
+ -0.0036294565070420504,
+ -0.0035654399544000626,
+ 0.16159091889858246,
+ -0.0018549966625869274,
+ 0.0024260173086076975,
+ 0.7168509364128113,
+ 0.002149819629266858,
+ -0.1389303207397461,
+ 0.6765881776809692,
+ -0.015830138698220253,
+ -0.003166869282722473,
+ 0.10391335189342499,
+ 0.0021137255243957043,
+ -0.001935946405865252,
+ 0.09274497628211975,
+ 0.4334752857685089,
+ -0.23261813819408417,
+ -0.001654406893067062,
+ -0.0025611736346036196,
+ -0.07374220341444016,
+ 0.0026132629718631506,
+ 0.0023989554028958082,
+ -0.2651517391204834
+ ],
+ "wrist_pos": [
+ 0.18100368976593018,
+ 0.002210313454270363,
+ 0.8454156517982483
+ ],
+ "wrist_rot": [
+ 0.02744712494313717,
+ 0.052273817360401154,
+ 0.6944407224655151,
+ 0.7171235680580139
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 6,
+ "virtual_xyz": [
+ 0.18099431693553925,
+ 0.0021402386482805014,
+ 0.8451638221740723
+ ],
+ "wrist_rpy": [
+ -0.03403383493423462,
+ 0.11093328893184662,
+ 1.539781093597412
+ ],
+ "finger_dofs": [
+ 0.9612623453140259,
+ -0.004510378930717707,
+ -0.027149077504873276,
+ 0.6109654307365417,
+ 0.0031995028257369995,
+ 0.0036193940322846174,
+ 0.15872599184513092,
+ 0.00014693425328005105,
+ 0.001806123647838831,
+ 1.0024433135986328,
+ -0.0025767500046640635,
+ 0.008761624805629253,
+ 0.7739138007164001,
+ -0.0023458010982722044,
+ -0.0017824835376814008,
+ 0.07531818747520447,
+ 0.0021152845583856106,
+ 0.00047837107558734715,
+ 0.21172641217708588,
+ 0.0023652068339288235,
+ 0.07771902531385422,
+ 0.33957773447036743,
+ -0.003324984572827816,
+ -0.0026759877800941467,
+ 0.17081095278263092,
+ -0.0017904354026541114,
+ 0.0021695082541555166,
+ 0.7286797761917114,
+ -0.0029998028185218573,
+ -0.12720529735088348,
+ 0.6710104942321777,
+ -0.013341756537556648,
+ -0.002745100762695074,
+ 0.12123873829841614,
+ 0.0021168184466660023,
+ -0.0021527286153286695,
+ 0.09374699741601944,
+ 0.44574931263923645,
+ -0.23296555876731873,
+ -0.003077439032495022,
+ -0.002693901536986232,
+ -0.08129759132862091,
+ 0.002308713970705867,
+ 0.002496923552826047,
+ -0.2704218626022339
+ ],
+ "wrist_pos": [
+ 0.18099445104599,
+ 0.0021402379497885704,
+ 0.8451637625694275
+ ],
+ "wrist_rot": [
+ 0.02638416178524494,
+ 0.051623955368995667,
+ 0.6942082047462463,
+ 0.7174355387687683
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 7,
+ "virtual_xyz": [
+ 0.1810183823108673,
+ 0.0021016402170062065,
+ 0.8450652360916138
+ ],
+ "wrist_rpy": [
+ -0.032794926315546036,
+ 0.11056310683488846,
+ 1.5406274795532227
+ ],
+ "finger_dofs": [
+ 0.9713668823242188,
+ -0.00708531541749835,
+ -0.03909314423799515,
+ 0.5792469382286072,
+ 0.003879810916259885,
+ 0.004454485606402159,
+ 0.18274620175361633,
+ 0.0018643946386873722,
+ 0.0018172842683270574,
+ 1.0079206228256226,
+ -0.002486838959157467,
+ 0.005971602164208889,
+ 0.7661241888999939,
+ -0.002248891396448016,
+ -0.00036231556441634893,
+ 0.0932253748178482,
+ 0.0020565034355968237,
+ -0.0006639516795985401,
+ 0.21254278719425201,
+ 0.002088676206767559,
+ 0.07418277114629745,
+ 0.34926700592041016,
+ -0.0032645580358803272,
+ -0.002878946950659156,
+ 0.1831672042608261,
+ -0.0017855707556009293,
+ 0.002268312033265829,
+ 0.7375451326370239,
+ -0.00028984437813051045,
+ -0.1276656687259674,
+ 0.6726016998291016,
+ -0.014722821302711964,
+ -0.002873050281777978,
+ 0.12938284873962402,
+ 0.0020782037172466516,
+ -0.002050721552222967,
+ 0.09810005128383636,
+ 0.4633226692676544,
+ -0.23956608772277832,
+ -0.0026541920378804207,
+ -0.0026706417556852102,
+ -0.08518393337726593,
+ 0.0023673076648265123,
+ 0.0024041312281042337,
+ -0.27826809883117676
+ ],
+ "wrist_pos": [
+ 0.18101850152015686,
+ 0.0021016395185142756,
+ 0.845065176486969
+ ],
+ "wrist_rot": [
+ 0.026721488684415817,
+ 0.051050134003162384,
+ 0.6945528388023376,
+ 0.7171304821968079
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 8,
+ "virtual_xyz": [
+ 0.18102729320526123,
+ 0.002093973569571972,
+ 0.8449704051017761
+ ],
+ "wrist_rpy": [
+ -0.03229304775595665,
+ 0.10953548550605774,
+ 1.5410969257354736
+ ],
+ "finger_dofs": [
+ 0.9664140343666077,
+ -0.007840058766305447,
+ -0.05018601939082146,
+ 0.5871133208274841,
+ 0.004074921831488609,
+ 0.005757963750511408,
+ 0.20789583027362823,
+ 0.0019947169348597527,
+ 0.0018077448476105928,
+ 1.0153011083602905,
+ -0.0024686362594366074,
+ 0.007380501367151737,
+ 0.7501449584960938,
+ -0.0022509314585477114,
+ -0.0016441603656858206,
+ 0.11486363410949707,
+ 0.0020585726015269756,
+ -0.0011647663777694106,
+ 0.21783599257469177,
+ 0.002285189228132367,
+ 0.07195673882961273,
+ 0.36571091413497925,
+ -0.0033257235772907734,
+ -0.0026939266826957464,
+ 0.2006741464138031,
+ -0.0015097936848178506,
+ 0.0022011767141520977,
+ 0.7296991348266602,
+ -0.0040533035062253475,
+ -0.1325816512107849,
+ 0.6799911260604858,
+ -0.015807947143912315,
+ -0.0021443646401166916,
+ 0.14635324478149414,
+ 0.00220093852840364,
+ -0.002102307276800275,
+ 0.1024603620171547,
+ 0.4806292951107025,
+ -0.24445760250091553,
+ -0.002652406692504883,
+ -0.002624375279992819,
+ -0.0918889045715332,
+ 0.002377393888309598,
+ 0.0024327135179191828,
+ -0.2860337197780609
+ ],
+ "wrist_pos": [
+ 0.18102741241455078,
+ 0.002093972871080041,
+ 0.8449703454971313
+ ],
+ "wrist_rot": [
+ 0.0265557449311018,
+ 0.050501782447099686,
+ 0.6947596669197083,
+ 0.7169751524925232
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 9,
+ "virtual_xyz": [
+ 0.18103964626789093,
+ 0.0020835648756474257,
+ 0.844856858253479
+ ],
+ "wrist_rpy": [
+ -0.03344961628317833,
+ 0.10969115048646927,
+ 1.5411710739135742
+ ],
+ "finger_dofs": [
+ 0.9695490598678589,
+ -0.0054769874550402164,
+ -0.043648313730955124,
+ 0.5913611054420471,
+ -0.002141594886779785,
+ 0.001893091481178999,
+ 0.22486715018749237,
+ 0.0015868087066337466,
+ 0.0018147731898352504,
+ 1.0135935544967651,
+ -0.0023164835292845964,
+ 0.010743437334895134,
+ 0.7504774332046509,
+ -0.0024520675651729107,
+ 0.00032259183353744447,
+ 0.12994834780693054,
+ 0.002118202392011881,
+ -0.000903580104932189,
+ 0.22555817663669586,
+ 0.0018501863814890385,
+ 0.07458309829235077,
+ 0.3853946924209595,
+ -0.003299453528597951,
+ -0.002844371600076556,
+ 0.22185349464416504,
+ -0.0009815882658585906,
+ 0.0023018918000161648,
+ 0.7275691628456116,
+ -0.0023113475181162357,
+ -0.12589812278747559,
+ 0.6676009297370911,
+ -0.015208938159048557,
+ -0.0026283608749508858,
+ 0.16492430865764618,
+ 0.002117516240105033,
+ -0.0020203867461532354,
+ 0.1041661947965622,
+ 0.49675214290618896,
+ -0.24799326062202454,
+ -0.0022178187500685453,
+ -0.0025726782623678446,
+ -0.09898712486028671,
+ 0.0024447215255349874,
+ 0.0023785093799233437,
+ -0.29463991522789
+ ],
+ "wrist_pos": [
+ 0.18103976547718048,
+ 0.0020835641771554947,
+ 0.8448567986488342
+ ],
+ "wrist_rot": [
+ 0.026197129860520363,
+ 0.050958145409822464,
+ 0.6947529911994934,
+ 0.7169623970985413
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 10,
+ "virtual_xyz": [
+ 0.18103227019309998,
+ 0.0020559646654874086,
+ 0.8448853492736816
+ ],
+ "wrist_rpy": [
+ -0.03449307382106781,
+ 0.10892099887132645,
+ 1.540907382965088
+ ],
+ "finger_dofs": [
+ 0.9708368182182312,
+ -0.004346772562712431,
+ -0.04982053115963936,
+ 0.5907459855079651,
+ -0.0015913237584754825,
+ 0.0024967242497950792,
+ 0.24734915792942047,
+ 0.001824375125579536,
+ 0.0018114049453288317,
+ 1.0180755853652954,
+ -0.0022272667847573757,
+ 0.014358442276716232,
+ 0.7433170080184937,
+ -0.0023675078991800547,
+ 0.0015743952244520187,
+ 0.15471206605434418,
+ 0.0021289836149662733,
+ -0.0009063633042387664,
+ 0.24073711037635803,
+ 0.0018548535881564021,
+ 0.07436355203390121,
+ 0.4085334539413452,
+ -0.0033810934983193874,
+ -0.0026364929508417845,
+ 0.2444891631603241,
+ -1.8243825252284296e-05,
+ 0.002253912156447768,
+ 0.7191599607467651,
+ -0.003451676107943058,
+ -0.12547874450683594,
+ 0.7039870619773865,
+ -0.011525937356054783,
+ 0.002831547986716032,
+ 0.1753741055727005,
+ 0.0024448938202112913,
+ -0.002093770308420062,
+ 0.10935679078102112,
+ 0.5153578519821167,
+ -0.25211822986602783,
+ -0.0019592863973230124,
+ -0.002572817262262106,
+ -0.10721121728420258,
+ 0.0025272825732827187,
+ 0.002391004003584385,
+ -0.30366894602775574
+ ],
+ "wrist_pos": [
+ 0.18103238940238953,
+ 0.0020559639669954777,
+ 0.8448852896690369
+ ],
+ "wrist_rot": [
+ 0.025548378005623817,
+ 0.05104842782020569,
+ 0.694651186466217,
+ 0.7170780301094055
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 11,
+ "virtual_xyz": [
+ 0.1810370534658432,
+ 0.0020711810793727636,
+ 0.8448061943054199
+ ],
+ "wrist_rpy": [
+ -0.03502780199050903,
+ 0.10826309770345688,
+ 1.540587306022644
+ ],
+ "finger_dofs": [
+ 0.9712040424346924,
+ -0.004227648954838514,
+ -0.04990673437714577,
+ 0.5954290628433228,
+ -0.0021375631913542747,
+ 0.0021690991707146168,
+ 0.272397518157959,
+ 0.0018024411983788013,
+ 0.0018121931934729218,
+ 1.024225115776062,
+ -0.0023172576911747456,
+ 0.015271260403096676,
+ 0.7412105798721313,
+ -0.002285918453708291,
+ 0.0017880168743431568,
+ 0.17975400388240814,
+ 0.00210739066824317,
+ -0.001093447208404541,
+ 0.2549245059490204,
+ 0.0013300783466547728,
+ 0.07288698852062225,
+ 0.432073712348938,
+ -0.003174905199557543,
+ -0.00244609615765512,
+ 0.26847246289253235,
+ 0.0010589801240712404,
+ 0.0022110517602413893,
+ 0.7322499752044678,
+ -0.0056585390120744705,
+ -0.12846945226192474,
+ 0.7057837247848511,
+ -0.012303689494729042,
+ 0.002230834448710084,
+ 0.18547439575195312,
+ 0.00225307559594512,
+ -0.002100553596392274,
+ 0.1127336323261261,
+ 0.535955548286438,
+ -0.2564127445220947,
+ -0.0020682935137301683,
+ -0.0025135744363069534,
+ -0.11616489291191101,
+ 0.0024249041453003883,
+ 0.0023320764303207397,
+ -0.31328195333480835
+ ],
+ "wrist_pos": [
+ 0.18103718757629395,
+ 0.0020711803808808327,
+ 0.8448061347007751
+ ],
+ "wrist_rot": [
+ 0.025119483470916748,
+ 0.051002711057662964,
+ 0.6945392489433289,
+ 0.7172048687934875
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 12,
+ "virtual_xyz": [
+ 0.18105818331241608,
+ 0.002068215748295188,
+ 0.8446918725967407
+ ],
+ "wrist_rpy": [
+ -0.035508595407009125,
+ 0.10747989267110825,
+ 1.5405718088150024
+ ],
+ "finger_dofs": [
+ 0.9765813946723938,
+ -0.0036928404588252306,
+ -0.05279326066374779,
+ 0.5881252884864807,
+ -0.0022100969217717648,
+ 0.0021078819409012794,
+ 0.29959380626678467,
+ 0.0018022932345047593,
+ 0.0018128209048882127,
+ 1.0306495428085327,
+ -0.0023157994728535414,
+ 0.016319068148732185,
+ 0.7335710525512695,
+ -0.0022784722968935966,
+ 0.0018505130428820848,
+ 0.20931442081928253,
+ 0.0020886023994535208,
+ -0.001288598752580583,
+ 0.2701074481010437,
+ 0.0017350023845210671,
+ 0.07105254381895065,
+ 0.46100854873657227,
+ -0.0032049657311290503,
+ -0.0023078438825905323,
+ 0.2940947115421295,
+ 0.0018633141880854964,
+ 0.0021695999894291162,
+ 0.7446684241294861,
+ -0.008059169165790081,
+ -0.11207959800958633,
+ 0.7219638824462891,
+ -0.009225917980074883,
+ 0.00282511068508029,
+ 0.20995795726776123,
+ 0.0024299398064613342,
+ -0.0021404288709163666,
+ 0.11633144319057465,
+ 0.5575719475746155,
+ -0.2616216540336609,
+ -0.002290264004841447,
+ -0.0024727650452405214,
+ -0.1251528263092041,
+ 0.0023472842294722795,
+ 0.0023231557570397854,
+ -0.3237387537956238
+ ],
+ "wrist_pos": [
+ 0.18105830252170563,
+ 0.002068215049803257,
+ 0.844691812992096
+ ],
+ "wrist_rot": [
+ 0.02467416785657406,
+ 0.05088958144187927,
+ 0.6945411562919617,
+ 0.7172265648841858
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 13,
+ "virtual_xyz": [
+ 0.1810687780380249,
+ 0.0020692278631031513,
+ 0.84462571144104
+ ],
+ "wrist_rpy": [
+ -0.03628608584403992,
+ 0.10635627061128616,
+ 1.5405995845794678
+ ],
+ "finger_dofs": [
+ 0.9794793128967285,
+ -0.005657451692968607,
+ -0.05616574361920357,
+ 0.5872310400009155,
+ -0.0025266888551414013,
+ 0.002621577586978674,
+ 0.32966047525405884,
+ 0.0019576873164623976,
+ 0.0018126806244254112,
+ 1.03744637966156,
+ -0.002249428303912282,
+ 0.017637303099036217,
+ 0.7283040285110474,
+ -0.002171487780287862,
+ 0.0016520426142960787,
+ 0.2385629266500473,
+ 0.002064301399514079,
+ -0.0015138337621465325,
+ 0.28830134868621826,
+ 0.001831847708672285,
+ 0.06947676092386246,
+ 0.4913693368434906,
+ -0.0031985214445739985,
+ -0.00234229932539165,
+ 0.3213050365447998,
+ 0.001886960119009018,
+ 0.0021728151477873325,
+ 0.758429229259491,
+ -0.007958505302667618,
+ -0.10740052163600922,
+ 0.7282694578170776,
+ -0.009965429082512856,
+ 0.002447562525048852,
+ 0.23647882044315338,
+ 0.0023439896758645773,
+ -0.0021235139574855566,
+ 0.12048567086458206,
+ 0.5793874859809875,
+ -0.2664599120616913,
+ -0.002380799036473036,
+ -0.0024028781335800886,
+ -0.135024756193161,
+ 0.002275903942063451,
+ 0.0022872642148286104,
+ -0.3344917893409729
+ ],
+ "wrist_pos": [
+ 0.18106889724731445,
+ 0.0020692271646112204,
+ 0.8446256518363953
+ ],
+ "wrist_rot": [
+ 0.024005107581615448,
+ 0.05075707659125328,
+ 0.6945594549179077,
+ 0.7172408699989319
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 14,
+ "virtual_xyz": [
+ 0.18107299506664276,
+ 0.0020877940114587545,
+ 0.8445442318916321
+ ],
+ "wrist_rpy": [
+ -0.03705870732665062,
+ 0.10482045263051987,
+ 1.5406376123428345
+ ],
+ "finger_dofs": [
+ 0.9772765040397644,
+ -0.00472930446267128,
+ -0.06331352889537811,
+ 0.596316933631897,
+ -0.0030154043342918158,
+ 0.002559969201683998,
+ 0.3598610460758209,
+ 0.0019882982596755028,
+ 0.0018070865189656615,
+ 1.0415799617767334,
+ -0.002152120228856802,
+ 0.01778819039463997,
+ 0.7321626543998718,
+ -0.00220969645306468,
+ 0.0018323368858546019,
+ 0.2696182429790497,
+ 0.0020752937998622656,
+ -0.0016059480840340257,
+ 0.30966824293136597,
+ 0.0017536706291139126,
+ 0.06872786581516266,
+ 0.5222287774085999,
+ -0.0032257940620183945,
+ -0.002163117751479149,
+ 0.349435955286026,
+ 0.00193456478882581,
+ 0.002128533786162734,
+ 0.7617718577384949,
+ -0.006801070645451546,
+ -0.10292290151119232,
+ 0.7354803681373596,
+ -0.008208181709051132,
+ 0.0024395426735281944,
+ 0.2682223916053772,
+ 0.0023326012305915356,
+ -0.002168747130781412,
+ 0.12499434500932693,
+ 0.6025752425193787,
+ -0.27146121859550476,
+ -0.0023241497110575438,
+ -0.0023524437565356493,
+ -0.1457003653049469,
+ 0.0022615687921643257,
+ 0.0022736729588359594,
+ -0.34565702080726624
+ ],
+ "wrist_pos": [
+ 0.1810731142759323,
+ 0.0020877933129668236,
+ 0.8445441722869873
+ ],
+ "wrist_rot": [
+ 0.023194532841444016,
+ 0.050475187599658966,
+ 0.694591760635376,
+ 0.7172561287879944
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 15,
+ "virtual_xyz": [
+ 0.1810661107301712,
+ 0.002124230843037367,
+ 0.8445643782615662
+ ],
+ "wrist_rpy": [
+ -0.03801598399877548,
+ 0.10485745221376419,
+ 1.5404698848724365
+ ],
+ "finger_dofs": [
+ 0.9662731885910034,
+ -0.0034221906680613756,
+ -0.07346037775278091,
+ 0.6160842180252075,
+ -0.002894304459914565,
+ 0.0024272105656564236,
+ 0.39141950011253357,
+ 0.0019591208547353745,
+ 0.0018016922986134887,
+ 1.03913152217865,
+ -0.0022147411946207285,
+ 0.018089253455400467,
+ 0.7471233606338501,
+ -0.0022452722769230604,
+ 0.0017695777351036668,
+ 0.3005426526069641,
+ 0.0020738954190164804,
+ -0.0018138800514861941,
+ 0.32877317070961,
+ 0.0019389239605516195,
+ 0.06784521788358688,
+ 0.5562723278999329,
+ -0.003307938575744629,
+ -0.002126432489603758,
+ 0.37831613421440125,
+ 0.001970146084204316,
+ 0.002103046979755163,
+ 0.7660099267959595,
+ -0.006152840796858072,
+ -0.09640804678201675,
+ 0.757224977016449,
+ -0.008698794059455395,
+ 0.0024281437508761883,
+ 0.29765596985816956,
+ 0.002346862107515335,
+ -0.002194727538153529,
+ 0.1281786561012268,
+ 0.6269592642784119,
+ -0.2771165072917938,
+ -0.002419537166133523,
+ -0.002298040548339486,
+ -0.15525777637958527,
+ 0.0022226765286177397,
+ 0.002274281345307827,
+ -0.35787105560302734
+ ],
+ "wrist_pos": [
+ 0.18106622993946075,
+ 0.002124230144545436,
+ 0.8445643186569214
+ ],
+ "wrist_rot": [
+ 0.02285974659025669,
+ 0.05082269385457039,
+ 0.6945065259933472,
+ 0.71732497215271
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 16,
+ "virtual_xyz": [
+ 0.18106985092163086,
+ 0.002149369800463319,
+ 0.8446438908576965
+ ],
+ "wrist_rpy": [
+ -0.03858654201030731,
+ 0.105478934943676,
+ 1.5405986309051514
+ ],
+ "finger_dofs": [
+ 0.9601781964302063,
+ -0.0025939596816897392,
+ -0.07972689718008041,
+ 0.6280398964881897,
+ -0.003164529800415039,
+ 0.002290011616423726,
+ 0.4233584403991699,
+ 0.0019462230848148465,
+ 0.0017990433843806386,
+ 1.0376588106155396,
+ -0.0022326756734400988,
+ 0.018432827666401863,
+ 0.7645689249038696,
+ -0.00218870653770864,
+ 0.0017805215902626514,
+ 0.33308959007263184,
+ 0.002042560139670968,
+ -0.0018483918393030763,
+ 0.34794288873672485,
+ 0.002093576593324542,
+ 0.06605803221464157,
+ 0.5933077335357666,
+ -0.0033431050833314657,
+ -0.0019611313473433256,
+ 0.40821826457977295,
+ 0.001990613993257284,
+ 0.002040474209934473,
+ 0.7646588087081909,
+ -0.005219990387558937,
+ -0.09296391159296036,
+ 0.7738369107246399,
+ -0.008467563427984715,
+ 0.002439873991534114,
+ 0.32908880710601807,
+ 0.0023223271127790213,
+ -0.0022385178599506617,
+ 0.13257326185703278,
+ 0.6528453230857849,
+ -0.2840506434440613,
+ -0.0023810684215277433,
+ -0.0022757400292903185,
+ -0.16440227627754211,
+ 0.002218302572146058,
+ 0.002260765293613076,
+ -0.3706636130809784
+ ],
+ "wrist_pos": [
+ 0.1810699701309204,
+ 0.002149369101971388,
+ 0.8446438312530518
+ ],
+ "wrist_rot": [
+ 0.022874798625707626,
+ 0.05124182254076004,
+ 0.6945224404335022,
+ 0.7172791957855225
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 17,
+ "virtual_xyz": [
+ 0.18107227981090546,
+ 0.0021205348894000053,
+ 0.8446488976478577
+ ],
+ "wrist_rpy": [
+ -0.03975875675678253,
+ 0.10735643655061722,
+ 1.540817141532898
+ ],
+ "finger_dofs": [
+ 0.9692708253860474,
+ -0.0037842108868062496,
+ -0.08482848107814789,
+ 0.6262884140014648,
+ -0.003702206537127495,
+ 0.0020867581479251385,
+ 0.4548976421356201,
+ 0.0019284080481156707,
+ 0.00180322234518826,
+ 1.0311459302902222,
+ -0.0021804675925523043,
+ 0.020782992243766785,
+ 0.7865572571754456,
+ -0.002200888469815254,
+ 0.0012347237206995487,
+ 0.3618757426738739,
+ 0.0020146614406257868,
+ -0.0018655648455023766,
+ 0.3689236640930176,
+ 0.002030957955867052,
+ 0.06462926417589188,
+ 0.6320300102233887,
+ -0.0033610647078603506,
+ -0.001750743598677218,
+ 0.4394194483757019,
+ 0.002018919913098216,
+ 0.0019832763355225325,
+ 0.7570701837539673,
+ -0.006355689372867346,
+ -0.08632258325815201,
+ 0.7903172373771667,
+ -0.0077872443944215775,
+ 0.002578400308266282,
+ 0.3605385422706604,
+ 0.002340854611247778,
+ -0.0023050939198583364,
+ 0.13532359898090363,
+ 0.6807891130447388,
+ -0.2921159565448761,
+ -0.002398963086307049,
+ -0.0022475491277873516,
+ -0.17243295907974243,
+ 0.002222019713371992,
+ 0.0022725933231413364,
+ -0.38454562425613403
+ ],
+ "wrist_pos": [
+ 0.181072399020195,
+ 0.0021205341909080744,
+ 0.8446488380432129
+ ],
+ "wrist_rot": [
+ 0.02311343513429165,
+ 0.05231828615069389,
+ 0.6945226192474365,
+ 0.7171937227249146
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 18,
+ "virtual_xyz": [
+ 0.18107296526432037,
+ 0.002122764475643635,
+ 0.8448126912117004
+ ],
+ "wrist_rpy": [
+ -0.04066833108663559,
+ 0.107871413230896,
+ 1.5410178899765015
+ ],
+ "finger_dofs": [
+ 0.9641939401626587,
+ -0.0027707263361662626,
+ -0.08319180458784103,
+ 0.6445319652557373,
+ -0.003430202603340149,
+ 0.0017742655472829938,
+ 0.48770496249198914,
+ 0.001805839012376964,
+ 0.0018020683201029897,
+ 1.0363819599151611,
+ -0.0023501692339777946,
+ 0.02194107323884964,
+ 0.8056591153144836,
+ -0.002401983365416527,
+ 0.001871961634606123,
+ 0.39692312479019165,
+ 0.002118876436725259,
+ -0.0018739441875368357,
+ 0.3951840102672577,
+ 0.0009591264533810318,
+ 0.06354022771120071,
+ 0.6702964305877686,
+ -0.00331728789024055,
+ -0.001171612530015409,
+ 0.4709363579750061,
+ 0.002061979379504919,
+ 0.0019650300964713097,
+ 0.7582537531852722,
+ -0.007231264840811491,
+ -0.08375256508588791,
+ 0.812518835067749,
+ -0.0074755470268428326,
+ 0.0028210009913891554,
+ 0.39391252398490906,
+ 0.002392461523413658,
+ -0.0022908358369022608,
+ 0.1425469070672989,
+ 0.7077575325965881,
+ -0.2993452548980713,
+ -0.0019676017109304667,
+ -0.0022837375290691853,
+ -0.18255335092544556,
+ 0.002280106069520116,
+ 0.002206005621701479,
+ -0.39759981632232666
+ ],
+ "wrist_pos": [
+ 0.18107308447360992,
+ 0.002122763777151704,
+ 0.8448126316070557
+ ],
+ "wrist_rot": [
+ 0.022971736267209053,
+ 0.05281614512205124,
+ 0.6945573091506958,
+ 0.7171281576156616
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 19,
+ "virtual_xyz": [
+ 0.18107032775878906,
+ 0.0020908890292048454,
+ 0.8447498083114624
+ ],
+ "wrist_rpy": [
+ -0.041831061244010925,
+ 0.10881537199020386,
+ 1.5412319898605347
+ ],
+ "finger_dofs": [
+ 0.9615828990936279,
+ -0.004070907365530729,
+ -0.07839188724756241,
+ 0.6670746803283691,
+ -0.004473547451198101,
+ 0.0024737310595810413,
+ 0.5215768218040466,
+ 0.0021910876967012882,
+ 0.0018108602380380034,
+ 1.0374008417129517,
+ -0.0026472134049981833,
+ 0.018740687519311905,
+ 0.8575624227523804,
+ -0.0023709633387625217,
+ 0.0015802381094545126,
+ 0.43404409289360046,
+ 0.0020690704695880413,
+ -0.0018628572579473257,
+ 0.4142944812774658,
+ 0.002095011994242668,
+ 0.062480486929416656,
+ 0.7109276056289673,
+ -0.003404294839128852,
+ 0.00037211590097285807,
+ 0.5038002729415894,
+ 0.002064251806586981,
+ 0.00197965232655406,
+ 0.7593643069267273,
+ -0.005124256946146488,
+ -0.08511153608560562,
+ 0.8358217477798462,
+ -0.00796631257981062,
+ 0.002406730316579342,
+ 0.42746880650520325,
+ 0.0022857629228383303,
+ -0.0022796185221523046,
+ 0.14462141692638397,
+ 0.7349410653114319,
+ -0.3059506118297577,
+ -0.002499761525541544,
+ -0.0021364924032241106,
+ -0.19184482097625732,
+ 0.002122848527505994,
+ 0.0022011050023138523,
+ -0.41139641404151917
+ ],
+ "wrist_pos": [
+ 0.1810704469680786,
+ 0.0020908883307129145,
+ 0.8447497487068176
+ ],
+ "wrist_rot": [
+ 0.022889120504260063,
+ 0.05355532839894295,
+ 0.6945783495903015,
+ 0.7170556783676147
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 20,
+ "virtual_xyz": [
+ 0.1810518354177475,
+ 0.001994597027078271,
+ 0.8448091149330139
+ ],
+ "wrist_rpy": [
+ -0.04402381554245949,
+ 0.10952704399824142,
+ 1.5402185916900635
+ ],
+ "finger_dofs": [
+ 0.9685555100440979,
+ -0.0020420795772224665,
+ -0.06776216626167297,
+ 0.6998926997184753,
+ -0.004162028897553682,
+ 0.0021636486053466797,
+ 0.5555353760719299,
+ 0.0020526128355413675,
+ 0.001809941604733467,
+ 1.030971646308899,
+ -0.009323447942733765,
+ 0.038561780005693436,
+ 0.9424370527267456,
+ -0.002060634084045887,
+ 0.001820896752178669,
+ 0.4684964120388031,
+ 0.0018486271146684885,
+ -0.0020404665265232325,
+ 0.43463757634162903,
+ 0.001108455820940435,
+ 0.06716671586036682,
+ 0.7515447735786438,
+ -0.003428821451961994,
+ 0.000714814115781337,
+ 0.5367121696472168,
+ 0.0020949835889041424,
+ 0.0018909850623458624,
+ 0.7551615834236145,
+ -0.007527398411184549,
+ -0.07728836685419083,
+ 0.8498332500457764,
+ -0.0073252893052995205,
+ 0.0028300019912421703,
+ 0.46239203214645386,
+ 0.002369615714997053,
+ -0.0023810220882296562,
+ 0.14767205715179443,
+ 0.7607313394546509,
+ -0.3095768988132477,
+ -0.0019423762569203973,
+ -0.002256585517898202,
+ -0.20277641713619232,
+ 0.0022674137726426125,
+ 0.0022049767430871725,
+ -0.4246438443660736
+ ],
+ "wrist_pos": [
+ 0.18105195462703705,
+ 0.00199459632858634,
+ 0.8448090553283691
+ ],
+ "wrist_rot": [
+ 0.022322969511151314,
+ 0.05458267778158188,
+ 0.6941366195678711,
+ 0.7174236178398132
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 21,
+ "virtual_xyz": [
+ 0.18100599944591522,
+ 0.0020046269055455923,
+ 0.8450218439102173
+ ],
+ "wrist_rpy": [
+ -0.04586434364318848,
+ 0.11315178126096725,
+ 1.539114236831665
+ ],
+ "finger_dofs": [
+ 0.9524673223495483,
+ -0.003639867529273033,
+ -0.06323044002056122,
+ 0.7387717962265015,
+ -0.003666296834126115,
+ 0.002234080573543906,
+ 0.5901583433151245,
+ 0.002134431153535843,
+ 0.0018224436789751053,
+ 1.0072630643844604,
+ -0.013681359589099884,
+ 0.049412526190280914,
+ 1.0330712795257568,
+ -0.003122369758784771,
+ 0.002155350986868143,
+ 0.5061472654342651,
+ 0.002241305308416486,
+ -0.0020178931299597025,
+ 0.4482404589653015,
+ 0.0011290438706055284,
+ 0.07302213460206985,
+ 0.7948645949363708,
+ -0.0037060955073684454,
+ 0.0001410010881954804,
+ 0.569848358631134,
+ 0.002204451709985733,
+ 0.0020613090600818396,
+ 0.7426354289054871,
+ -0.005179125815629959,
+ -0.06850658357143402,
+ 0.8807990550994873,
+ -0.007412507198750973,
+ 0.0024008110631257296,
+ 0.4946439266204834,
+ 0.0023648582864552736,
+ -0.0022576211486011744,
+ 0.14919348061084747,
+ 0.7899478077888489,
+ -0.31725847721099854,
+ -0.0023875078186392784,
+ -0.0021524166222661734,
+ -0.2098328322172165,
+ 0.002139416988939047,
+ 0.0021657757461071014,
+ -0.43973129987716675
+ ],
+ "wrist_pos": [
+ 0.18100611865520477,
+ 0.0020046262070536613,
+ 0.8450217843055725
+ ],
+ "wrist_rot": [
+ 0.022892778739333153,
+ 0.05653109401464462,
+ 0.693589985370636,
+ 0.7177833914756775
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 22,
+ "virtual_xyz": [
+ 0.18098323047161102,
+ 0.0020066997967660427,
+ 0.8451977968215942
+ ],
+ "wrist_rpy": [
+ -0.04676425829529762,
+ 0.11634062975645065,
+ 1.5390713214874268
+ ],
+ "finger_dofs": [
+ 0.9478115439414978,
+ -0.00017667522479314357,
+ -0.06234782561659813,
+ 0.7784874439239502,
+ -0.0032146417070180178,
+ 0.0018289301078766584,
+ 0.6250419020652771,
+ 0.001894611632451415,
+ 0.001817879150621593,
+ 0.9937326908111572,
+ -0.013981345109641552,
+ 0.05298253148794174,
+ 1.1022552251815796,
+ -0.003294042544439435,
+ 0.002244111616164446,
+ 0.5454291105270386,
+ 0.0021583782508969307,
+ -0.00203224690631032,
+ 0.46012839674949646,
+ 0.0014130299678072333,
+ 0.07270874828100204,
+ 0.8377541899681091,
+ -0.003663792973384261,
+ 0.0023294107522815466,
+ 0.6033681631088257,
+ 0.002195215318351984,
+ 0.0018943647155538201,
+ 0.7383173108100891,
+ -0.005189796444028616,
+ -0.06675532460212708,
+ 0.916450560092926,
+ -0.0067027779296040535,
+ 0.002651786897331476,
+ 0.5271033048629761,
+ 0.0023441992234438658,
+ -0.002401135629042983,
+ 0.15329815447330475,
+ 0.8196151256561279,
+ -0.3271441161632538,
+ -0.0023961926344782114,
+ -0.0022343541495501995,
+ -0.21644875407218933,
+ 0.0022048454266041517,
+ 0.002204889664426446,
+ -0.4549514055252075
+ ],
+ "wrist_pos": [
+ 0.18098334968090057,
+ 0.0020066990982741117,
+ 0.8451977372169495
+ ],
+ "wrist_rot": [
+ 0.02367737703025341,
+ 0.057985175400972366,
+ 0.6934586763381958,
+ 0.7177687883377075
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 23,
+ "virtual_xyz": [
+ 0.18095514178276062,
+ 0.001993142068386078,
+ 0.845361053943634
+ ],
+ "wrist_rpy": [
+ -0.04821934551000595,
+ 0.11975422501564026,
+ 1.539753794670105
+ ],
+ "finger_dofs": [
+ 0.9409555792808533,
+ -0.0011864854022860527,
+ -0.0649121031165123,
+ 0.8205812573432922,
+ -0.003180977189913392,
+ 0.0018238016637042165,
+ 0.659872829914093,
+ 0.0018927728524431586,
+ 0.0018137521110475063,
+ 0.9813395142555237,
+ -0.011793925426900387,
+ 0.0524057038128376,
+ 1.1675615310668945,
+ -0.003430121811106801,
+ 0.002103568520396948,
+ 0.579607367515564,
+ 0.0020332885906100273,
+ -0.002094784053042531,
+ 0.467582106590271,
+ 0.0017653346294537187,
+ 0.07069984823465347,
+ 0.8811431527137756,
+ -0.0036278138868510723,
+ 0.002638623584061861,
+ 0.637541651725769,
+ 0.0021546354983001947,
+ 0.0011836399789899588,
+ 0.7325164675712585,
+ -0.0066077630035579205,
+ -0.06289532035589218,
+ 0.9513163566589355,
+ -0.00573615450412035,
+ 0.0027902850415557623,
+ 0.5599110722541809,
+ 0.0022784776519984007,
+ -0.0025496750604361296,
+ 0.15638262033462524,
+ 0.8467229008674622,
+ -0.33693790435791016,
+ -0.0023626198526471853,
+ -0.0021988151129335165,
+ -0.22215282917022705,
+ 0.002232025843113661,
+ 0.0022427160292863846,
+ -0.4703843891620636
+ ],
+ "wrist_pos": [
+ 0.18095526099205017,
+ 0.001993141369894147,
+ 0.8453609943389893
+ ],
+ "wrist_rot": [
+ 0.024362191557884216,
+ 0.0597030445933342,
+ 0.6935616135597229,
+ 0.7175055742263794
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 24,
+ "virtual_xyz": [
+ 0.18094982206821442,
+ 0.0019875571597367525,
+ 0.8454460501670837
+ ],
+ "wrist_rpy": [
+ -0.04966692626476288,
+ 0.12119066715240479,
+ 1.5407167673110962
+ ],
+ "finger_dofs": [
+ 0.9334139227867126,
+ -0.0007384776836261153,
+ -0.062873974442482,
+ 0.8617228269577026,
+ -0.0030458627734333277,
+ 0.0018244372913613915,
+ 0.6945898532867432,
+ 0.0019049659604206681,
+ 0.0018145872745662928,
+ 0.9763734340667725,
+ -0.01073421724140644,
+ 0.04909399151802063,
+ 1.2228004932403564,
+ -0.0038962860126048326,
+ 0.002239966532215476,
+ 0.6126522421836853,
+ 0.00217422959394753,
+ -0.0021094470284879208,
+ 0.48355934023857117,
+ 0.0019048659596592188,
+ 0.06894754618406296,
+ 0.9194230437278748,
+ -0.0036166962236166,
+ 0.0026074289344251156,
+ 0.6718851327896118,
+ 0.0021503043826669455,
+ -3.67478933185339e-05,
+ 0.7485426068305969,
+ -0.006894748192280531,
+ -0.05870366096496582,
+ 0.991661548614502,
+ -0.004947568755596876,
+ 0.0027201019693166018,
+ 0.5929281115531921,
+ 0.0022173698525875807,
+ -0.0025596716441214085,
+ 0.16125217080116272,
+ 0.874019205570221,
+ -0.345064640045166,
+ -0.002387970918789506,
+ -0.0021432992070913315,
+ -0.23071201145648956,
+ 0.0021933214738965034,
+ 0.0022099604830145836,
+ -0.48462384939193726
+ ],
+ "wrist_pos": [
+ 0.18094994127750397,
+ 0.0019875564612448215,
+ 0.845445990562439
+ ],
+ "wrist_rot": [
+ 0.024371972307562828,
+ 0.06070698797702789,
+ 0.6938208341598511,
+ 0.7171702980995178
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 25,
+ "virtual_xyz": [
+ 0.18095536530017853,
+ 0.0019641106482595205,
+ 0.8454685211181641
+ ],
+ "wrist_rpy": [
+ -0.05102086067199707,
+ 0.12136995047330856,
+ 1.541365146636963
+ ],
+ "finger_dofs": [
+ 0.9375668168067932,
+ -0.0025275880470871925,
+ -0.05865783244371414,
+ 0.9000188708305359,
+ -0.002903060056269169,
+ 0.0015523153124377131,
+ 0.7289566993713379,
+ 0.0019376466516405344,
+ 0.0018163055647164583,
+ 0.9751339554786682,
+ -0.011090799234807491,
+ 0.04831589758396149,
+ 1.2663475275039673,
+ -0.004309397656470537,
+ 0.0022718857508152723,
+ 0.6484776735305786,
+ 0.0022157011553645134,
+ -0.0021093804389238358,
+ 0.500382125377655,
+ 0.0010438275057822466,
+ 0.06633156538009644,
+ 0.9563542008399963,
+ -0.0034854032564908266,
+ 0.0028221530374139547,
+ 0.706045925617218,
+ 0.0021559507586061954,
+ -0.001749039045535028,
+ 0.7660185098648071,
+ -0.009388728067278862,
+ -0.05403333529829979,
+ 1.0313141345977783,
+ -0.00452292850241065,
+ 0.0028137292247265577,
+ 0.6263132691383362,
+ 0.0022195864003151655,
+ -0.002601768122985959,
+ 0.16635563969612122,
+ 0.9000086188316345,
+ -0.35100576281547546,
+ -0.0023678939323872328,
+ -0.002112308284267783,
+ -0.24079693853855133,
+ 0.0021651312708854675,
+ 0.0021798093803226948,
+ -0.49823155999183655
+ ],
+ "wrist_pos": [
+ 0.18095548450946808,
+ 0.0019641099497675896,
+ 0.8454684615135193
+ ],
+ "wrist_rot": [
+ 0.023968743160367012,
+ 0.0612330362200737,
+ 0.6940065622329712,
+ 0.7169593572616577
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 26,
+ "virtual_xyz": [
+ 0.1809731274843216,
+ 0.0019586344715207815,
+ 0.8454273343086243
+ ],
+ "wrist_rpy": [
+ -0.05143975093960762,
+ 0.12134242057800293,
+ 1.542604684829712
+ ],
+ "finger_dofs": [
+ 0.9452356100082397,
+ -0.004266432486474514,
+ -0.04766922816634178,
+ 0.9357160329818726,
+ -0.002574576297774911,
+ -0.0006877745618112385,
+ 0.7630091905593872,
+ 0.001905202865600586,
+ 0.0018096951534971595,
+ 0.9825711846351624,
+ -0.0010720776626840234,
+ 0.03199649974703789,
+ 1.2678155899047852,
+ -0.0030927632469683886,
+ 0.0018700712826102972,
+ 0.6902034878730774,
+ 0.0020142446737736464,
+ -0.0019527319818735123,
+ 0.5156962275505066,
+ 0.0010417107259854674,
+ 0.058760933578014374,
+ 0.9964934587478638,
+ -0.0033686303067952394,
+ 0.0030324882827699184,
+ 0.7394607067108154,
+ 0.0020847609266638756,
+ -0.0018804464489221573,
+ 0.785869836807251,
+ -0.008938547223806381,
+ -0.05246035382151604,
+ 1.0726444721221924,
+ -0.004082399886101484,
+ 0.0028399580623954535,
+ 0.6570701599121094,
+ 0.002130907028913498,
+ -0.0026948926970362663,
+ 0.1731448620557785,
+ 0.9269652962684631,
+ -0.3599151074886322,
+ -0.002288321265950799,
+ -0.002076833974570036,
+ -0.2495267540216446,
+ 0.002158951014280319,
+ 0.002170440973713994,
+ -0.5124082565307617
+ ],
+ "wrist_pos": [
+ 0.18097326159477234,
+ 0.0019586337730288506,
+ 0.8454272747039795
+ ],
+ "wrist_rot": [
+ 0.023846900090575218,
+ 0.06135379895567894,
+ 0.6944388747215271,
+ 0.716534435749054
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 27,
+ "virtual_xyz": [
+ 0.18102562427520752,
+ 0.0019231598125770688,
+ 0.8451384902000427
+ ],
+ "wrist_rpy": [
+ -0.05218729004263878,
+ 0.11604581028223038,
+ 1.543347954750061
+ ],
+ "finger_dofs": [
+ 0.9651109576225281,
+ -0.0046050939708948135,
+ -0.03606666997075081,
+ 0.9696036577224731,
+ -0.002218014094978571,
+ -0.0013771636877208948,
+ 0.7966064810752869,
+ 0.001836957293562591,
+ 0.0018070412334054708,
+ 1.0041395425796509,
+ -0.0024876557290554047,
+ 0.029864758253097534,
+ 1.2546573877334595,
+ -0.0032861509826034307,
+ 0.0019342548912391067,
+ 0.727196455001831,
+ 0.002102686557918787,
+ -0.0019438405288383365,
+ 0.5483387112617493,
+ 0.0009770792676135898,
+ 0.053707096725702286,
+ 1.025232195854187,
+ -0.003171793418005109,
+ 0.0030918277334421873,
+ 0.7743098735809326,
+ 0.0020529842004179955,
+ -0.0019232308259233832,
+ 0.8306444883346558,
+ -0.014218267984688282,
+ -0.04908141493797302,
+ 1.0907257795333862,
+ -0.003715591272339225,
+ 0.00283316639252007,
+ 0.6950441598892212,
+ 0.0021111825481057167,
+ -0.0026686261408030987,
+ 0.1821414977312088,
+ 0.9508642554283142,
+ -0.3614773750305176,
+ -0.002081051003187895,
+ -0.0020025824196636677,
+ -0.26667729020118713,
+ 0.0020828181877732277,
+ 0.002086077583953738,
+ -0.523105263710022
+ ],
+ "wrist_pos": [
+ 0.18102574348449707,
+ 0.0019231592305004597,
+ 0.845138430595398
+ ],
+ "wrist_rot": [
+ 0.021756159141659737,
+ 0.05971329286694527,
+ 0.6948409676551819,
+ 0.716349720954895
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 28,
+ "virtual_xyz": [
+ 0.18104730546474457,
+ 0.0019053852884098887,
+ 0.844761848449707
+ ],
+ "wrist_rpy": [
+ -0.05351919308304787,
+ 0.11062492430210114,
+ 1.5431220531463623
+ ],
+ "finger_dofs": [
+ 0.9859427213668823,
+ -0.009729131124913692,
+ -0.02416021004319191,
+ 1.001768708229065,
+ -0.0021501786541193724,
+ -0.0013320993166416883,
+ 0.8297354578971863,
+ 0.0018652426078915596,
+ 0.0018060574075207114,
+ 1.0197696685791016,
+ -0.0023549033794552088,
+ 0.0343741737306118,
+ 1.2514169216156006,
+ -0.0033902849536389112,
+ -0.00019416167924646288,
+ 0.7634268403053284,
+ 0.002130846492946148,
+ -0.0018637650646269321,
+ 0.5831584334373474,
+ 0.001728095463477075,
+ 0.05519988760352135,
+ 1.0582313537597656,
+ -0.0033277312759310007,
+ 0.002994321985170245,
+ 0.8073779940605164,
+ 0.002065852517262101,
+ -0.001963639399036765,
+ 0.8476998209953308,
+ -0.012568715959787369,
+ -0.04197968542575836,
+ 1.1201335191726685,
+ -0.0037377679254859686,
+ 0.00272202561609447,
+ 0.7335758209228516,
+ 0.0021064188331365585,
+ -0.002645946806296706,
+ 0.1863512247800827,
+ 0.9735541939735413,
+ -0.35987505316734314,
+ -0.002042998094111681,
+ -0.0018502904567867517,
+ -0.2833731770515442,
+ 0.001998795662075281,
+ 0.0020441110245883465,
+ -0.5338574051856995
+ ],
+ "wrist_pos": [
+ 0.1810474395751953,
+ 0.0019053847063332796,
+ 0.8447617888450623
+ ],
+ "wrist_rot": [
+ 0.019383350387215614,
+ 0.05824227258563042,
+ 0.6948790550231934,
+ 0.7165020108222961
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 29,
+ "virtual_xyz": [
+ 0.18105652928352356,
+ 0.0018821696285158396,
+ 0.8445138335227966
+ ],
+ "wrist_rpy": [
+ -0.05413109064102173,
+ 0.10638788342475891,
+ 1.5424901247024536
+ ],
+ "finger_dofs": [
+ 1.002572774887085,
+ -0.010908213444054127,
+ -0.011163955554366112,
+ 1.031899094581604,
+ -0.001990729244425893,
+ -0.0016496285097673535,
+ 0.8619621396064758,
+ 0.0018353692721575499,
+ 0.0018033493543043733,
+ 1.0324865579605103,
+ -0.0024536801502108574,
+ 0.03901607543230057,
+ 1.2512247562408447,
+ -0.0033672931604087353,
+ -0.0017657108837738633,
+ 0.8017474412918091,
+ 0.00212388439103961,
+ -0.001809041015803814,
+ 0.6157580614089966,
+ 0.001332534127868712,
+ 0.056708596646785736,
+ 1.0921504497528076,
+ -0.0032816019374877214,
+ 0.003092740895226598,
+ 0.8389675617218018,
+ 0.0020473601762205362,
+ -0.002023966982960701,
+ 0.8784340620040894,
+ -0.013367697596549988,
+ -0.03586389869451523,
+ 1.154293417930603,
+ -0.0035589812323451042,
+ 0.002721832599490881,
+ 0.7678963541984558,
+ 0.002118887612596154,
+ -0.0026416324544698,
+ 0.19114916026592255,
+ 0.9976701140403748,
+ -0.3600904941558838,
+ -0.0019484575605019927,
+ -0.0018170103430747986,
+ -0.29777592420578003,
+ 0.0019629907328635454,
+ 0.002005587797611952,
+ -0.545097291469574
+ ],
+ "wrist_pos": [
+ 0.1810566484928131,
+ 0.0018821689300239086,
+ 0.8445137739181519
+ ],
+ "wrist_rot": [
+ 0.01766941323876381,
+ 0.05694678798317909,
+ 0.6947558522224426,
+ 0.7167698740959167
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 30,
+ "virtual_xyz": [
+ 0.18104887008666992,
+ 0.0017596568213775754,
+ 0.8443280458450317
+ ],
+ "wrist_rpy": [
+ -0.05502520874142647,
+ 0.1050405353307724,
+ 1.543494701385498
+ ],
+ "finger_dofs": [
+ 1.0126045942306519,
+ -0.011600781232118607,
+ -0.0016172310570254922,
+ 1.0630565881729126,
+ -0.0020153543446213007,
+ -0.0016116764163598418,
+ 0.8928301334381104,
+ 0.0018518738215789199,
+ 0.001808053464628756,
+ 1.037003755569458,
+ -0.0023581788409501314,
+ 0.040502965450286865,
+ 1.2647134065628052,
+ -0.0034078361932188272,
+ -0.0017173830419778824,
+ 0.8330656886100769,
+ 0.002128504915162921,
+ -0.001850940054282546,
+ 0.63974928855896,
+ 0.001394246006384492,
+ 0.05370171368122101,
+ 1.1308104991912842,
+ -0.0032048458233475685,
+ 0.0032841539941728115,
+ 0.8700371980667114,
+ 0.001994242426007986,
+ -0.002113205147907138,
+ 0.8894956111907959,
+ -0.013080473989248276,
+ -0.03504275530576706,
+ 1.1909568309783936,
+ -0.003262187587097287,
+ 0.002791390987113118,
+ 0.797887921333313,
+ 0.0020401787478476763,
+ -0.002732264343649149,
+ 0.19379748404026031,
+ 1.0217331647872925,
+ -0.3657374978065491,
+ -0.0019735118839889765,
+ -0.0017966998275369406,
+ -0.30540731549263,
+ 0.0019603443797677755,
+ 0.0020130539778620005,
+ -0.5583873987197876
+ ],
+ "wrist_pos": [
+ 0.18104898929595947,
+ 0.0017596562393009663,
+ 0.844327986240387
+ ],
+ "wrist_rot": [
+ 0.016907911747694016,
+ 0.05676741153001785,
+ 0.6951282620429993,
+ 0.71644127368927
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 31,
+ "virtual_xyz": [
+ 0.1810617446899414,
+ 0.00178464874625206,
+ 0.844063937664032
+ ],
+ "wrist_rpy": [
+ -0.05549351125955582,
+ 0.10214030742645264,
+ 1.5429811477661133
+ ],
+ "finger_dofs": [
+ 1.0276449918746948,
+ -0.010471532121300697,
+ 0.008609253913164139,
+ 1.0925203561782837,
+ -0.002090216614305973,
+ -0.0007028365507721901,
+ 0.9229698181152344,
+ 0.0018562135519459844,
+ 0.00180235062725842,
+ 1.0487529039382935,
+ -0.001918668975122273,
+ 0.042324744164943695,
+ 1.2667406797409058,
+ -0.002866094931960106,
+ -0.0018731380114331841,
+ 0.8693353533744812,
+ 0.0019287207396700978,
+ -0.001739427912980318,
+ 0.6686848402023315,
+ 0.0029714908450841904,
+ 0.053629547357559204,
+ 1.1658040285110474,
+ -0.0030301373917609453,
+ 0.003413740312680602,
+ 0.9005333781242371,
+ 0.001844756887294352,
+ -0.002322210930287838,
+ 0.9129162430763245,
+ -0.012725244276225567,
+ -0.03174244239926338,
+ 1.2214208841323853,
+ -0.0029281838797032833,
+ 0.0027767291758209467,
+ 0.8285112380981445,
+ 0.001916776760481298,
+ -0.002862978959456086,
+ 0.19635629653930664,
+ 1.045995831489563,
+ -0.3666357100009918,
+ -0.0020130733028054237,
+ -0.0017315802397206426,
+ -0.3188002109527588,
+ 0.0019412930123507977,
+ 0.0020419114734977484,
+ -0.568809986114502
+ ],
+ "wrist_pos": [
+ 0.18106186389923096,
+ 0.0017846482805907726,
+ 0.8440638780593872
+ ],
+ "wrist_rot": [
+ 0.015714822337031364,
+ 0.05589812248945236,
+ 0.6950121521949768,
+ 0.7166494131088257
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 32,
+ "virtual_xyz": [
+ 0.18105465173721313,
+ 0.001558372168801725,
+ 0.8433631062507629
+ ],
+ "wrist_rpy": [
+ -0.05567805469036102,
+ 0.10082245618104935,
+ 1.5419398546218872
+ ],
+ "finger_dofs": [
+ 1.0401191711425781,
+ -0.010375624522566795,
+ 0.013137830421328545,
+ 1.1244984865188599,
+ -0.002291403478011489,
+ -0.000515796011313796,
+ 0.9509124755859375,
+ 0.0019155327463522553,
+ 0.0018143001943826675,
+ 1.07016122341156,
+ -0.0022223161067813635,
+ 0.04020918905735016,
+ 1.2534693479537964,
+ -0.0030761079397052526,
+ -0.0017657040152698755,
+ 0.908510148525238,
+ 0.0020751855336129665,
+ -0.0011506103910505772,
+ 0.6854217648506165,
+ 0.003020124277099967,
+ 0.05481903254985809,
+ 1.2090801000595093,
+ -0.003179028630256653,
+ 0.003419603453949094,
+ 0.9321861863136292,
+ 0.0018834006041288376,
+ -0.0022925413213670254,
+ 0.9291556477546692,
+ -0.015309075824916363,
+ -0.021504029631614685,
+ 1.2586792707443237,
+ -0.0027973619289696217,
+ 0.0027402217965573072,
+ 0.8555229306221008,
+ 0.0019518154440447688,
+ -0.002846101066097617,
+ 0.1889025866985321,
+ 1.0714240074157715,
+ -0.36523422598838806,
+ -0.002083714585751295,
+ -0.0016812823014333844,
+ -0.32947853207588196,
+ 0.0018996167927980423,
+ 0.002018718747422099,
+ -0.5801153779029846
+ ],
+ "wrist_pos": [
+ 0.18105477094650269,
+ 0.0015583718195557594,
+ 0.8433630466461182
+ ],
+ "wrist_rot": [
+ 0.015160434879362583,
+ 0.05549923703074455,
+ 0.6946701407432556,
+ 0.7170239090919495
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 33,
+ "virtual_xyz": [
+ 0.18106557428836823,
+ 0.0014946357114240527,
+ 0.8428424596786499
+ ],
+ "wrist_rpy": [
+ -0.05548756569623947,
+ 0.0957164615392685,
+ 1.5411527156829834
+ ],
+ "finger_dofs": [
+ 1.0575543642044067,
+ -0.009920581243932247,
+ 0.013878772966563702,
+ 1.1534397602081299,
+ -0.0021512038074433804,
+ -0.0013438842725008726,
+ 0.9777109622955322,
+ 0.0018764754058793187,
+ 0.0018084776820614934,
+ 1.0916117429733276,
+ -0.002471883548423648,
+ 0.039517760276794434,
+ 1.2498952150344849,
+ -0.0030247874092310667,
+ -0.0018391453195363283,
+ 0.9432764649391174,
+ 0.0020714178681373596,
+ -0.0005624034092761576,
+ 0.7157827615737915,
+ 0.0018563724588602781,
+ 0.05614698678255081,
+ 1.2358800172805786,
+ -0.003229627851396799,
+ 0.003351920284330845,
+ 0.9599595069885254,
+ 0.0019317795522511005,
+ -0.002215204294770956,
+ 0.9600311517715454,
+ -0.017672495916485786,
+ -0.010044336318969727,
+ 1.2816928625106812,
+ -0.002742636250331998,
+ 0.0025852506514638662,
+ 0.8854612112045288,
+ 0.0019654519855976105,
+ -0.002681587589904666,
+ 0.19318051636219025,
+ 1.0931612253189087,
+ -0.36320096254348755,
+ -0.0009323531412519515,
+ -5.523645813809708e-05,
+ -0.345744788646698,
+ 0.0018246457912027836,
+ 0.0019155677873641253,
+ -0.5881133079528809
+ ],
+ "wrist_pos": [
+ 0.18106569349765778,
+ 0.0014946353621780872,
+ 0.8428424000740051
+ ],
+ "wrist_rot": [
+ 0.013429003767669201,
+ 0.05361252650618553,
+ 0.6945313811302185,
+ 0.7173362970352173
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 34,
+ "virtual_xyz": [
+ 0.18108585476875305,
+ 0.0013600087258964777,
+ 0.8425458073616028
+ ],
+ "wrist_rpy": [
+ -0.055566102266311646,
+ 0.09149165451526642,
+ 1.5413540601730347
+ ],
+ "finger_dofs": [
+ 1.0774178504943848,
+ -0.01032442320138216,
+ 0.01435724925249815,
+ 1.180638313293457,
+ -0.0022818439174443483,
+ -0.001232868991792202,
+ 1.0031818151474,
+ 0.001906273770146072,
+ 0.0018129473319277167,
+ 1.1069327592849731,
+ -0.002839416731148958,
+ 0.04249342530965805,
+ 1.2631107568740845,
+ -0.0032670304644852877,
+ -0.0018238765187561512,
+ 0.9720798134803772,
+ 0.0021268781274557114,
+ -0.00017085943545680493,
+ 0.7460785508155823,
+ 0.001645008916966617,
+ 0.056170754134655,
+ 1.264135718345642,
+ -0.003198739141225815,
+ 0.003417361993342638,
+ 0.9857247471809387,
+ 0.0019090864807367325,
+ -0.002240393776446581,
+ 0.9804051518440247,
+ -0.017501279711723328,
+ -0.0046950955875217915,
+ 1.3069701194763184,
+ -0.0027480332646518946,
+ 0.0026396343018859625,
+ 0.9134922027587891,
+ 0.0019801435992121696,
+ -0.002683710539713502,
+ 0.19894258677959442,
+ 1.1122101545333862,
+ -0.36257413029670715,
+ -0.0010077237384393811,
+ 0.0020319288596510887,
+ -0.35658589005470276,
+ 0.001888712402433157,
+ 0.001885121688246727,
+ -0.5973849296569824
+ ],
+ "wrist_pos": [
+ 0.1810859739780426,
+ 0.0013600082602351904,
+ 0.842545747756958
+ ],
+ "wrist_rot": [
+ 0.011934821493923664,
+ 0.05212710052728653,
+ 0.694712221622467,
+ 0.7172970175743103
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 35,
+ "virtual_xyz": [
+ 0.18110744655132294,
+ 0.0012381328269839287,
+ 0.8421546816825867
+ ],
+ "wrist_rpy": [
+ -0.05509628728032112,
+ 0.08680509030818939,
+ 1.541019320487976
+ ],
+ "finger_dofs": [
+ 1.0953993797302246,
+ -0.009300793521106243,
+ 0.014891617931425571,
+ 1.207658290863037,
+ -0.0021625072695314884,
+ -0.0013972463784739375,
+ 1.0268418788909912,
+ 0.0018706945702433586,
+ 0.0018106641946360469,
+ 1.120479941368103,
+ -0.0024243572261184454,
+ 0.04439149424433708,
+ 1.265489101409912,
+ -0.002926613437011838,
+ -0.001905221724882722,
+ 1.0030667781829834,
+ 0.0020469415467232466,
+ 0.0016095591709017754,
+ 0.7766550183296204,
+ 0.0021018425468355417,
+ 0.057594433426856995,
+ 1.2906419038772583,
+ -0.003204356413334608,
+ 0.0033566919155418873,
+ 1.011218547821045,
+ 0.001883501885458827,
+ -0.0022713360376656055,
+ 0.9997334480285645,
+ -0.016969479620456696,
+ -0.0003963839262723923,
+ 1.326439380645752,
+ -0.002636405173689127,
+ 0.002535442588850856,
+ 0.9418865442276001,
+ 0.001943057170137763,
+ -0.0026423006784170866,
+ 0.197556272149086,
+ 1.1335468292236328,
+ -0.3524892032146454,
+ -0.0019182165851816535,
+ 0.0022018190938979387,
+ -0.36490923166275024,
+ 0.0019308013143017888,
+ 0.0018138695741072297,
+ -0.6051561236381531
+ ],
+ "wrist_pos": [
+ 0.1811075508594513,
+ 0.0012381323613226414,
+ 0.8421546220779419
+ ],
+ "wrist_rot": [
+ 0.010462760925292969,
+ 0.05028872191905975,
+ 0.69472336769104,
+ 0.7174405455589294
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 36,
+ "virtual_xyz": [
+ 0.18112073838710785,
+ 0.0011850220616906881,
+ 0.8417617082595825
+ ],
+ "wrist_rpy": [
+ -0.05451212823390961,
+ 0.08238746225833893,
+ 1.5396777391433716
+ ],
+ "finger_dofs": [
+ 1.1125545501708984,
+ -0.00858216267079115,
+ 0.015164991840720177,
+ 1.2319508790969849,
+ -0.0024069517385214567,
+ -0.001301654614508152,
+ 1.0490930080413818,
+ 0.0019170172745361924,
+ 0.0018099056323990226,
+ 1.1421607732772827,
+ -0.002819362562149763,
+ 0.04360636696219444,
+ 1.2739142179489136,
+ -0.003301897319033742,
+ -0.0017707330407574773,
+ 1.0305718183517456,
+ 0.0021519160363823175,
+ 0.0017883739201352,
+ 0.8050352931022644,
+ 0.0018547229701653123,
+ 0.05903436988592148,
+ 1.3148504495620728,
+ -0.0030801850371062756,
+ 0.0033484753221273422,
+ 1.0350395441055298,
+ 0.0018465983448550105,
+ -0.002273556310683489,
+ 1.0352896451950073,
+ -0.022054877132177353,
+ 0.004366041161119938,
+ 1.3444079160690308,
+ -0.0023049679584801197,
+ 0.002404293278232217,
+ 0.966704785823822,
+ 0.0013253521174192429,
+ -0.00261105177924037,
+ 0.1954425722360611,
+ 1.1502150297164917,
+ -0.34166640043258667,
+ -0.001886549056507647,
+ 0.0020649866200983524,
+ -0.374868780374527,
+ 0.00182921695522964,
+ 0.0012845640303567052,
+ -0.6117106080055237
+ ],
+ "wrist_pos": [
+ 0.1811208575963974,
+ 0.0011850218288600445,
+ 0.8417616486549377
+ ],
+ "wrist_rot": [
+ 0.00910148210823536,
+ 0.04851098358631134,
+ 0.6943647861480713,
+ 0.717928409576416
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 37,
+ "virtual_xyz": [
+ 0.18113309144973755,
+ 0.0011221716413274407,
+ 0.841504693031311
+ ],
+ "wrist_rpy": [
+ -0.05436822399497032,
+ 0.07865001261234283,
+ 1.5382590293884277
+ ],
+ "finger_dofs": [
+ 1.1268876791000366,
+ -0.008001045323908329,
+ 0.015151419676840305,
+ 1.2539153099060059,
+ -0.00221451697871089,
+ -0.0014367345720529556,
+ 1.0693261623382568,
+ 0.0018679241184145212,
+ 0.0018062550807371736,
+ 1.1598289012908936,
+ -0.0027674641460180283,
+ 0.0414486899971962,
+ 1.2883042097091675,
+ -0.0030181866604834795,
+ -0.0018296121852472425,
+ 1.0535516738891602,
+ 0.002061308827251196,
+ 0.0015791284386068583,
+ 0.8349756598472595,
+ 0.0021210091654211283,
+ 0.05832456424832344,
+ 1.3333966732025146,
+ -0.003134888829663396,
+ 0.0032525435090065002,
+ 1.0569639205932617,
+ 0.001849795808084309,
+ -0.0022699544206261635,
+ 1.059985637664795,
+ -0.01977187767624855,
+ 0.01075657457113266,
+ 1.3624452352523804,
+ -0.002488694153726101,
+ 0.002404647646471858,
+ 0.992188036441803,
+ 0.001899217488244176,
+ -0.0025667911395430565,
+ 0.20000095665454865,
+ 1.163266658782959,
+ -0.33514153957366943,
+ -0.0015764893032610416,
+ 0.0023236479610204697,
+ -0.3857216536998749,
+ 0.0019301953725516796,
+ 0.0006753403577022254,
+ -0.6179288625717163
+ ],
+ "wrist_pos": [
+ 0.1811332106590271,
+ 0.001122171524912119,
+ 0.8415046334266663
+ ],
+ "wrist_rot": [
+ 0.007819188758730888,
+ 0.047127678990364075,
+ 0.6939476728439331,
+ 0.7184388041496277
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 38,
+ "virtual_xyz": [
+ 0.18114562332630157,
+ 0.0011995868990197778,
+ 0.8412970900535583
+ ],
+ "wrist_rpy": [
+ -0.05375700443983078,
+ 0.07518122345209122,
+ 1.5376619100570679
+ ],
+ "finger_dofs": [
+ 1.1387765407562256,
+ -0.008597777225077152,
+ 0.01417113933712244,
+ 1.272979736328125,
+ -0.00223783147521317,
+ -0.0015110005624592304,
+ 1.0880483388900757,
+ 0.0018635146552696824,
+ 0.0017990703927353024,
+ 1.172365427017212,
+ -0.002637532539665699,
+ 0.040565285831689835,
+ 1.3064186573028564,
+ -0.0029727190267294645,
+ -0.001845262828283012,
+ 1.0711426734924316,
+ 0.0020497196819633245,
+ 0.0014645480550825596,
+ 0.864332914352417,
+ 0.001930039026774466,
+ 0.05736351013183594,
+ 1.350282073020935,
+ -0.0031527518294751644,
+ 0.0032762757036834955,
+ 1.0757731199264526,
+ 0.0018010521307587624,
+ -0.0023020892404019833,
+ 1.0726505517959595,
+ -0.022448403760790825,
+ 0.01113919634371996,
+ 1.372873067855835,
+ -0.002541228663176298,
+ 0.0023969265166670084,
+ 1.0139693021774292,
+ 0.0019042575731873512,
+ -0.0025266120210289955,
+ 0.20457541942596436,
+ 1.175437569618225,
+ -0.33189910650253296,
+ -0.00016220545512624085,
+ 0.0022080475464463234,
+ -0.39188843965530396,
+ 0.0018544442718848586,
+ -0.001887132995761931,
+ -0.6234671473503113
+ ],
+ "wrist_pos": [
+ 0.18114574253559113,
+ 0.0011995863169431686,
+ 0.8412970304489136
+ ],
+ "wrist_rot": [
+ 0.0068189240992069244,
+ 0.045674122869968414,
+ 0.6938273906707764,
+ 0.7186590433120728
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 39,
+ "virtual_xyz": [
+ 0.18115752935409546,
+ 0.0012315282365307212,
+ 0.841097354888916
+ ],
+ "wrist_rpy": [
+ -0.05325857922434807,
+ 0.07172546535730362,
+ 1.5369151830673218
+ ],
+ "finger_dofs": [
+ 1.150223731994629,
+ -0.008719006553292274,
+ 0.01361057348549366,
+ 1.2892980575561523,
+ -0.0022177749779075384,
+ -0.0011484615970402956,
+ 1.104597806930542,
+ 0.001853328081779182,
+ 0.0017949679167941213,
+ 1.1840001344680786,
+ -0.0026045325212180614,
+ 0.040482379496097565,
+ 1.320658564567566,
+ -0.0030106205958873034,
+ -0.0018528517102822661,
+ 1.0872958898544312,
+ 0.0020560722332447767,
+ 0.0016535092145204544,
+ 0.8918384909629822,
+ 0.0017625360051169991,
+ 0.05713251605629921,
+ 1.3667327165603638,
+ -0.0031193166505545378,
+ 0.0032796289306133986,
+ 1.0925709009170532,
+ 0.001593042747117579,
+ -0.0023161794524639845,
+ 1.0897079706192017,
+ -0.022183474153280258,
+ 0.012222412042319775,
+ 1.3824623823165894,
+ -0.0024835444055497646,
+ 0.002360135782510042,
+ 1.0336737632751465,
+ 0.00189492991194129,
+ -0.0024905239697545767,
+ 0.20463259518146515,
+ 1.1859631538391113,
+ -0.3253154456615448,
+ 0.0010279759299010038,
+ 0.002177631249651313,
+ -0.3964522182941437,
+ 0.0018521848833188415,
+ -0.001972842961549759,
+ -0.6277123093605042
+ ],
+ "wrist_pos": [
+ 0.181157648563385,
+ 0.0012315278872847557,
+ 0.8410972952842712
+ ],
+ "wrist_rot": [
+ 0.0057801129296422005,
+ 0.04426388442516327,
+ 0.6936475038528442,
+ 0.7189299464225769
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 40,
+ "virtual_xyz": [
+ 0.1811637580394745,
+ 0.001180063234642148,
+ 0.8409036993980408
+ ],
+ "wrist_rpy": [
+ -0.05251123756170273,
+ 0.06865430623292923,
+ 1.536622405052185
+ ],
+ "finger_dofs": [
+ 1.1611028909683228,
+ -0.008519461378455162,
+ 0.013447948731482029,
+ 1.3036391735076904,
+ -0.002275587758049369,
+ -0.0009323291596956551,
+ 1.1184145212173462,
+ 0.0018585072830319405,
+ 0.001793934148736298,
+ 1.198849081993103,
+ -0.002581115812063217,
+ 0.03966708108782768,
+ 1.3310749530792236,
+ -0.0029840990900993347,
+ -0.0018468371126800776,
+ 1.1020077466964722,
+ 0.0020500384271144867,
+ 0.0017184275202453136,
+ 0.9166472554206848,
+ 0.001968955621123314,
+ 0.056444160640239716,
+ 1.3831181526184082,
+ -0.003142728004604578,
+ 0.0032439453061670065,
+ 1.107224464416504,
+ 0.0011262126499786973,
+ -0.0023228793870657682,
+ 1.1039443016052246,
+ -0.02161278761923313,
+ 0.012582521885633469,
+ 1.3911198377609253,
+ -0.002454887144267559,
+ 0.002319660037755966,
+ 1.0505248308181763,
+ 0.0018911572406068444,
+ -0.0024552580434828997,
+ 0.20637477934360504,
+ 1.1952881813049316,
+ -0.3203786611557007,
+ 0.0006193699082359672,
+ 0.0021628679241985083,
+ -0.4010399878025055,
+ 0.0018112510442733765,
+ -0.0019813389517366886,
+ -0.6317996382713318
+ ],
+ "wrist_pos": [
+ 0.18116387724876404,
+ 0.0011800630018115044,
+ 0.840903639793396
+ ],
+ "wrist_rot": [
+ 0.00497523695230484,
+ 0.04290354624390602,
+ 0.6936250925064087,
+ 0.719040036201477
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 41,
+ "virtual_xyz": [
+ 0.18117764592170715,
+ 0.0011941331904381514,
+ 0.8408685326576233
+ ],
+ "wrist_rpy": [
+ -0.051569730043411255,
+ 0.06635911017656326,
+ 1.536082148551941
+ ],
+ "finger_dofs": [
+ 1.169999122619629,
+ -0.008940749801695347,
+ 0.013128858059644699,
+ 1.314804196357727,
+ -0.0022603122051805258,
+ -0.0006870426004752517,
+ 1.1298216581344604,
+ 0.0018522554310038686,
+ 0.001791376736946404,
+ 1.2072715759277344,
+ -0.0027154283598065376,
+ 0.04013240337371826,
+ 1.335500717163086,
+ -0.0028297421522438526,
+ -0.0018935741391032934,
+ 1.1124581098556519,
+ 0.0019876467995345592,
+ 0.0018141476903110743,
+ 0.9397802352905273,
+ 0.0018642822979018092,
+ 0.05650225281715393,
+ 1.3939127922058105,
+ -0.0031960266642272472,
+ 0.0031681705731898546,
+ 1.1188912391662598,
+ 0.0006928666844032705,
+ -0.002303894143551588,
+ 1.1161681413650513,
+ -0.020567791536450386,
+ 0.013149668462574482,
+ 1.3965296745300293,
+ -0.0024489976931363344,
+ 0.0022520781494677067,
+ 1.064824104309082,
+ 0.001908457255922258,
+ -0.0023825375828891993,
+ 0.20958967506885529,
+ 1.2033393383026123,
+ -0.3169574737548828,
+ 0.0005968420300632715,
+ 0.002079286612570286,
+ -0.40376678109169006,
+ 0.001827129628509283,
+ -0.002048888010904193,
+ -0.635136604309082
+ ],
+ "wrist_pos": [
+ 0.1811777651309967,
+ 0.0011941329576075077,
+ 0.8408684730529785
+ ],
+ "wrist_rot": [
+ 0.0045049311593174934,
+ 0.04175438731908798,
+ 0.6934990882873535,
+ 0.7192323207855225
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 42,
+ "virtual_xyz": [
+ 0.18118637800216675,
+ 0.0012067456264048815,
+ 0.8407850861549377
+ ],
+ "wrist_rpy": [
+ -0.05066370964050293,
+ 0.06530308723449707,
+ 1.53565514087677
+ ],
+ "finger_dofs": [
+ 1.1762542724609375,
+ -0.00897146761417389,
+ 0.01306027453392744,
+ 1.3235913515090942,
+ -0.002348934765905142,
+ -0.0004698704869952053,
+ 1.1384261846542358,
+ 0.0018619814654812217,
+ 0.0017669760854914784,
+ 1.2113256454467773,
+ -0.0026946908328682184,
+ 0.041089851409196854,
+ 1.3343896865844727,
+ -0.0025943266227841377,
+ -0.0019017542945221066,
+ 1.119484305381775,
+ 0.0019000581232830882,
+ 0.0018128887750208378,
+ 0.9580813646316528,
+ 0.0020131126511842012,
+ 0.05569768697023392,
+ 1.4042434692382812,
+ -0.003094182349741459,
+ 0.0032407105900347233,
+ 1.128523588180542,
+ -8.817779598757625e-05,
+ -0.0023644480388611555,
+ 1.123069167137146,
+ -0.021038927137851715,
+ 0.012527531012892723,
+ 1.402430772781372,
+ -0.0023889264557510614,
+ 0.00227162498049438,
+ 1.0748754739761353,
+ 0.0018786173313856125,
+ -0.00241387658752501,
+ 0.21635591983795166,
+ 1.209694504737854,
+ -0.3160895109176636,
+ 0.00020132577628828585,
+ 0.0021871014032512903,
+ -0.40965479612350464,
+ 0.001319623552262783,
+ -0.0019803985487669706,
+ -0.6380234360694885
+ ],
+ "wrist_pos": [
+ 0.1811864972114563,
+ 0.0012067453935742378,
+ 0.840785026550293
+ ],
+ "wrist_rot": [
+ 0.0044551147148013115,
+ 0.04106200486421585,
+ 0.6933860182762146,
+ 0.7193815112113953
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 43,
+ "virtual_xyz": [
+ 0.18119147419929504,
+ 0.001259255106560886,
+ 0.8407574892044067
+ ],
+ "wrist_rpy": [
+ -0.050269145518541336,
+ 0.0642278715968132,
+ 1.5352941751480103
+ ],
+ "finger_dofs": [
+ 1.1794408559799194,
+ -0.00912437029182911,
+ 0.012714831158518791,
+ 1.3292880058288574,
+ -0.0023280817549675703,
+ -0.00044563759001903236,
+ 1.1442588567733765,
+ 0.0018531434470787644,
+ 0.0016976480837911367,
+ 1.214105248451233,
+ -0.002672703005373478,
+ 0.041464950889348984,
+ 1.3332116603851318,
+ -0.0020730856340378523,
+ -0.001969269709661603,
+ 1.1231322288513184,
+ 0.0009102539625018835,
+ 0.0018235937459394336,
+ 0.9724686741828918,
+ 0.0019732548389583826,
+ 0.05467286705970764,
+ 1.4115843772888184,
+ -0.0031282154377549887,
+ 0.003267870983108878,
+ 1.1343001127243042,
+ -0.0010231066262349486,
+ -0.0023941590916365385,
+ 1.1286689043045044,
+ -0.021602991968393326,
+ 0.012388070113956928,
+ 1.4055498838424683,
+ -0.002404018770903349,
+ 0.002262882888317108,
+ 1.0811690092086792,
+ 0.0018855364760383964,
+ -0.002403965685516596,
+ 0.21715396642684937,
+ 1.2150261402130127,
+ -0.31342050433158875,
+ 0.0006189244450069964,
+ 0.0020757815800607204,
+ -0.4118209779262543,
+ 0.0011046057334169745,
+ -0.0020408728159964085,
+ -0.6394991874694824
+ ],
+ "wrist_pos": [
+ 0.1811915934085846,
+ 0.0012592547573149204,
+ 0.840757429599762
+ ],
+ "wrist_rot": [
+ 0.00421638460829854,
+ 0.04053977504372597,
+ 0.6932860612869263,
+ 0.719508945941925
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 44,
+ "virtual_xyz": [
+ 0.1811898797750473,
+ 0.0012253975728526711,
+ 0.8407016396522522
+ ],
+ "wrist_rpy": [
+ -0.050068095326423645,
+ 0.0635199099779129,
+ 1.5351406335830688
+ ],
+ "finger_dofs": [
+ 1.1814508438110352,
+ -0.009007568471133709,
+ 0.012834428809583187,
+ 1.3319926261901855,
+ -0.002316691679880023,
+ -0.000249127100687474,
+ 1.1469883918762207,
+ 0.0018509982619434595,
+ 0.0016706942114979029,
+ 1.2151081562042236,
+ -0.002614143770188093,
+ 0.04163378104567528,
+ 1.3320763111114502,
+ -0.0023795575834810734,
+ -0.001946999691426754,
+ 1.1247445344924927,
+ 0.00012175796291558072,
+ 0.0018236123723909259,
+ 0.9830809831619263,
+ 0.002058954443782568,
+ 0.05380486324429512,
+ 1.4173682928085327,
+ -0.003087081015110016,
+ 0.0032926008570939302,
+ 1.1376407146453857,
+ -0.0017048539593815804,
+ -0.002415349241346121,
+ 1.1309196949005127,
+ -0.021095620468258858,
+ 0.012477850541472435,
+ 1.407620906829834,
+ -0.002380869584158063,
+ 0.002269490621984005,
+ 1.084381341934204,
+ 0.001877807779237628,
+ -0.002412211848422885,
+ 0.21566477417945862,
+ 1.2172622680664062,
+ -0.31066301465034485,
+ 0.0009155221632681787,
+ 0.0021102270111441612,
+ -0.41264596581459045,
+ 0.0009385821758769453,
+ -0.0020306974183768034,
+ -0.6402157545089722
+ ],
+ "wrist_pos": [
+ 0.18118999898433685,
+ 0.001225396990776062,
+ 0.8407015800476074
+ ],
+ "wrist_rot": [
+ 0.004039878956973553,
+ 0.040216121822595596,
+ 0.6932491660118103,
+ 0.7195636630058289
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.533388860330831e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 0,
+ "virtual_xyz": [
+ 0.17979979515075684,
+ 0.0013247805181890726,
+ 0.8400647640228271
+ ],
+ "wrist_rpy": [
+ -0.05035024508833885,
+ 0.05353894829750061,
+ 1.5320554971694946
+ ],
+ "finger_dofs": [
+ 1.1661796569824219,
+ -0.01370968110859394,
+ 0.01287822239100933,
+ 1.33154296875,
+ -0.0026961814146488905,
+ 0.00029951700707897544,
+ 1.1484782695770264,
+ 0.001898917369544506,
+ 0.0014926246367394924,
+ 1.2102782726287842,
+ -0.0027628326788544655,
+ 0.048671185970306396,
+ 1.3314809799194336,
+ -0.0032714675180613995,
+ -0.002106256550177932,
+ 1.1367764472961426,
+ 0.0021596746519207954,
+ 0.001983744092285633,
+ 0.9974231719970703,
+ 0.0014682657783851027,
+ 0.062023866921663284,
+ 1.4018588066101074,
+ -0.003410971723496914,
+ 0.002798571949824691,
+ 1.1416945457458496,
+ 0.001901201088912785,
+ -0.002219307469204068,
+ 1.1537261009216309,
+ -0.024027979001402855,
+ 0.019409269094467163,
+ 1.388469934463501,
+ -0.002525186398997903,
+ 0.0016857644077390432,
+ 1.0974128246307373,
+ 0.001961866859346628,
+ -0.0021029964555054903,
+ 0.19891688227653503,
+ 1.2182081937789917,
+ -0.3034132719039917,
+ 0.0015797981759533286,
+ -0.001900504226796329,
+ -0.3951234817504883,
+ 0.0007569488952867687,
+ -0.0028469860553741455,
+ -0.6305397152900696
+ ],
+ "wrist_pos": [
+ 0.1797999143600464,
+ 0.001324780285358429,
+ 0.8400647044181824
+ ],
+ "wrist_rot": [
+ 0.0004161566321272403,
+ 0.036728695034980774,
+ 0.6923242807388306,
+ 0.7206509113311768
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5350807291980573e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 1,
+ "virtual_xyz": [
+ 0.17828582227230072,
+ 0.0013652550987899303,
+ 0.8397467136383057
+ ],
+ "wrist_rpy": [
+ -0.04804125800728798,
+ 0.043043479323387146,
+ 1.5290086269378662
+ ],
+ "finger_dofs": [
+ 1.1475703716278076,
+ -0.006068703718483448,
+ 0.012472618371248245,
+ 1.3292608261108398,
+ -0.0015345916617661715,
+ 0.0008890567696653306,
+ 1.1497936248779297,
+ 0.0014809869462624192,
+ 0.001224404200911522,
+ 1.2076495885849,
+ -0.002437175717204809,
+ 0.04837939515709877,
+ 1.3244705200195312,
+ -0.003010515822097659,
+ -0.0020256738644093275,
+ 1.148858904838562,
+ 0.0021221137139946222,
+ 0.0019800325389951468,
+ 1.0218945741653442,
+ -0.000549732823856175,
+ 0.06554295867681503,
+ 1.3848377466201782,
+ -0.003063957439735532,
+ 0.002638746052980423,
+ 1.1423254013061523,
+ 0.0017459223745390773,
+ -0.0021473669912666082,
+ 1.1851203441619873,
+ -0.025239497423171997,
+ 0.02419366128742695,
+ 1.377780795097351,
+ -0.002570314100012183,
+ -0.0006407616310752928,
+ 1.1093676090240479,
+ 0.0019596980419009924,
+ -0.002019391395151615,
+ 0.1963900774717331,
+ 1.2203623056411743,
+ -0.30870741605758667,
+ 0.0004468314291443676,
+ -0.002957847435027361,
+ -0.36546358466148376,
+ 0.001916081178933382,
+ -0.003477959893643856,
+ -0.623049795627594
+ ],
+ "wrist_pos": [
+ 0.17828594148159027,
+ 0.001365254633128643,
+ 0.8397466540336609
+ ],
+ "wrist_rot": [
+ -0.0024391517508774996,
+ 0.03214814141392708,
+ 0.6914462447166443,
+ 0.7217079997062683
+ ],
+ "joint_positions": [
+ 0.0,
+ 1.5355313687237526e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 2,
+ "virtual_xyz": [
+ 0.17677205801010132,
+ 0.0014240158488973975,
+ 0.8395371437072754
+ ],
+ "wrist_rpy": [
+ -0.04523307830095291,
+ 0.03211500123143196,
+ 1.5271751880645752
+ ],
+ "finger_dofs": [
+ 1.1439166069030762,
+ -0.010468426160514355,
+ 0.010918582789599895,
+ 1.326364517211914,
+ -0.0024300760123878717,
+ 0.0007418850436806679,
+ 1.1509820222854614,
+ 0.0018490712391212583,
+ 0.0009135696454904974,
+ 1.2095451354980469,
+ -0.0023750681430101395,
+ 0.04542895033955574,
+ 1.3112199306488037,
+ -0.0027673954609781504,
+ -0.0021862711291760206,
+ 1.1582472324371338,
+ 0.002087583765387535,
+ 0.0020371023565530777,
+ 1.0566385984420776,
+ 0.0008703250787220895,
+ 0.062373459339141846,
+ 1.3746734857559204,
+ -0.003168730763718486,
+ 0.0024911747314035892,
+ 1.143627405166626,
+ 0.001877570990473032,
+ -0.002166491700336337,
+ 1.221670150756836,
+ -0.018234776332974434,
+ 0.022038662806153297,
+ 1.365591287612915,
+ -0.002305093687027693,
+ -0.0006901856395415962,
+ 1.1197881698608398,
+ 0.0019514017039909959,
+ -0.001938568544574082,
+ 0.21239137649536133,
+ 1.2190245389938354,
+ -0.31682536005973816,
+ 0.0007309470092877746,
+ -0.001965411938726902,
+ -0.3517955541610718,
+ 0.0012518299045041203,
+ -0.002714860951527953,
+ -0.6170557141304016
+ ],
+ "wrist_pos": [
+ 0.17677217721939087,
+ 0.001424015499651432,
+ 0.8395370841026306
+ ],
+ "wrist_rot": [
+ -0.0052330829203128815,
+ 0.02723204530775547,
+ 0.6909890174865723,
+ 0.7223331332206726
+ ],
+ "joint_positions": [
+ 0.00039785372791811824,
+ 1.5356503846319924e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 3,
+ "virtual_xyz": [
+ 0.17517338693141937,
+ 0.0014269694220274687,
+ 0.8392975926399231
+ ],
+ "wrist_rpy": [
+ -0.042399365454912186,
+ 0.02446286380290985,
+ 1.5263921022415161
+ ],
+ "finger_dofs": [
+ 1.1453598737716675,
+ -0.0055710142478346825,
+ 0.009978706017136574,
+ 1.3246142864227295,
+ -0.002484543714672327,
+ 0.00015127901860978454,
+ 1.1518633365631104,
+ 0.0010608836309984326,
+ 0.0006727642030455172,
+ 1.2128052711486816,
+ -0.0027183874044567347,
+ 0.03791826218366623,
+ 1.2964065074920654,
+ -0.003160108346492052,
+ -0.001989843090996146,
+ 1.167744517326355,
+ 0.0020877786446362734,
+ 0.002023956272751093,
+ 1.0778509378433228,
+ 0.0015609561232849956,
+ 0.050475094467401505,
+ 1.373466968536377,
+ -0.0027699009515345097,
+ 0.002599775092676282,
+ 1.1474835872650146,
+ 0.0007394476560875773,
+ -0.0022229375317692757,
+ 1.2557079792022705,
+ -0.025618506595492363,
+ 0.007329953834414482,
+ 1.3433828353881836,
+ -0.002490321174263954,
+ -0.00037017109571024776,
+ 1.1249303817749023,
+ 0.0019236765801906586,
+ -0.002003893256187439,
+ 0.2339082658290863,
+ 1.2117396593093872,
+ -0.27614709734916687,
+ 0.0018963803304359317,
+ -0.000992223503999412,
+ -0.4109434187412262,
+ -0.0016873511485755444,
+ -0.0026155924424529076,
+ -0.6124967336654663
+ ],
+ "wrist_pos": [
+ 0.17517349123954773,
+ 0.001426969189196825,
+ 0.8392975330352783
+ ],
+ "wrist_rot": [
+ -0.006864374969154596,
+ 0.02348821423947811,
+ 0.6908400058746338,
+ 0.722593367099762
+ ],
+ "joint_positions": [
+ 0.0013774496037513018,
+ 1.535681470876682e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 4,
+ "virtual_xyz": [
+ 0.17354758083820343,
+ 0.0013793559046462178,
+ 0.8393388986587524
+ ],
+ "wrist_rpy": [
+ -0.03912220522761345,
+ 0.02159636653959751,
+ 1.5261529684066772
+ ],
+ "finger_dofs": [
+ 1.152734398841858,
+ -0.008184686303138733,
+ 0.0094748605042696,
+ 1.3237740993499756,
+ -0.002594243036583066,
+ 0.00012684370449278504,
+ 1.1523869037628174,
+ 0.0012738045770674944,
+ 0.0005405146512202919,
+ 1.2137556076049805,
+ -0.0024447045288980007,
+ 0.03715399280190468,
+ 1.2913978099822998,
+ -0.002876599319279194,
+ -0.002154950052499771,
+ 1.1719939708709717,
+ 0.002112272195518017,
+ 0.002087715780362487,
+ 1.0886683464050293,
+ 0.0018427151953801513,
+ 0.04747151955962181,
+ 1.3741246461868286,
+ -0.002932426519691944,
+ 0.002411388326436281,
+ 1.150367259979248,
+ 0.0018118193838745356,
+ -0.0021669226698577404,
+ 1.2791870832443237,
+ -0.021039901301264763,
+ 0.007956977933645248,
+ 1.3348422050476074,
+ -0.002383923390880227,
+ -0.001793852774426341,
+ 1.1295275688171387,
+ 0.0019232622580602765,
+ -0.0019084096420556307,
+ 0.2469204068183899,
+ 1.2160826921463013,
+ -0.2531677186489105,
+ 0.0018337558722123504,
+ 0.002107410691678524,
+ -0.44159838557243347,
+ -0.001400431850925088,
+ -0.0023843462113291025,
+ -0.6112473607063293
+ ],
+ "wrist_pos": [
+ 0.17354770004749298,
+ 0.0013793553225696087,
+ 0.8393388390541077
+ ],
+ "wrist_rot": [
+ -0.006673600524663925,
+ 0.021320246160030365,
+ 0.6908228993415833,
+ 0.7226786613464355
+ ],
+ "joint_positions": [
+ 0.0026395136956125498,
+ 1.5356895755047617e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 5,
+ "virtual_xyz": [
+ 0.17195530235767365,
+ 0.0013973970199003816,
+ 0.8390472531318665
+ ],
+ "wrist_rpy": [
+ -0.03573637828230858,
+ 0.01818084344267845,
+ 1.525239109992981
+ ],
+ "finger_dofs": [
+ 1.1427005529403687,
+ -0.009133798070251942,
+ 0.009270422160625458,
+ 1.323346734046936,
+ -0.0027717752382159233,
+ 0.0001716663537081331,
+ 1.1527844667434692,
+ 0.0012492501409724355,
+ 0.000447332946350798,
+ 1.214558482170105,
+ -0.0025884686037898064,
+ 0.039385512471199036,
+ 1.285078763961792,
+ -0.0030034827068448067,
+ -0.0021489965729415417,
+ 1.1777275800704956,
+ 0.002142061246559024,
+ 0.0020570755004882812,
+ 1.0961344242095947,
+ -0.0014810991706326604,
+ 0.04965474456548691,
+ 1.3729994297027588,
+ -0.0030967574566602707,
+ 0.002563484711572528,
+ 1.1516973972320557,
+ 0.0018056230619549751,
+ -0.0022436855360865593,
+ 1.3379931449890137,
+ -0.025372179225087166,
+ 0.015545698814094067,
+ 1.3277084827423096,
+ -0.002518017776310444,
+ -0.0017810194985941052,
+ 1.13326096534729,
+ 0.0019228023011237383,
+ -0.0008259114110842347,
+ 0.263721764087677,
+ 1.2170047760009766,
+ -0.24432754516601562,
+ 0.0021329494193196297,
+ 0.0022727048490196466,
+ -0.46756717562675476,
+ -0.001928628422319889,
+ -0.002052089897915721,
+ -0.6082668900489807
+ ],
+ "wrist_pos": [
+ 0.171955406665802,
+ 0.0013973964378237724,
+ 0.8390471935272217
+ ],
+ "wrist_rot": [
+ -0.006639018189162016,
+ 0.018913915380835533,
+ 0.6905615329742432,
+ 0.7229957580566406
+ ],
+ "joint_positions": [
+ 0.004163865000009537,
+ 1.535691795950811e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 6,
+ "virtual_xyz": [
+ 0.17031680047512054,
+ 0.0013672838686034083,
+ 0.8394771218299866
+ ],
+ "wrist_rpy": [
+ -0.03503798693418503,
+ 0.020225072279572487,
+ 1.5244498252868652
+ ],
+ "finger_dofs": [
+ 1.132697343826294,
+ -0.01011411938816309,
+ 0.00897689163684845,
+ 1.3232426643371582,
+ -0.002219547051936388,
+ 0.00045970550854690373,
+ 1.152869701385498,
+ 0.001465866807848215,
+ 0.0004350275848992169,
+ 1.2096196413040161,
+ -0.002677748678252101,
+ 0.04143178462982178,
+ 1.2856481075286865,
+ -0.0034672976471483707,
+ -0.0021813081111758947,
+ 1.1769869327545166,
+ 0.0022658277302980423,
+ 0.0020909521263092756,
+ 1.0912020206451416,
+ -3.4746441087918356e-05,
+ 0.052055396139621735,
+ 1.373193621635437,
+ -0.003204106818884611,
+ 0.0024912559892982244,
+ 1.150916576385498,
+ 0.0018679717322811484,
+ -0.0021823111455887556,
+ 1.4567607641220093,
+ -0.03151042386889458,
+ 0.03245445713400841,
+ 1.3423891067504883,
+ -0.003151342738419771,
+ -0.0013577924109995365,
+ 1.1304703950881958,
+ 0.002063047606498003,
+ -0.0019535464234650135,
+ 0.263998806476593,
+ 1.2182554006576538,
+ -0.23884466290473938,
+ 0.00203485949896276,
+ 0.0021398074459284544,
+ -0.46688613295555115,
+ -0.0011781862704083323,
+ -0.0022838145960122347,
+ -0.6100130081176758
+ ],
+ "wrist_pos": [
+ 0.1703169047832489,
+ 0.0013672835193574429,
+ 0.8394770622253418
+ ],
+ "wrist_rot": [
+ -0.005688181146979332,
+ 0.019409185275435448,
+ 0.6902629137039185,
+ 0.7232758402824402
+ ],
+ "joint_positions": [
+ 0.005446579307317734,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 7,
+ "virtual_xyz": [
+ 0.16875548660755157,
+ 0.001406250987201929,
+ 0.8397563695907593
+ ],
+ "wrist_rpy": [
+ -0.036554597318172455,
+ 0.017316976562142372,
+ 1.5226175785064697
+ ],
+ "finger_dofs": [
+ 1.1296075582504272,
+ -0.0047468519769608974,
+ 0.010162506252527237,
+ 1.3221659660339355,
+ -0.0015221737558022141,
+ 0.0010527980048209429,
+ 1.1529529094696045,
+ 0.001380418543703854,
+ 0.0004395629221107811,
+ 1.2081228494644165,
+ -0.002490722108632326,
+ 0.04501284658908844,
+ 1.2853598594665527,
+ -0.003044124459847808,
+ -0.0021452433429658413,
+ 1.1763744354248047,
+ 0.002132865134626627,
+ 0.002113878261297941,
+ 1.1086504459381104,
+ -0.0010024376679211855,
+ 0.056604884564876556,
+ 1.3579504489898682,
+ -0.002655054908245802,
+ -0.0013635604409500957,
+ 1.153698205947876,
+ 0.0019054822623729706,
+ -0.001829853979870677,
+ 1.4439096450805664,
+ -0.03394019976258278,
+ 0.04091085121035576,
+ 1.3285261392593384,
+ -0.002493157284334302,
+ -0.0018791856709867716,
+ 1.143634557723999,
+ 0.001958000473678112,
+ 0.001830098102800548,
+ 0.27732932567596436,
+ 1.2137694358825684,
+ -0.22687450051307678,
+ 0.0020123913418501616,
+ 0.0022511908318847418,
+ -0.48215898871421814,
+ -0.0018503706669434905,
+ -0.002149469219148159,
+ -0.6059111952781677
+ ],
+ "wrist_pos": [
+ 0.16875559091567993,
+ 0.0014062505215406418,
+ 0.8397563099861145
+ ],
+ "wrist_rot": [
+ -0.007257991004735231,
+ 0.01887473464012146,
+ 0.6896137595176697,
+ 0.7238948345184326
+ ],
+ "joint_positions": [
+ 0.006297361571341753,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 8,
+ "virtual_xyz": [
+ 0.16719312965869904,
+ 0.0014625107869505882,
+ 0.8393831253051758
+ ],
+ "wrist_rpy": [
+ -0.0335010290145874,
+ 0.009862983599305153,
+ 1.5234853029251099
+ ],
+ "finger_dofs": [
+ 1.1286109685897827,
+ -0.008020665496587753,
+ 0.00893391389399767,
+ 1.3209583759307861,
+ -0.0025353184901177883,
+ 0.0005848656292073429,
+ 1.153350830078125,
+ 0.0012968843802809715,
+ 0.00030243161018006504,
+ 1.2131304740905762,
+ -0.002816315507516265,
+ 0.040066126734018326,
+ 1.2737195491790771,
+ -0.003662070259451866,
+ -0.0021214911248534918,
+ 1.1811532974243164,
+ 0.002203264506533742,
+ 0.0021745713893324137,
+ 1.1327279806137085,
+ -0.002972130663692951,
+ 0.04956527426838875,
+ 1.3484537601470947,
+ -0.0028712654020637274,
+ -0.0015858818078413606,
+ 1.1580873727798462,
+ 0.0019645001739263535,
+ 8.157981210388243e-05,
+ 1.4986772537231445,
+ -0.03253401070833206,
+ 0.038933202624320984,
+ 1.3087568283081055,
+ -0.00254578934982419,
+ -0.0019821091555058956,
+ 1.1558747291564941,
+ 0.0019962002988904715,
+ 0.0019025403307750821,
+ 0.31272947788238525,
+ 1.212894082069397,
+ -0.23872698843479156,
+ 0.0020828654523938894,
+ 0.0021832105703651905,
+ -0.5041588544845581,
+ -0.0019468836253508925,
+ -0.0020655870903283358,
+ -0.6012240648269653
+ ],
+ "wrist_pos": [
+ 0.1671932488679886,
+ 0.001462510321289301,
+ 0.839383065700531
+ ],
+ "wrist_rot": [
+ -0.008717196993529797,
+ 0.015128142200410366,
+ 0.6900184750556946,
+ 0.723581075668335
+ ],
+ "joint_positions": [
+ 0.007472257595509291,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 9,
+ "virtual_xyz": [
+ 0.16553044319152832,
+ 0.001458659302443266,
+ 0.8395301103591919
+ ],
+ "wrist_rpy": [
+ -0.03150402382016182,
+ 0.009769401513040066,
+ 1.5237106084823608
+ ],
+ "finger_dofs": [
+ 1.1352858543395996,
+ -0.008942895568907261,
+ 0.007819289341568947,
+ 1.3212863206863403,
+ -0.0018373673083260655,
+ 0.0003400057612452656,
+ 1.1537292003631592,
+ 0.0010130549781024456,
+ 0.00021198100876063108,
+ 1.2173172235488892,
+ -0.002693766262382269,
+ 0.04115406796336174,
+ 1.2692238092422485,
+ -0.003795505268499255,
+ -0.0021391068585217,
+ 1.180747389793396,
+ 0.002181094139814377,
+ 0.0021237025503069162,
+ 1.1316728591918945,
+ -0.0001855570008046925,
+ 0.05240527167916298,
+ 1.34859037399292,
+ -0.0029486401472240686,
+ -0.0014439559308812022,
+ 1.1568442583084106,
+ 0.0019564232788980007,
+ -0.0008680629543960094,
+ 1.5356544256210327,
+ -0.02617385983467102,
+ 0.04092585667967796,
+ 1.3114527463912964,
+ -0.0025356521364301443,
+ -0.0020389920100569725,
+ 1.1565152406692505,
+ 0.001992911333218217,
+ 0.001818979624658823,
+ 0.33086317777633667,
+ 1.211596131324768,
+ -0.2519928514957428,
+ 0.0020926690194755793,
+ 0.002137939678505063,
+ -0.505570650100708,
+ -0.0019079799531027675,
+ -0.0019760685972869396,
+ -0.602997899055481
+ ],
+ "wrist_pos": [
+ 0.16553056240081787,
+ 0.0014586588367819786,
+ 0.8395300507545471
+ ],
+ "wrist_rot": [
+ -0.008025305345654488,
+ 0.014406369999051094,
+ 0.6901153326034546,
+ 0.7235113978385925
+ ],
+ "joint_positions": [
+ 0.009335167706012726,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 10,
+ "virtual_xyz": [
+ 0.16395112872123718,
+ 0.0014646003255620599,
+ 0.8392949104309082
+ ],
+ "wrist_rpy": [
+ -0.0308651365339756,
+ 0.007046906277537346,
+ 1.5229110717773438
+ ],
+ "finger_dofs": [
+ 1.1338549852371216,
+ -0.008330329321324825,
+ 0.008606791496276855,
+ 1.321224331855774,
+ -0.002902321983128786,
+ 0.001142935361713171,
+ 1.1540030241012573,
+ 0.0014930296456441283,
+ 0.00017611913790460676,
+ 1.219221830368042,
+ -0.002768447156995535,
+ 0.04404345154762268,
+ 1.2651267051696777,
+ -0.0035718148574233055,
+ -0.00219195825047791,
+ 1.1826504468917847,
+ 0.0021854769438505173,
+ 0.002213351894170046,
+ 1.1365972757339478,
+ -0.001949783181771636,
+ 0.05426757037639618,
+ 1.3482732772827148,
+ -0.002809693571180105,
+ -0.0019134413450956345,
+ 1.1596120595932007,
+ 0.001998363761231303,
+ 0.0010397735750302672,
+ 1.5518053770065308,
+ -0.03254815563559532,
+ 0.04083288088440895,
+ 1.3049750328063965,
+ -0.002518321620300412,
+ -0.0020324615761637688,
+ 1.1618074178695679,
+ 0.002014120575040579,
+ 0.001998263644054532,
+ 0.33744874596595764,
+ 1.2093024253845215,
+ -0.25566715002059937,
+ 0.0020078830420970917,
+ 0.0019315882818773389,
+ -0.5119245052337646,
+ -0.001967724645510316,
+ -0.002021252643316984,
+ -0.6001213192939758
+ ],
+ "wrist_pos": [
+ 0.16395124793052673,
+ 0.0014645997434854507,
+ 0.8392948508262634
+ ],
+ "wrist_rot": [
+ -0.008739084005355835,
+ 0.013197598978877068,
+ 0.6898497343063354,
+ 0.7237794399261475
+ ],
+ "joint_positions": [
+ 0.010807642713189125,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 11,
+ "virtual_xyz": [
+ 0.16235531866550446,
+ 0.0015083329053595662,
+ 0.8398253917694092
+ ],
+ "wrist_rpy": [
+ -0.03302686661481857,
+ 0.009246199391782284,
+ 1.522270679473877
+ ],
+ "finger_dofs": [
+ 1.1330809593200684,
+ -0.011543123051524162,
+ 0.00904911756515503,
+ 1.3202903270721436,
+ -0.0025617885403335094,
+ 0.0017645154148340225,
+ 1.1540831327438354,
+ 0.0018532609101384878,
+ 0.0001766044442774728,
+ 1.2050926685333252,
+ -0.002528781769797206,
+ 0.049992069602012634,
+ 1.2710881233215332,
+ -0.0034119649790227413,
+ -0.0023309632670134306,
+ 1.1737375259399414,
+ 0.0022132170852273703,
+ 0.0022286297753453255,
+ 1.137129545211792,
+ -0.0008095709490589797,
+ 0.06063111498951912,
+ 1.3480157852172852,
+ -0.0028684348799288273,
+ -0.0020272659603506327,
+ 1.1580233573913574,
+ 0.0020521224942058325,
+ 0.0015888770576566458,
+ 1.5199165344238281,
+ -0.027365554124116898,
+ 0.045781418681144714,
+ 1.308454155921936,
+ -0.0024701342917978764,
+ -0.0021879947744309902,
+ 1.1602849960327148,
+ 0.002030283212661743,
+ 0.0020360255148261786,
+ 0.338838130235672,
+ 1.2062373161315918,
+ -0.25428950786590576,
+ 0.0019425865029916167,
+ 0.0019971346482634544,
+ -0.5074708461761475,
+ -0.0018898251000791788,
+ -0.0020759219769388437,
+ -0.6013050675392151
+ ],
+ "wrist_pos": [
+ 0.162355437874794,
+ 0.001508332323282957,
+ 0.8398253321647644
+ ],
+ "wrist_rot": [
+ -0.00876745954155922,
+ 0.014736116863787174,
+ 0.6895870566368103,
+ 0.7239996790885925
+ ],
+ "joint_positions": [
+ 0.011711196973919868,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 12,
+ "virtual_xyz": [
+ 0.1607675552368164,
+ 0.0014353127917274833,
+ 0.8399577140808105
+ ],
+ "wrist_rpy": [
+ -0.030134469270706177,
+ 0.004609050694853067,
+ 1.5239102840423584
+ ],
+ "finger_dofs": [
+ 1.1312730312347412,
+ -0.007141430396586657,
+ 0.0036722479853779078,
+ 1.3213510513305664,
+ -0.002394340932369232,
+ 0.0005886011640541255,
+ 1.1540597677230835,
+ 0.0010539536597207189,
+ 0.00013156246859580278,
+ 1.2049946784973145,
+ -0.0027770567685365677,
+ 0.04529527202248573,
+ 1.254927635192871,
+ -0.003637328278273344,
+ -0.002073428360745311,
+ 1.1777299642562866,
+ 0.002166315447539091,
+ 0.002158132614567876,
+ 1.149430513381958,
+ -0.002291426295414567,
+ 0.055163007229566574,
+ 1.3309389352798462,
+ -0.002547288779169321,
+ -0.002136362949386239,
+ 1.159522533416748,
+ 0.0020229839719831944,
+ 0.0018685701070353389,
+ 1.4671884775161743,
+ -0.026204926893115044,
+ 0.03896971046924591,
+ 1.2907227277755737,
+ -0.0015963490586727858,
+ -0.002222341252490878,
+ 1.1696819067001343,
+ 0.0019276905804872513,
+ 0.002081087324768305,
+ 0.3577396869659424,
+ 1.2111718654632568,
+ -0.26293671131134033,
+ 0.0018873291555792093,
+ 0.001983639784157276,
+ -0.5074909925460815,
+ -0.0018748538568615913,
+ -0.002086041960865259,
+ -0.600145697593689
+ ],
+ "wrist_pos": [
+ 0.16076767444610596,
+ 0.0014353124424815178,
+ 0.8399576544761658
+ ],
+ "wrist_rot": [
+ -0.009309683926403522,
+ 0.012067994102835655,
+ 0.6902318000793457,
+ 0.7234277129173279
+ ],
+ "joint_positions": [
+ 0.0127894077450037,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 13,
+ "virtual_xyz": [
+ 0.15917633473873138,
+ 0.001462212298065424,
+ 0.8397529721260071
+ ],
+ "wrist_rpy": [
+ -0.028526222333312035,
+ 0.00023863505339249969,
+ 1.5238432884216309
+ ],
+ "finger_dofs": [
+ 1.1372480392456055,
+ -0.006417412776499987,
+ -0.0017018119106069207,
+ 1.322466254234314,
+ -0.0020612881053239107,
+ 0.0004908607224933803,
+ 1.1544270515441895,
+ 0.000808341836091131,
+ 3.5847246181219816e-05,
+ 1.2083836793899536,
+ -0.00298816105350852,
+ 0.04375830665230751,
+ 1.2442958354949951,
+ -0.0042978208512067795,
+ -0.0019438983872532845,
+ 1.18000066280365,
+ 0.0021931587252765894,
+ 0.0021184198558330536,
+ 1.159415364265442,
+ -0.003370514139533043,
+ 0.05474112555384636,
+ 1.3242443799972534,
+ -0.002772268373519182,
+ -0.0018620705232024193,
+ 1.1611123085021973,
+ 0.0020158651750534773,
+ 0.0017882406245917082,
+ 1.4637221097946167,
+ -0.026064585894346237,
+ 0.038100432604551315,
+ 1.2767407894134521,
+ -0.0024908334016799927,
+ -0.002071879804134369,
+ 1.1754212379455566,
+ 0.0020070825703442097,
+ 0.0020154842641204596,
+ 0.3741135895252228,
+ 1.2095884084701538,
+ -0.26597389578819275,
+ 0.001996536972001195,
+ 0.0016553038731217384,
+ -0.5219302773475647,
+ -0.0020105508156120777,
+ -0.0018220170168206096,
+ -0.5969633460044861
+ ],
+ "wrist_pos": [
+ 0.15917645394802094,
+ 0.0014622118324041367,
+ 0.8397529125213623
+ ],
+ "wrist_rot": [
+ -0.010236683301627636,
+ 0.009931938722729683,
+ 0.6902413964271545,
+ 0.7234385013580322
+ ],
+ "joint_positions": [
+ 0.014489008113741875,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 14,
+ "virtual_xyz": [
+ 0.15756776928901672,
+ 0.0014562519500032067,
+ 0.8397741317749023
+ ],
+ "wrist_rpy": [
+ -0.028597194701433182,
+ 0.000730732106603682,
+ 1.5237212181091309
+ ],
+ "finger_dofs": [
+ 1.1428940296173096,
+ -0.007082963827997446,
+ -0.0014323248760774732,
+ 1.3228005170822144,
+ -0.0015601912746205926,
+ 0.0005971153732389212,
+ 1.154570460319519,
+ 0.0008565959287807345,
+ 8.80627612787066e-06,
+ 1.2098954916000366,
+ -0.002796012442559004,
+ 0.04194751754403114,
+ 1.2433385848999023,
+ -0.004136723931878805,
+ -0.0020723138004541397,
+ 1.1786984205245972,
+ 0.0021942798048257828,
+ 0.0021435613743960857,
+ 1.1574287414550781,
+ -0.003603878431022167,
+ 0.05250179022550583,
+ 1.3254588842391968,
+ -0.0027352245524525642,
+ -0.0019247472519055009,
+ 1.16209876537323,
+ 0.002034494886174798,
+ 0.001830740482546389,
+ 1.4408650398254395,
+ -0.025924095883965492,
+ 0.03159581869840622,
+ 1.2799558639526367,
+ -0.002672858303412795,
+ -0.0020353684667497873,
+ 1.1751296520233154,
+ 0.0020467902068048716,
+ 0.002059938618913293,
+ 0.37722012400627136,
+ 1.20746910572052,
+ -0.2677185833454132,
+ 0.0019962103106081486,
+ 0.0019057935569435358,
+ -0.5245506167411804,
+ -0.0019803529139608145,
+ -0.001887480728328228,
+ -0.5974003672599792
+ ],
+ "wrist_pos": [
+ 0.15756788849830627,
+ 0.0014562513679265976,
+ 0.8397740721702576
+ ],
+ "wrist_rot": [
+ -0.01009306125342846,
+ 0.010133759118616581,
+ 0.6901942491531372,
+ 0.7234826683998108
+ ],
+ "joint_positions": [
+ 0.01605946570634842,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 15,
+ "virtual_xyz": [
+ 0.15594610571861267,
+ 0.0014393996680155396,
+ 0.8397661447525024
+ ],
+ "wrist_rpy": [
+ -0.028487853705883026,
+ 0.0012941347667947412,
+ 1.523234248161316
+ ],
+ "finger_dofs": [
+ 1.143317461013794,
+ -0.007406575605273247,
+ -0.00012111691466998309,
+ 1.322812795639038,
+ -0.0024842184502631426,
+ 0.0006032634992152452,
+ 1.1547086238861084,
+ 0.0007826215587556362,
+ -1.478787908126833e-05,
+ 1.20824134349823,
+ -0.003012973116710782,
+ 0.042022522538900375,
+ 1.2463176250457764,
+ -0.004197544883936644,
+ -0.002093353308737278,
+ 1.180425763130188,
+ 0.0021971131209284067,
+ 0.0021470931824296713,
+ 1.1520367860794067,
+ -0.0020483757834881544,
+ 0.050047218799591064,
+ 1.326046109199524,
+ -0.0025803539901971817,
+ -0.002088611712679267,
+ 1.1612850427627563,
+ 0.002008180832490325,
+ 0.0018278342904523015,
+ 1.3981114625930786,
+ -0.02454402856528759,
+ 0.02227441966533661,
+ 1.2796705961227417,
+ -0.0024807187728583813,
+ -0.002115630079060793,
+ 1.173496127128601,
+ 0.0020025211852043867,
+ 0.0020594880916178226,
+ 0.3760415315628052,
+ 1.205255150794983,
+ -0.2684938907623291,
+ 0.002025393070653081,
+ 0.001867211190983653,
+ -0.523056149482727,
+ -0.0019770744256675243,
+ -0.0019485121592879295,
+ -0.5976220965385437
+ ],
+ "wrist_pos": [
+ 0.15594622492790222,
+ 0.0014393990859389305,
+ 0.8397660851478577
+ ],
+ "wrist_rot": [
+ -0.009861622005701065,
+ 0.01029738038778305,
+ 0.6900156736373901,
+ 0.7236538529396057
+ ],
+ "joint_positions": [
+ 0.017702437937259674,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 16,
+ "virtual_xyz": [
+ 0.15434864163398743,
+ 0.001477165031246841,
+ 0.8397411704063416
+ ],
+ "wrist_rpy": [
+ -0.027433423325419426,
+ 0.0016225978033617139,
+ 1.522257924079895
+ ],
+ "finger_dofs": [
+ 1.1370059251785278,
+ -0.0074721998535096645,
+ 0.0007522674859501421,
+ 1.3224258422851562,
+ -0.0023937986698001623,
+ 0.0008121239952743053,
+ 1.1546881198883057,
+ 0.000967034138739109,
+ -7.9275960160885e-06,
+ 1.2061374187469482,
+ -0.0025394363328814507,
+ 0.04210643097758293,
+ 1.2506109476089478,
+ -0.003643641248345375,
+ -0.002189261605963111,
+ 1.1832199096679688,
+ 0.002204268705099821,
+ 0.0021998006850481033,
+ 1.1526670455932617,
+ -0.00135575863532722,
+ 0.04971427842974663,
+ 1.3218812942504883,
+ -0.002567848889157176,
+ -0.0022764222230762243,
+ 1.162054181098938,
+ 0.0020562598947435617,
+ 0.0019111803267151117,
+ 1.363825798034668,
+ -0.021962426602840424,
+ 0.012952365912497044,
+ 1.2703919410705566,
+ -0.0023415370378643274,
+ -0.002263878472149372,
+ 1.175138235092163,
+ 0.0019948759581893682,
+ 0.002147492254152894,
+ 0.3749503195285797,
+ 1.2074785232543945,
+ -0.26942500472068787,
+ 0.0019264192087575793,
+ 0.0014122378779575229,
+ -0.5207805037498474,
+ -0.0019319626735523343,
+ -0.0019562006928026676,
+ -0.5976732969284058
+ ],
+ "wrist_pos": [
+ 0.15434876084327698,
+ 0.0014771646820008755,
+ 0.8397411108016968
+ ],
+ "wrist_rot": [
+ -0.009371761232614517,
+ 0.010047933086752892,
+ 0.6896659731864929,
+ 0.7239972352981567
+ ],
+ "joint_positions": [
+ 0.019037168473005295,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 17,
+ "virtual_xyz": [
+ 0.15276026725769043,
+ 0.001486459863372147,
+ 0.8395242094993591
+ ],
+ "wrist_rpy": [
+ -0.02544923685491085,
+ -0.00011806158727267757,
+ 1.5216056108474731
+ ],
+ "finger_dofs": [
+ 1.1293728351593018,
+ -0.007069583982229233,
+ -0.0005601594457402825,
+ 1.3227319717407227,
+ -0.0006591769051738083,
+ 0.0005505706649273634,
+ 1.1547091007232666,
+ 0.0007680383278056979,
+ -1.7156029571196996e-05,
+ 1.203562617301941,
+ -0.0020283616613596678,
+ 0.04284089803695679,
+ 1.2528903484344482,
+ -0.0028253362979739904,
+ -0.00228920322842896,
+ 1.1855239868164062,
+ 0.0020726718939840794,
+ 0.0021797220688313246,
+ 1.159888744354248,
+ -0.0024519881699234247,
+ 0.050711411982774734,
+ 1.3179230690002441,
+ -0.0026562600396573544,
+ -0.00214757164940238,
+ 1.1628786325454712,
+ 0.0020451368764042854,
+ 0.0018768112640827894,
+ 1.3434909582138062,
+ -0.021446214988827705,
+ 0.010932878591120243,
+ 1.2638356685638428,
+ -0.0025364267639815807,
+ -0.0021901933941990137,
+ 1.1800693273544312,
+ 0.002015210222452879,
+ 0.0021149555686861277,
+ 0.378755122423172,
+ 1.211012363433838,
+ -0.2711477279663086,
+ 0.0019549301359802485,
+ 0.000696818227879703,
+ -0.5242518186569214,
+ -0.001920903567224741,
+ -0.0019283595029264688,
+ -0.5962982177734375
+ ],
+ "wrist_pos": [
+ 0.15276038646697998,
+ 0.001486459281295538,
+ 0.8395241498947144
+ ],
+ "wrist_rot": [
+ -0.009256388060748577,
+ 0.008730575442314148,
+ 0.6894477605819702,
+ 0.7242234945297241
+ ],
+ "joint_positions": [
+ 0.020546929910779,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 18,
+ "virtual_xyz": [
+ 0.15113230049610138,
+ 0.001486820518039167,
+ 0.839684784412384
+ ],
+ "wrist_rpy": [
+ -0.024611202999949455,
+ 0.0017847060225903988,
+ 1.5212501287460327
+ ],
+ "finger_dofs": [
+ 1.1328656673431396,
+ -0.006687576416879892,
+ 0.00019300384155940264,
+ 1.3226594924926758,
+ -0.002297006780281663,
+ 0.00045545061584562063,
+ 1.1546788215637207,
+ 0.00070646230597049,
+ -1.4789691704208963e-05,
+ 1.2039417028427124,
+ -0.0027181876357644796,
+ 0.041428327560424805,
+ 1.2552226781845093,
+ -0.0037864441983401775,
+ -0.002149398671463132,
+ 1.1858891248703003,
+ 0.002237198641523719,
+ 0.002191357547417283,
+ 1.155777931213379,
+ -0.002189771505072713,
+ 0.04861848056316376,
+ 1.3169254064559937,
+ -0.0024883528240025043,
+ -0.0022893662098795176,
+ 1.1629334688186646,
+ 0.0020511567126959562,
+ 0.0019410076783969998,
+ 1.3178184032440186,
+ -0.020760849118232727,
+ 0.004163696430623531,
+ 1.2584892511367798,
+ -0.0024780400563031435,
+ -0.002222048817202449,
+ 1.1780072450637817,
+ 0.0020008280407637358,
+ 0.0021531623788177967,
+ 0.37752944231033325,
+ 1.2111338376998901,
+ -0.2732401192188263,
+ 0.0018828518223017454,
+ 0.00034078158205375075,
+ -0.5195632576942444,
+ -0.0019166612764820457,
+ -0.001936420681886375,
+ -0.5981982350349426
+ ],
+ "wrist_pos": [
+ 0.15113243460655212,
+ 0.0014868201687932014,
+ 0.8396847248077393
+ ],
+ "wrist_rot": [
+ -0.008298782631754875,
+ 0.009129248559474945,
+ 0.6893139481544495,
+ 0.7243577241897583
+ ],
+ "joint_positions": [
+ 0.02218053862452507,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 19,
+ "virtual_xyz": [
+ 0.14957557618618011,
+ 0.0014813580783084035,
+ 0.8395586609840393
+ ],
+ "wrist_rpy": [
+ -0.024572208523750305,
+ -0.000595912046264857,
+ 1.5212230682373047
+ ],
+ "finger_dofs": [
+ 1.1331381797790527,
+ -0.006437550764530897,
+ -0.0005547265172936022,
+ 1.3226877450942993,
+ -0.0020698721054941416,
+ 0.0004613286873791367,
+ 1.1546787023544312,
+ 0.0007142506656236947,
+ -1.7023525288095698e-05,
+ 1.2041919231414795,
+ -0.0029261414892971516,
+ 0.04147043451666832,
+ 1.2519404888153076,
+ -0.003656107699498534,
+ -0.0020791273564100266,
+ 1.1865426301956177,
+ 0.0021550680976361036,
+ 0.0021554133854806423,
+ 1.1579668521881104,
+ -0.003245580242946744,
+ 0.04881490767002106,
+ 1.3161206245422363,
+ -0.002629638882353902,
+ -0.0019969975110143423,
+ 1.1629822254180908,
+ 0.0020183015149086714,
+ 0.0018375781364738941,
+ 1.3354969024658203,
+ -0.023868165910243988,
+ 0.004433201160281897,
+ 1.2519770860671997,
+ -0.0024052897933870554,
+ -0.0021843835711479187,
+ 1.177833080291748,
+ 0.001965646632015705,
+ 0.002064053202047944,
+ 0.3813217282295227,
+ 1.2096011638641357,
+ -0.27083954215049744,
+ 0.0020358755718916655,
+ 0.0014823456294834614,
+ -0.5259977579116821,
+ -0.002002533758059144,
+ -0.0019512786529958248,
+ -0.5953836441040039
+ ],
+ "wrist_pos": [
+ 0.14957569539546967,
+ 0.0014813574962317944,
+ 0.8395586013793945
+ ],
+ "wrist_rot": [
+ -0.009105242788791656,
+ 0.008253563195466995,
+ 0.6893151998519897,
+ 0.7243573665618896
+ ],
+ "joint_positions": [
+ 0.023829124867916107,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 20,
+ "virtual_xyz": [
+ 0.14793051779270172,
+ 0.0014791378052905202,
+ 0.839876115322113
+ ],
+ "wrist_rpy": [
+ -0.028112618252635002,
+ 0.0010250237537547946,
+ 1.5231451988220215
+ ],
+ "finger_dofs": [
+ 1.14766526222229,
+ -0.006816765293478966,
+ -7.147140422603115e-05,
+ 1.322869896888733,
+ -0.0024864631704986095,
+ 0.0009159002220258117,
+ 1.1547856330871582,
+ 0.0009869133355095983,
+ -2.4690627469681203e-05,
+ 1.2036926746368408,
+ -0.003204819280654192,
+ 0.04234280064702034,
+ 1.2453917264938354,
+ -0.003732064040377736,
+ -0.0020501618273556232,
+ 1.1746138334274292,
+ 0.0020625123288482428,
+ 0.0020955807995051146,
+ 1.1493396759033203,
+ -0.0008295463630929589,
+ 0.04945504292845726,
+ 1.3342692852020264,
+ -0.002699249191209674,
+ -0.0018278834177181125,
+ 1.1617299318313599,
+ 0.0019441888434812427,
+ 0.0009248077985830605,
+ 1.4246562719345093,
+ -0.027847006916999817,
+ 0.018897395581007004,
+ 1.2821375131607056,
+ -0.002941063605248928,
+ -0.001855952199548483,
+ 1.1702162027359009,
+ 0.0020702718757092953,
+ 0.0019189815502613783,
+ 0.3853873610496521,
+ 1.2006070613861084,
+ -0.2749364674091339,
+ 0.0020805445965379477,
+ 0.001826504128985107,
+ -0.5246709585189819,
+ -0.002031809650361538,
+ -0.0018914844840765,
+ -0.5968168377876282
+ ],
+ "wrist_pos": [
+ 0.14793063700199127,
+ 0.001479137223213911,
+ 0.8398760557174683
+ ],
+ "wrist_rot": [
+ -0.009819201193749905,
+ 0.010070047341287136,
+ 0.6899867653846741,
+ 0.7236852645874023
+ ],
+ "joint_positions": [
+ 0.02593458816409111,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 21,
+ "virtual_xyz": [
+ 0.14630867540836334,
+ 0.0014365790411829948,
+ 0.8399560451507568
+ ],
+ "wrist_rpy": [
+ -0.030528556555509567,
+ 0.0021198862232267857,
+ 1.5243351459503174
+ ],
+ "finger_dofs": [
+ 1.1551307439804077,
+ -0.007555786520242691,
+ 0.00041644516750238836,
+ 1.3231819868087769,
+ -0.0013951946748420596,
+ 0.0006504228804260492,
+ 1.1547431945800781,
+ 0.0008235769928433001,
+ -1.0591540558380075e-05,
+ 1.2063941955566406,
+ -0.0028368355706334114,
+ 0.04413929954171181,
+ 1.242510437965393,
+ -0.003185364417731762,
+ -0.0022316579706966877,
+ 1.17069673538208,
+ 0.002039853483438492,
+ 0.0021426340099424124,
+ 1.1455737352371216,
+ 0.0005056296358816326,
+ 0.05082351341843605,
+ 1.3422112464904785,
+ -0.0027486130129545927,
+ -0.001968405209481716,
+ 1.1612898111343384,
+ 0.002000573091208935,
+ 0.0011483961716294289,
+ 1.46328604221344,
+ -0.025415560230612755,
+ 0.029821224510669708,
+ 1.2956457138061523,
+ -0.0024056565016508102,
+ -0.002130229724571109,
+ 1.166134238243103,
+ 0.0019971169531345367,
+ 0.0020074101630598307,
+ 0.38503801822662354,
+ 1.1977368593215942,
+ -0.2775731086730957,
+ 0.0020315051078796387,
+ 0.0017216784181073308,
+ -0.5232005715370178,
+ -0.001983068650588393,
+ -0.001982607413083315,
+ -0.5976911783218384
+ ],
+ "wrist_pos": [
+ 0.1463087946176529,
+ 0.0014365785755217075,
+ 0.8399559855461121
+ ],
+ "wrist_rot": [
+ -0.010308845899999142,
+ 0.011305888183414936,
+ 0.6903982758522034,
+ 0.7232675552368164
+ ],
+ "joint_positions": [
+ 0.027655068784952164,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 22,
+ "virtual_xyz": [
+ 0.14472270011901855,
+ 0.0014531322522088885,
+ 0.8398033380508423
+ ],
+ "wrist_rpy": [
+ -0.02890494093298912,
+ 0.0008506057201884687,
+ 1.5245354175567627
+ ],
+ "finger_dofs": [
+ 1.1447397470474243,
+ -0.008350322023034096,
+ -0.0027800158131867647,
+ 1.3241208791732788,
+ -0.001827275031246245,
+ -0.00012258085189387202,
+ 1.1545814275741577,
+ 0.00034398792195133865,
+ -1.106074978451943e-05,
+ 1.202722430229187,
+ -0.002465937752276659,
+ 0.04467669874429703,
+ 1.2461644411087036,
+ -0.0017728739185258746,
+ -0.0022968724370002747,
+ 1.1743435859680176,
+ 0.001979667926207185,
+ 0.0021650681737810373,
+ 1.1505097150802612,
+ -0.0022467556409537792,
+ 0.05048893019556999,
+ 1.3359383344650269,
+ -0.0028336900286376476,
+ -0.0018999084131792188,
+ 1.1611660718917847,
+ 0.002001481829211116,
+ 0.0013914903393015265,
+ 1.462375283241272,
+ -0.0256931371986866,
+ 0.03180158883333206,
+ 1.2870053052902222,
+ -0.0024155222345143557,
+ -0.002137229312211275,
+ 1.1697038412094116,
+ 0.0019963732920587063,
+ 0.0019933937583118677,
+ 0.3914121687412262,
+ 1.2005311250686646,
+ -0.2831445038318634,
+ 0.002063879743218422,
+ 0.001543888938613236,
+ -0.5236718058586121,
+ -0.002009788528084755,
+ -0.0019132320303469896,
+ -0.5973961353302002
+ ],
+ "wrist_pos": [
+ 0.1447228193283081,
+ 0.001453131902962923,
+ 0.8398032784461975
+ ],
+ "wrist_rot": [
+ -0.010158873163163662,
+ 0.010287486016750336,
+ 0.6904866695404053,
+ 0.7232005000114441
+ ],
+ "joint_positions": [
+ 0.028985731303691864,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 23,
+ "virtual_xyz": [
+ 0.14313295483589172,
+ 0.001451810821890831,
+ 0.839798092842102
+ ],
+ "wrist_rpy": [
+ -0.028565099462866783,
+ -0.00017931265756487846,
+ 1.524422526359558
+ ],
+ "finger_dofs": [
+ 1.1442652940750122,
+ -0.008165075443685055,
+ -0.00424453429877758,
+ 1.3238844871520996,
+ -0.0006687997374683619,
+ -7.936679321574047e-05,
+ 1.1545658111572266,
+ 0.0004095535259693861,
+ -1.7494758139946498e-05,
+ 1.2006453275680542,
+ -0.001767468056641519,
+ 0.04711480066180229,
+ 1.2429338693618774,
+ -0.0004237079992890358,
+ -0.002298009116202593,
+ 1.172742247581482,
+ 0.0019046502420678735,
+ 0.002141599776223302,
+ 1.1540710926055908,
+ -0.004398520104587078,
+ 0.05371939763426781,
+ 1.3312573432922363,
+ -0.002905140398070216,
+ -0.0017085411818698049,
+ 1.1617224216461182,
+ 0.002018736209720373,
+ 0.001740309176966548,
+ 1.475929856300354,
+ -0.02710975892841816,
+ 0.03772303834557533,
+ 1.283153772354126,
+ -0.00250779977068305,
+ -0.0020865912083536386,
+ 1.1718889474868774,
+ 0.0020163075532764196,
+ 0.001999842468649149,
+ 0.3951711654663086,
+ 1.2014521360397339,
+ -0.2831955552101135,
+ 0.0020657361019402742,
+ 0.001390552264638245,
+ -0.5266046524047852,
+ -0.0020144267473369837,
+ -0.0018598760943859816,
+ -0.5964177846908569
+ ],
+ "wrist_pos": [
+ 0.14313307404518127,
+ 0.0014518103562295437,
+ 0.8397980332374573
+ ],
+ "wrist_rot": [
+ -0.010391918942332268,
+ 0.009797211736440659,
+ 0.6904528737068176,
+ 0.7232362627983093
+ ],
+ "joint_positions": [
+ 0.030521037057042122,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 24,
+ "virtual_xyz": [
+ 0.1415064036846161,
+ 0.0014641419984400272,
+ 0.8398610949516296
+ ],
+ "wrist_rpy": [
+ -0.0286587942391634,
+ 0.00017727690283209085,
+ 1.5246132612228394
+ ],
+ "finger_dofs": [
+ 1.1495932340621948,
+ -0.007816136814653873,
+ -0.004426093772053719,
+ 1.3241585493087769,
+ -0.0002322146319784224,
+ 7.228136837511556e-06,
+ 1.1546536684036255,
+ 0.0004169517778791487,
+ -3.141540946671739e-05,
+ 1.2023138999938965,
+ -0.002803075360134244,
+ 0.04690837860107422,
+ 1.240573763847351,
+ -0.003169584320858121,
+ -0.0021943936590105295,
+ 1.1720503568649292,
+ 0.002027737908065319,
+ 0.002138907089829445,
+ 1.1543890237808228,
+ -0.0015820707194507122,
+ 0.05404281988739967,
+ 1.3369319438934326,
+ -0.002818239852786064,
+ -0.0018823443679139018,
+ 1.1608939170837402,
+ 0.0019751277286559343,
+ 0.001088639721274376,
+ 1.487939715385437,
+ -0.025850100442767143,
+ 0.038144342601299286,
+ 1.285407304763794,
+ -0.002416787436231971,
+ -0.002106281230226159,
+ 1.1709085702896118,
+ 0.0019882263150066137,
+ 0.0019441323820501566,
+ 0.3971827030181885,
+ 1.2000929117202759,
+ -0.28596746921539307,
+ 0.0020579376723617315,
+ 0.0011942042037844658,
+ -0.5258776545524597,
+ -0.0020164381712675095,
+ -0.0018911887891590595,
+ -0.5970463752746582
+ ],
+ "wrist_pos": [
+ 0.14150652289390564,
+ 0.00146414153277874,
+ 0.8398610353469849
+ ],
+ "wrist_rot": [
+ -0.010302001610398293,
+ 0.009959443472325802,
+ 0.6905195116996765,
+ 0.7231717109680176
+ ],
+ "joint_positions": [
+ 0.03232858330011368,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 25,
+ "virtual_xyz": [
+ 0.139928936958313,
+ 0.0014527750900015235,
+ 0.8397767543792725
+ ],
+ "wrist_rpy": [
+ -0.028363008052110672,
+ -0.0005240110331214964,
+ 1.5251911878585815
+ ],
+ "finger_dofs": [
+ 1.145889163017273,
+ -0.007559788413345814,
+ -0.006718751974403858,
+ 1.3249375820159912,
+ -0.0010763562750071287,
+ -0.00037229579174891114,
+ 1.154507040977478,
+ 0.00024016370298340917,
+ -1.9631554096122272e-05,
+ 1.2040518522262573,
+ -0.0026875624898821115,
+ 0.046215880662202835,
+ 1.2399414777755737,
+ -0.002242671325802803,
+ -0.0022491691634058952,
+ 1.1736247539520264,
+ 0.00198029144667089,
+ 0.0021667664404958487,
+ 1.1548666954040527,
+ -0.0033208441454917192,
+ 0.052205637097358704,
+ 1.3327240943908691,
+ -0.002758079208433628,
+ -0.0019565687980502844,
+ 1.161912441253662,
+ 0.0020338089670985937,
+ 0.0017981118289753795,
+ 1.5010132789611816,
+ -0.026899976655840874,
+ 0.038712143898010254,
+ 1.2841230630874634,
+ -0.0021399243269115686,
+ -0.0022321068681776524,
+ 1.171337366104126,
+ 0.0019648130983114243,
+ 0.002055135788396001,
+ 0.4027576148509979,
+ 1.1996022462844849,
+ -0.2911071479320526,
+ 0.0020154195372015238,
+ 0.0010328893549740314,
+ -0.5265018343925476,
+ -0.0020199797581881285,
+ -0.0019228241872042418,
+ -0.5966700911521912
+ ],
+ "wrist_pos": [
+ 0.13992905616760254,
+ 0.001452774740755558,
+ 0.8397766947746277
+ ],
+ "wrist_rot": [
+ -0.01043431181460619,
+ 0.00960680190473795,
+ 0.6907336115837097,
+ 0.7229701280593872
+ ],
+ "joint_positions": [
+ 0.03385629132390022,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 26,
+ "virtual_xyz": [
+ 0.13829416036605835,
+ 0.0014823002275079489,
+ 0.8400228023529053
+ ],
+ "wrist_rpy": [
+ -0.028867870569229126,
+ 0.0017383921658620238,
+ 1.5245707035064697
+ ],
+ "finger_dofs": [
+ 1.145393967628479,
+ -0.006481792777776718,
+ -0.004623446147888899,
+ 1.3244426250457764,
+ -0.00038712043897248805,
+ 0.00015183289360720664,
+ 1.1546026468276978,
+ 0.0005358917987905443,
+ -1.3088336345390417e-05,
+ 1.2018712759017944,
+ -0.002593683311715722,
+ 0.04686935618519783,
+ 1.24312424659729,
+ -0.003116247011348605,
+ -0.0022624123375862837,
+ 1.1727583408355713,
+ 0.0020378711633384228,
+ 0.0021823972929269075,
+ 1.1509939432144165,
+ -0.0007955008768476546,
+ 0.05353810638189316,
+ 1.335680603981018,
+ -0.002720081014558673,
+ -0.002045466098934412,
+ 1.1604809761047363,
+ 0.0020194731187075377,
+ 0.001784339314326644,
+ 1.4982187747955322,
+ -0.025552134960889816,
+ 0.040130700916051865,
+ 1.2895482778549194,
+ -0.0023262095637619495,
+ -0.0021834129001945257,
+ 1.1700952053070068,
+ 0.001998474122956395,
+ 0.0020411922596395016,
+ 0.40111178159713745,
+ 1.1983767747879028,
+ -0.29379376769065857,
+ 0.0019867706578224897,
+ 0.0009741471149027348,
+ -0.5197526812553406,
+ -0.0019339401042088866,
+ -0.001996407750993967,
+ -0.5986314415931702
+ ],
+ "wrist_pos": [
+ 0.1382942795753479,
+ 0.001482299529016018,
+ 0.8400227427482605
+ ],
+ "wrist_rot": [
+ -0.009838830679655075,
+ 0.010595814324915409,
+ 0.6904947757720947,
+ 0.7231927514076233
+ ],
+ "joint_positions": [
+ 0.035330090671777725,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 27,
+ "virtual_xyz": [
+ 0.13671328127384186,
+ 0.0014721313491463661,
+ 0.8398234844207764
+ ],
+ "wrist_rpy": [
+ -0.0283516775816679,
+ -0.00032622655271552503,
+ 1.524397373199463
+ ],
+ "finger_dofs": [
+ 1.1455540657043457,
+ -0.007919350638985634,
+ -0.0049732583574950695,
+ 1.3241009712219238,
+ 0.00036659534089267254,
+ 0.00035226764157414436,
+ 1.1546427011489868,
+ 0.0006670473958365619,
+ -1.745088775351178e-05,
+ 1.204747200012207,
+ -0.0028553479351103306,
+ 0.047624751925468445,
+ 1.2394094467163086,
+ -0.0035966152790933847,
+ -0.0022083923686295748,
+ 1.1776680946350098,
+ 0.0021042448934167624,
+ 0.0021561782341450453,
+ 1.1561472415924072,
+ -0.0030661970376968384,
+ 0.054612040519714355,
+ 1.329025149345398,
+ -0.002846301067620516,
+ -0.0018868643091991544,
+ 1.1614437103271484,
+ 0.0020252028480172157,
+ 0.0017509678145870566,
+ 1.4914032220840454,
+ -0.026209529489278793,
+ 0.040430475026369095,
+ 1.2825249433517456,
+ -0.0023531820625066757,
+ -0.002180741634219885,
+ 1.173861026763916,
+ 0.0020005670376122,
+ 0.0020167373586446047,
+ 0.4037230610847473,
+ 1.199520468711853,
+ -0.2939125597476959,
+ 0.0020157189574092627,
+ 0.00011123027070425451,
+ -0.5230405926704407,
+ -0.001966693438589573,
+ -0.0019562921952456236,
+ -0.5967689156532288
+ ],
+ "wrist_pos": [
+ 0.1367134153842926,
+ 0.0014721308834850788,
+ 0.8398234248161316
+ ],
+ "wrist_rot": [
+ -0.010365660302340984,
+ 0.009670162573456764,
+ 0.6904456615447998,
+ 0.7232453227043152
+ ],
+ "joint_positions": [
+ 0.03698659688234329,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 28,
+ "virtual_xyz": [
+ 0.13508255779743195,
+ 0.0014568036422133446,
+ 0.8399441242218018
+ ],
+ "wrist_rpy": [
+ -0.028584690764546394,
+ 0.0015204166993498802,
+ 1.5242496728897095
+ ],
+ "finger_dofs": [
+ 1.1456024646759033,
+ -0.0063375625759363174,
+ -0.00404047966003418,
+ 1.324151635169983,
+ -0.0018885188037529588,
+ 0.0006143074133433402,
+ 1.1546854972839355,
+ 0.0008191639790311456,
+ -1.3147842764738016e-05,
+ 1.2052292823791504,
+ -0.0031136400066316128,
+ 0.04667850583791733,
+ 1.2429003715515137,
+ -0.00408681808039546,
+ -0.002152249915525317,
+ 1.1765575408935547,
+ 0.002204290358349681,
+ 0.00219106487929821,
+ 1.151106595993042,
+ -0.0015020256396383047,
+ 0.054103005677461624,
+ 1.3325202465057373,
+ -0.002615629695355892,
+ -0.0021183285862207413,
+ 1.1609070301055908,
+ 0.0020238226279616356,
+ 0.0018379200482740998,
+ 1.4749873876571655,
+ -0.026109442114830017,
+ 0.03790651261806488,
+ 1.2851762771606445,
+ -0.0021497125271707773,
+ -0.0022192378528416157,
+ 1.1710841655731201,
+ 0.0019626927096396685,
+ 0.002081945538520813,
+ 0.4014206826686859,
+ 1.1976791620254517,
+ -0.2944488525390625,
+ 0.0019630566239356995,
+ 0.00036141887539997697,
+ -0.5201060175895691,
+ -0.00196948554366827,
+ -0.001949750236235559,
+ -0.5984002947807312
+ ],
+ "wrist_pos": [
+ 0.1350826770067215,
+ 0.0014568031765520573,
+ 0.839944064617157
+ ],
+ "wrist_rot": [
+ -0.009813383221626282,
+ 0.010417676530778408,
+ 0.6903813481330872,
+ 0.7233039736747742
+ ],
+ "joint_positions": [
+ 0.03853364288806915,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 29,
+ "virtual_xyz": [
+ 0.13348577916622162,
+ 0.0014614423271268606,
+ 0.8397884368896484
+ ],
+ "wrist_rpy": [
+ -0.027625909075140953,
+ -0.00011130441998830065,
+ 1.5243626832962036
+ ],
+ "finger_dofs": [
+ 1.1437673568725586,
+ -0.007644589990377426,
+ -0.005814672447741032,
+ 1.3245846033096313,
+ -0.0003258712822571397,
+ -0.00015448342310264707,
+ 1.15461003780365,
+ 0.000328439666191116,
+ -2.8208987714606337e-05,
+ 1.2088652849197388,
+ -0.0031623058021068573,
+ 0.0449763722717762,
+ 1.2416082620620728,
+ -0.004490315914154053,
+ -0.002110232599079609,
+ 1.1802079677581787,
+ 0.0022316141985356808,
+ 0.002182003343477845,
+ 1.155799388885498,
+ -0.0017169143538922071,
+ 0.05351033806800842,
+ 1.330200433731079,
+ -0.0027320494409650564,
+ -0.0021016872487962246,
+ 1.1615207195281982,
+ 0.002038033911958337,
+ 0.0018132675904780626,
+ 1.4758771657943726,
+ -0.025410758331418037,
+ 0.037420038133859634,
+ 1.2798206806182861,
+ -0.002439808566123247,
+ -0.002168966457247734,
+ 1.1738824844360352,
+ 0.0020184037275612354,
+ 0.002069003414362669,
+ 0.4038941562175751,
+ 1.1990673542022705,
+ -0.29596036672592163,
+ 0.0019592081662267447,
+ -9.72080379142426e-05,
+ -0.5216245651245117,
+ -0.0019445271464064717,
+ -0.001998851541429758,
+ -0.5973086953163147
+ ],
+ "wrist_pos": [
+ 0.13348589837551117,
+ 0.0014614416286349297,
+ 0.8397883772850037
+ ],
+ "wrist_rot": [
+ -0.010029285214841366,
+ 0.009497299790382385,
+ 0.6904354691505432,
+ 0.7232620716094971
+ ],
+ "joint_positions": [
+ 0.040173787623643875,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 30,
+ "virtual_xyz": [
+ 0.13188935816287994,
+ 0.0014578209957107902,
+ 0.8397554755210876
+ ],
+ "wrist_rpy": [
+ -0.028071913868188858,
+ -0.00017966383893508464,
+ 1.5241107940673828
+ ],
+ "finger_dofs": [
+ 1.1462037563323975,
+ -0.006463507190346718,
+ -0.004593792837113142,
+ 1.3238399028778076,
+ 0.00027341864188201725,
+ 0.0001944376708706841,
+ 1.1546533107757568,
+ 0.0005619561998173594,
+ -2.7812562620965764e-05,
+ 1.2074000835418701,
+ -0.003162083914503455,
+ 0.04652843251824379,
+ 1.2402260303497314,
+ -0.004363608080893755,
+ -0.002169754123315215,
+ 1.1809847354888916,
+ 0.002278523286804557,
+ 0.0022302595898509026,
+ 1.1568868160247803,
+ -0.0023849883582443,
+ 0.05406873673200607,
+ 1.3326115608215332,
+ -0.0027747778221964836,
+ -0.002128416672348976,
+ 1.161759853363037,
+ 0.002063572872430086,
+ 0.001857949886471033,
+ 1.4758965969085693,
+ -0.0258729699999094,
+ 0.037935521453619,
+ 1.2804702520370483,
+ -0.0023814791347831488,
+ -0.0022123351227492094,
+ 1.1737273931503296,
+ 0.0020216768607497215,
+ 0.0021222978830337524,
+ 0.40187540650367737,
+ 1.1986135244369507,
+ -0.2933025360107422,
+ 0.001955017913132906,
+ 0.0012445717584341764,
+ -0.5225966572761536,
+ -0.0019040978513658047,
+ -0.0020854161120951176,
+ -0.5967909097671509
+ ],
+ "wrist_pos": [
+ 0.1318894773721695,
+ 0.0014578206464648247,
+ 0.8397554159164429
+ ],
+ "wrist_rot": [
+ -0.010215191170573235,
+ 0.009625212289392948,
+ 0.6903426051139832,
+ 0.7233464121818542
+ ],
+ "joint_positions": [
+ 0.04176969826221466,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 31,
+ "virtual_xyz": [
+ 0.1302747279405594,
+ 0.0014625347685068846,
+ 0.8397805094718933
+ ],
+ "wrist_rpy": [
+ -0.028092611581087112,
+ 0.00028448193916119635,
+ 1.5240267515182495
+ ],
+ "finger_dofs": [
+ 1.1458206176757812,
+ -0.007615676149725914,
+ -0.0037751593627035618,
+ 1.3237162828445435,
+ -8.284273644676432e-05,
+ 7.162461406551301e-05,
+ 1.1546740531921387,
+ 0.00044036368490196764,
+ -3.0808656447334215e-05,
+ 1.2054499387741089,
+ -0.002806041156873107,
+ 0.046819329261779785,
+ 1.2418736219406128,
+ -0.003491963492706418,
+ -0.0022274889051914215,
+ 1.1799389123916626,
+ 0.002090007998049259,
+ 0.002151251770555973,
+ 1.1547532081604004,
+ -0.0016562413657084107,
+ 0.05306987464427948,
+ 1.3316295146942139,
+ -0.0026472166646271944,
+ -0.002042977139353752,
+ 1.161476731300354,
+ 0.002000285079702735,
+ 0.0017714333953335881,
+ 1.4731208086013794,
+ -0.025520415976643562,
+ 0.037076685577631,
+ 1.2809360027313232,
+ -0.002243129536509514,
+ -0.0021966733038425446,
+ 1.1724941730499268,
+ 0.0019687232561409473,
+ 0.002029998926445842,
+ 0.40179258584976196,
+ 1.1981227397918701,
+ -0.29462316632270813,
+ 0.002011468866840005,
+ -0.0005269204848445952,
+ -0.5213940739631653,
+ -0.0019908067770302296,
+ -0.001876137568615377,
+ -0.597287118434906
+ ],
+ "wrist_pos": [
+ 0.13027484714984894,
+ 0.0014625340700149536,
+ 0.8397804498672485
+ ],
+ "wrist_rot": [
+ -0.010063146241009235,
+ 0.009799720719456673,
+ 0.6903097033500671,
+ 0.7233775854110718
+ ],
+ "joint_positions": [
+ 0.043425463140010834,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 32,
+ "virtual_xyz": [
+ 0.12868671119213104,
+ 0.0014528746251016855,
+ 0.8397836685180664
+ ],
+ "wrist_rpy": [
+ -0.028082285076379776,
+ 0.0002723741054069251,
+ 1.5235923528671265
+ ],
+ "finger_dofs": [
+ 1.1466500759124756,
+ -0.005293054040521383,
+ -0.002757473150268197,
+ 1.3232585191726685,
+ -0.0013091302243992686,
+ 0.0007297590491361916,
+ 1.1547056436538696,
+ 0.0008922714623622596,
+ -1.552733374410309e-05,
+ 1.204711675643921,
+ -0.002750496845692396,
+ 0.04815775901079178,
+ 1.2414882183074951,
+ -0.0033882816787809134,
+ -0.0022725460585206747,
+ 1.1815787553787231,
+ 0.0021455849055200815,
+ 0.002238992601633072,
+ 1.1571974754333496,
+ -0.0009879394201561809,
+ 0.053461503237485886,
+ 1.3299849033355713,
+ -0.002492474392056465,
+ -0.0023135703522711992,
+ 1.162414789199829,
+ 0.002051168354228139,
+ 0.0019398184958845377,
+ 1.4547621011734009,
+ -0.025394227355718613,
+ 0.03464113175868988,
+ 1.2778377532958984,
+ -0.0024392639752477407,
+ -0.0021636539604514837,
+ 1.1744645833969116,
+ 0.0020318387541919947,
+ 0.0021792028564959764,
+ 0.40080517530441284,
+ 1.1995384693145752,
+ -0.29135051369667053,
+ 0.00191201432608068,
+ 0.0015092961257323623,
+ -0.5243922472000122,
+ -0.0019738657865673304,
+ -0.0019099719356745481,
+ -0.596873939037323
+ ],
+ "wrist_pos": [
+ 0.1286868155002594,
+ 0.0014528743922710419,
+ 0.8397836089134216
+ ],
+ "wrist_rot": [
+ -0.010065617971122265,
+ 0.00978958047926426,
+ 0.6901527047157288,
+ 0.7235274910926819
+ ],
+ "joint_positions": [
+ 0.04488110542297363,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 33,
+ "virtual_xyz": [
+ 0.12706515192985535,
+ 0.0014524618163704872,
+ 0.8398329019546509
+ ],
+ "wrist_rpy": [
+ -0.028029147535562515,
+ 0.0011276844888925552,
+ 1.523513674736023
+ ],
+ "finger_dofs": [
+ 1.1440297365188599,
+ -0.007727345917373896,
+ -0.002410351298749447,
+ 1.3234615325927734,
+ -0.0008815059554763138,
+ 0.000207308039534837,
+ 1.1546653509140015,
+ 0.000517966051120311,
+ -1.796278593246825e-05,
+ 1.2027829885482788,
+ -0.0025232736952602863,
+ 0.04604853317141533,
+ 1.2461376190185547,
+ -0.0031326012685894966,
+ -0.002313376171514392,
+ 1.1797879934310913,
+ 0.0020633048843592405,
+ 0.0021755134221166372,
+ 1.152901291847229,
+ -0.0020603432785719633,
+ 0.051622193306684494,
+ 1.3290902376174927,
+ -0.002661630744114518,
+ -0.0021053242962807417,
+ 1.161497950553894,
+ 0.002024712972342968,
+ 0.001817910699173808,
+ 1.4328781366348267,
+ -0.025107577443122864,
+ 0.029761387035250664,
+ 1.2800095081329346,
+ -0.002603011205792427,
+ -0.0021094197873026133,
+ 1.1729665994644165,
+ 0.0020432451274245977,
+ 0.002072628354653716,
+ 0.39820846915245056,
+ 1.1991158723831177,
+ -0.29260146617889404,
+ 0.0020120919216424227,
+ -0.0004770997038576752,
+ -0.5199035406112671,
+ -0.001963115995749831,
+ -0.0019501178758218884,
+ -0.5977196097373962
+ ],
+ "wrist_pos": [
+ 0.1270652711391449,
+ 0.0014524613507092,
+ 0.8398328423500061
+ ],
+ "wrist_rot": [
+ -0.009751592762768269,
+ 0.010080298408865929,
+ 0.6901199817657471,
+ 0.7235589623451233
+ ],
+ "joint_positions": [
+ 0.046499378979206085,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 34,
+ "virtual_xyz": [
+ 0.1254570484161377,
+ 0.0014383199159055948,
+ 0.83973628282547
+ ],
+ "wrist_rpy": [
+ -0.027856115251779556,
+ 0.0008228884544223547,
+ 1.5232397317886353
+ ],
+ "finger_dofs": [
+ 1.143572449684143,
+ -0.007508094422519207,
+ -0.0013154949992895126,
+ 1.3230633735656738,
+ -0.001257927156984806,
+ 0.0001793234987417236,
+ 1.1546688079833984,
+ 0.0005033440538682044,
+ -2.0872705135843717e-05,
+ 1.2059211730957031,
+ -0.0028599801007658243,
+ 0.043666258454322815,
+ 1.246671438217163,
+ -0.004027514718472958,
+ -0.002196002984419465,
+ 1.182267427444458,
+ 0.0021725206170231104,
+ 0.0021660143975168467,
+ 1.1529262065887451,
+ -0.0016698918770998716,
+ 0.04927406460046768,
+ 1.325836420059204,
+ -0.00259157782420516,
+ -0.0021626478992402554,
+ 1.1617357730865479,
+ 0.002025166992098093,
+ 0.0018431044882163405,
+ 1.4025936126708984,
+ -0.022978132590651512,
+ 0.020950686186552048,
+ 1.274931788444519,
+ -0.002055390039458871,
+ -0.0023146721068769693,
+ 1.1732267141342163,
+ 0.0019332184456288815,
+ 0.002089327434077859,
+ 0.39754825830459595,
+ 1.198668360710144,
+ -0.29062512516975403,
+ 0.0020361156202852726,
+ 3.721455505001359e-05,
+ -0.5232563018798828,
+ -0.00199935887940228,
+ -0.0018981784814968705,
+ -0.5972383618354797
+ ],
+ "wrist_pos": [
+ 0.12545716762542725,
+ 0.0014383192174136639,
+ 0.8397362232208252
+ ],
+ "wrist_rot": [
+ -0.009795550256967545,
+ 0.009908964857459068,
+ 0.6900234222412109,
+ 0.7236528396606445
+ ],
+ "joint_positions": [
+ 0.048145342618227005,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 35,
+ "virtual_xyz": [
+ 0.12385715544223785,
+ 0.0014786196406930685,
+ 0.8397687673568726
+ ],
+ "wrist_rpy": [
+ -0.02727079764008522,
+ 0.0013564287219196558,
+ 1.5223824977874756
+ ],
+ "finger_dofs": [
+ 1.1398663520812988,
+ -0.007409772835671902,
+ -0.0002990860375575721,
+ 1.3227651119232178,
+ -0.002318819286301732,
+ 0.000717968971002847,
+ 1.154707670211792,
+ 0.0008827864076010883,
+ -1.4231532986741513e-05,
+ 1.2047944068908691,
+ -0.0028621263336390257,
+ 0.04500824585556984,
+ 1.2489749193191528,
+ -0.0038729363586753607,
+ -0.0022315422538667917,
+ 1.1846287250518799,
+ 0.0022010139655321836,
+ 0.0021982567850500345,
+ 1.1525987386703491,
+ -0.002463804092258215,
+ 0.05050591379404068,
+ 1.323259949684143,
+ -0.002638681558892131,
+ -0.0021855258382856846,
+ 1.1618432998657227,
+ 0.002054589567705989,
+ 0.0018875297391787171,
+ 1.3794747591018677,
+ -0.02253112383186817,
+ 0.016184234991669655,
+ 1.2733595371246338,
+ -0.0023321365006268024,
+ -0.0022552080918103456,
+ 1.1747169494628906,
+ 0.0019951057620346546,
+ 0.0021325633861124516,
+ 0.3963504433631897,
+ 1.2004953622817993,
+ -0.28954073786735535,
+ 0.00197225552983582,
+ -0.0006297944928519428,
+ -0.5229892730712891,
+ -0.001956178341060877,
+ -0.0019265104783698916,
+ -0.5973662734031677
+ ],
+ "wrist_pos": [
+ 0.1238572746515274,
+ 0.0014786189422011375,
+ 0.8397687077522278
+ ],
+ "wrist_rot": [
+ -0.009403996169567108,
+ 0.009895950555801392,
+ 0.6897132992744446,
+ 0.7239537835121155
+ ],
+ "joint_positions": [
+ 0.04956132546067238,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 36,
+ "virtual_xyz": [
+ 0.12227355688810349,
+ 0.0014894832856953144,
+ 0.8396447896957397
+ ],
+ "wrist_rpy": [
+ -0.026360714808106422,
+ 0.000111833491246216,
+ 1.52165687084198
+ ],
+ "finger_dofs": [
+ 1.1345069408416748,
+ -0.00654038367792964,
+ 0.0003392169892322272,
+ 1.3221358060836792,
+ -0.0024657966569066048,
+ 0.0011696253204718232,
+ 1.1547523736953735,
+ 0.0012116983998566866,
+ -1.0187111001869198e-05,
+ 1.202520489692688,
+ -0.002515493193641305,
+ 0.04740680381655693,
+ 1.2495050430297852,
+ -0.003507704706862569,
+ -0.002241661073639989,
+ 1.1869043111801147,
+ 0.002160430420190096,
+ 0.002187249716371298,
+ 1.1578489542007446,
+ -0.0030853392090648413,
+ 0.052660077810287476,
+ 1.3189542293548584,
+ -0.0026270481757819653,
+ -0.0021105611231178045,
+ 1.1627143621444702,
+ 0.0020489469170570374,
+ 0.0018975995481014252,
+ 1.362870693206787,
+ -0.02098875865340233,
+ 0.015365404076874256,
+ 1.2726390361785889,
+ -0.002545592375099659,
+ -0.002161425771191716,
+ 1.1787781715393066,
+ 0.0020273698028177023,
+ 0.0021300450898706913,
+ 0.39612433314323425,
+ 1.2039871215820312,
+ -0.2878124713897705,
+ 0.001962251029908657,
+ -0.0006998945609666407,
+ -0.5248850584030151,
+ -0.0019204317359253764,
+ -0.0019357276614755392,
+ -0.5960078239440918
+ ],
+ "wrist_pos": [
+ 0.12227368354797363,
+ 0.001489482820034027,
+ 0.839644730091095
+ ],
+ "wrist_rot": [
+ -0.009507089853286743,
+ 0.009128180332481861,
+ 0.6894612312316895,
+ 0.7242026925086975
+ ],
+ "joint_positions": [
+ 0.051003679633140564,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 37,
+ "virtual_xyz": [
+ 0.12062668055295944,
+ 0.0014768560649827123,
+ 0.8397537469863892
+ ],
+ "wrist_rpy": [
+ -0.025429436936974525,
+ 0.0016783858882263303,
+ 1.5215568542480469
+ ],
+ "finger_dofs": [
+ 1.137384295463562,
+ -0.0072782221250236034,
+ 0.00025544254458509386,
+ 1.3225270509719849,
+ -0.002445570193231106,
+ 0.0006996589945629239,
+ 1.1547545194625854,
+ 0.0008399393991567194,
+ -2.217235123680439e-05,
+ 1.2048720121383667,
+ -0.002818917389959097,
+ 0.04335467517375946,
+ 1.2520209550857544,
+ -0.004210710991173983,
+ -0.002126326784491539,
+ 1.1869146823883057,
+ 0.002254880266264081,
+ 0.0021673657465726137,
+ 1.1545593738555908,
+ -0.0021013161167502403,
+ 0.049781154841184616,
+ 1.3176158666610718,
+ -0.0024931414518505335,
+ -0.0022473610006272793,
+ 1.1622072458267212,
+ 0.0020373815204948187,
+ 0.0019088167464360595,
+ 1.3349907398223877,
+ -0.02039690501987934,
+ 0.00841284729540348,
+ 1.2643680572509766,
+ -0.002650377107784152,
+ -0.0021368595771491528,
+ 1.1776173114776611,
+ 0.0020317761227488518,
+ 0.002125243190675974,
+ 0.39687037467956543,
+ 1.2036738395690918,
+ -0.2905450463294983,
+ 0.0019330031936988235,
+ -0.0014468630542978644,
+ -0.5222597718238831,
+ -0.0019485040102154016,
+ -0.0018752333708107471,
+ -0.5980620384216309
+ ],
+ "wrist_pos": [
+ 0.12062680721282959,
+ 0.0014768554829061031,
+ 0.8397536873817444
+ ],
+ "wrist_rot": [
+ -0.008630367927253246,
+ 0.009374075569212437,
+ 0.6894216537475586,
+ 0.7242480516433716
+ ],
+ "joint_positions": [
+ 0.05278956890106201,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 38,
+ "virtual_xyz": [
+ 0.11904902011156082,
+ 0.0014802721561864018,
+ 0.8395959734916687
+ ],
+ "wrist_rpy": [
+ -0.023860160261392593,
+ 0.0010456684976816177,
+ 1.5209437608718872
+ ],
+ "finger_dofs": [
+ 1.132245659828186,
+ -0.007411454804241657,
+ -0.00024931758525781333,
+ 1.3228479623794556,
+ -0.0013985771220177412,
+ 0.0001922543451655656,
+ 1.1546505689620972,
+ 0.0005104209994897246,
+ -1.2926349882036448e-05,
+ 1.2057121992111206,
+ -0.002337895566597581,
+ 0.04248207435011864,
+ 1.2536813020706177,
+ -0.00318724918179214,
+ -0.0023095032665878534,
+ 1.189805507659912,
+ 0.0021809327881783247,
+ 0.002225992502644658,
+ 1.158337116241455,
+ -0.0013677547685801983,
+ 0.04877384379506111,
+ 1.3141796588897705,
+ -0.0025304174050688744,
+ -0.0023653386160731316,
+ 1.1634774208068848,
+ 0.0020710329990833998,
+ 0.001952429418452084,
+ 1.3003560304641724,
+ -0.019361142069101334,
+ 0.0030807452276349068,
+ 1.2529045343399048,
+ -0.002515252446755767,
+ -0.0023055372294038534,
+ 1.18006432056427,
+ 0.0020171513315290213,
+ 0.0021885749883949757,
+ 0.3957808315753937,
+ 1.2073198556900024,
+ -0.2906416952610016,
+ 0.0018946846248582006,
+ -0.0015186722157523036,
+ -0.5224010348320007,
+ -0.0018802930135279894,
+ -0.0019767924677580595,
+ -0.597345769405365
+ ],
+ "wrist_pos": [
+ 0.11904913932085037,
+ 0.0014802715741097927,
+ 0.8395959138870239
+ ],
+ "wrist_rot": [
+ -0.008282698690891266,
+ 0.008601436391472816,
+ 0.6892096400260925,
+ 0.7244634628295898
+ ],
+ "joint_positions": [
+ 0.054184138774871826,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 39,
+ "virtual_xyz": [
+ 0.11745533347129822,
+ 0.0014787167310714722,
+ 0.8396296501159668
+ ],
+ "wrist_rpy": [
+ -0.02511361613869667,
+ -0.00012487104686442763,
+ 1.5214128494262695
+ ],
+ "finger_dofs": [
+ 1.1398138999938965,
+ -0.007315421011298895,
+ -0.00024639038019813597,
+ 1.322652816772461,
+ -0.0016636153450235724,
+ 0.00030713604064658284,
+ 1.1547110080718994,
+ 0.000583755667321384,
+ -2.8585658583324403e-05,
+ 1.2046101093292236,
+ -0.003005692269653082,
+ 0.041835300624370575,
+ 1.2498679161071777,
+ -0.0037765423767268658,
+ -0.002115258714184165,
+ 1.1842374801635742,
+ 0.0021196729503571987,
+ 0.002143991645425558,
+ 1.1573318243026733,
+ -0.0001928212004713714,
+ 0.048285409808158875,
+ 1.3228156566619873,
+ -0.0026544996071606874,
+ -0.002048211172223091,
+ 1.1631592512130737,
+ 0.002000858774408698,
+ 0.0017840097425505519,
+ 1.346509575843811,
+ -0.0242537260055542,
+ 0.004140063654631376,
+ 1.2557125091552734,
+ -0.0024961717426776886,
+ -0.0021544843912124634,
+ 1.1757357120513916,
+ 0.0019843901973217726,
+ 0.00203119870275259,
+ 0.3984828591346741,
+ 1.2017420530319214,
+ -0.2878967821598053,
+ 0.0020937982480973005,
+ 0.0006303811096586287,
+ -0.5277434587478638,
+ -0.0020670637022703886,
+ -0.0018881936557590961,
+ -0.5956103205680847
+ ],
+ "wrist_pos": [
+ 0.11745545268058777,
+ 0.0014787162654101849,
+ 0.839629590511322
+ ],
+ "wrist_rot": [
+ -0.009138036519289017,
+ 0.008611583150923252,
+ 0.6893795728683472,
+ 0.7242915034294128
+ ],
+ "joint_positions": [
+ 0.05616457387804985,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 40,
+ "virtual_xyz": [
+ 0.11582708358764648,
+ 0.0014691883698105812,
+ 0.8398684859275818
+ ],
+ "wrist_rpy": [
+ -0.027745936065912247,
+ 0.0010798280127346516,
+ 1.5237809419631958
+ ],
+ "finger_dofs": [
+ 1.1475801467895508,
+ -0.006689993664622307,
+ -0.0020701659377664328,
+ 1.3238152265548706,
+ -0.0008693519630469382,
+ -5.368993879528716e-05,
+ 1.1546498537063599,
+ 0.00034735488588921726,
+ -2.4984770789160393e-05,
+ 1.2036710977554321,
+ -0.0027936859987676144,
+ 0.04154594615101814,
+ 1.2452168464660645,
+ -0.003203296335414052,
+ -0.0021731420420110226,
+ 1.172572374343872,
+ 0.001983992289751768,
+ 0.0021130444947630167,
+ 1.1495654582977295,
+ 0.0010595606872811913,
+ 0.048433832824230194,
+ 1.3358654975891113,
+ -0.0026832656003534794,
+ -0.0018653642619028687,
+ 1.1619377136230469,
+ 0.0019512732978910208,
+ 0.0008817926282063127,
+ 1.4332666397094727,
+ -0.026809867471456528,
+ 0.016382062807679176,
+ 1.2796802520751953,
+ -0.002402286510914564,
+ -0.00207188306376338,
+ 1.1685625314712524,
+ 0.001972165424376726,
+ 0.0019360585138201714,
+ 0.40562179684638977,
+ 1.1945276260375977,
+ -0.29482048749923706,
+ 0.0021416926756501198,
+ 0.0014368084957823157,
+ -0.526521623134613,
+ -0.0020452477037906647,
+ -0.0019016402075067163,
+ -0.5971359610557556
+ ],
+ "wrist_pos": [
+ 0.11582720279693604,
+ 0.001469187904149294,
+ 0.839868426322937
+ ],
+ "wrist_rot": [
+ -0.009664374403655529,
+ 0.009966554120182991,
+ 0.690218448638916,
+ 0.7234678268432617
+ ],
+ "joint_positions": [
+ 0.05801652371883392,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 41,
+ "virtual_xyz": [
+ 0.11421052366495132,
+ 0.0014247236540541053,
+ 0.8399158716201782
+ ],
+ "wrist_rpy": [
+ -0.02996647357940674,
+ 0.0016528053674846888,
+ 1.52412748336792
+ ],
+ "finger_dofs": [
+ 1.1502794027328491,
+ -0.009121844545006752,
+ 0.0016777076525613666,
+ 1.3219993114471436,
+ -0.0025038986932486296,
+ 0.0012271053856238723,
+ 1.1547937393188477,
+ 0.0012101148022338748,
+ -1.7033476979122497e-05,
+ 1.2033348083496094,
+ -0.002763653639703989,
+ 0.04680220037698746,
+ 1.2439619302749634,
+ -0.003284038044512272,
+ -0.002273453399538994,
+ 1.17068350315094,
+ 0.002099826233461499,
+ 0.002166936406865716,
+ 1.1457830667495728,
+ -0.0015177367022261024,
+ 0.054048437625169754,
+ 1.3407249450683594,
+ -0.0028675312642008066,
+ -0.0019445386715233326,
+ 1.1610599756240845,
+ 0.002021298510953784,
+ 0.0014742420753464103,
+ 1.4680925607681274,
+ -0.025591446086764336,
+ 0.03377990424633026,
+ 1.293568730354309,
+ -0.0023801655042916536,
+ -0.002182266442105174,
+ 1.1672331094741821,
+ 0.0020012648310512304,
+ 0.002014040481299162,
+ 0.401480108499527,
+ 1.1928688287734985,
+ -0.2920064330101013,
+ 0.002101302845403552,
+ 0.000832142832223326,
+ -0.5259572267532349,
+ -0.002024962566792965,
+ -0.0019144703401252627,
+ -0.5971282720565796
+ ],
+ "wrist_pos": [
+ 0.11421065032482147,
+ 0.0014247233048081398,
+ 0.8399158120155334
+ ],
+ "wrist_rot": [
+ -0.010267920792102814,
+ 0.010941886343061924,
+ 0.6903290152549744,
+ 0.7233399152755737
+ ],
+ "joint_positions": [
+ 0.05959557369351387,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 42,
+ "virtual_xyz": [
+ 0.11261770874261856,
+ 0.0014334670267999172,
+ 0.8398585319519043
+ ],
+ "wrist_rpy": [
+ -0.028724513947963715,
+ 0.000964073755312711,
+ 1.5242258310317993
+ ],
+ "finger_dofs": [
+ 1.1426637172698975,
+ -0.008293746039271355,
+ -0.0026549820322543383,
+ 1.3236291408538818,
+ -0.0013909899862483144,
+ 5.55448277737014e-05,
+ 1.1546034812927246,
+ 0.00047089363215491176,
+ -1.6703341316315345e-05,
+ 1.2042901515960693,
+ -0.0025874655693769455,
+ 0.04614180326461792,
+ 1.2460176944732666,
+ -0.003289195941761136,
+ -0.0022511635906994343,
+ 1.174404263496399,
+ 0.0020678662694990635,
+ 0.0021815872751176357,
+ 1.1509392261505127,
+ -0.00223882426507771,
+ 0.05414654687047005,
+ 1.3351449966430664,
+ -0.0027965193148702383,
+ -0.002034949604421854,
+ 1.161123514175415,
+ 0.0020377093460410833,
+ 0.001790359034202993,
+ 1.4670639038085938,
+ -0.025330929085612297,
+ 0.036044780164957047,
+ 1.2850370407104492,
+ -0.0022441286128014326,
+ -0.0022417616564780474,
+ 1.1704174280166626,
+ 0.001981280744075775,
+ 0.0020544996950775385,
+ 0.40438640117645264,
+ 1.196170449256897,
+ -0.29573193192481995,
+ 0.0020339854527264833,
+ 6.0138328990433365e-05,
+ -0.5239479541778564,
+ -0.0019905613735318184,
+ -0.0019435061840340495,
+ -0.5974138975143433
+ ],
+ "wrist_pos": [
+ 0.11261783540248871,
+ 0.00143346656113863,
+ 0.8398584723472595
+ ],
+ "wrist_rot": [
+ -0.010056013241410255,
+ 0.010264643467962742,
+ 0.690375030040741,
+ 0.7233089208602905
+ ],
+ "joint_positions": [
+ 0.060962580144405365,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 43,
+ "virtual_xyz": [
+ 0.11101698875427246,
+ 0.0014739324105903506,
+ 0.8398208618164062
+ ],
+ "wrist_rpy": [
+ -0.028249921277165413,
+ 0.0002792088780552149,
+ 1.5243114233016968
+ ],
+ "finger_dofs": [
+ 1.1427751779556274,
+ -0.007108380552381277,
+ -0.005065338686108589,
+ 1.3245564699172974,
+ 3.3736725981725613e-06,
+ -0.00012064431939506903,
+ 1.1546123027801514,
+ 0.0003440914733801037,
+ -2.6183923182543367e-05,
+ 1.2068521976470947,
+ -0.0025975173339247704,
+ 0.0444486178457737,
+ 1.2433375120162964,
+ -0.003507293062284589,
+ -0.002184447133913636,
+ 1.1761113405227661,
+ 0.0020476318895816803,
+ 0.0021530333906412125,
+ 1.1548097133636475,
+ -0.0010676305973902345,
+ 0.053426794707775116,
+ 1.333544135093689,
+ -0.0026755803264677525,
+ -0.0020836584735661745,
+ 1.1621158123016357,
+ 0.002018430270254612,
+ 0.001797736855223775,
+ 1.4759775400161743,
+ -0.025286845862865448,
+ 0.03652011975646019,
+ 1.2812334299087524,
+ -0.002112314337864518,
+ -0.002253836253657937,
+ 1.1723475456237793,
+ 0.0019502367358654737,
+ 0.0020469236187636852,
+ 0.4066368639469147,
+ 1.1967476606369019,
+ -0.29818740487098694,
+ 0.0020126132294535637,
+ 0.00014792349247727543,
+ -0.5227556824684143,
+ -0.0019506006501615047,
+ -0.001996490405872464,
+ -0.5971893668174744
+ ],
+ "wrist_pos": [
+ 0.11101711541414261,
+ 0.0014739320613443851,
+ 0.8398208022117615
+ ],
+ "wrist_rot": [
+ -0.010120443999767303,
+ 0.009853553958237171,
+ 0.6904118657112122,
+ 0.7232785224914551
+ ],
+ "joint_positions": [
+ 0.06262531131505966,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 44,
+ "virtual_xyz": [
+ 0.10940156131982803,
+ 0.0014324354706332088,
+ 0.8398762941360474
+ ],
+ "wrist_rpy": [
+ -0.02899293042719364,
+ 0.000829115801025182,
+ 1.5242840051651
+ ],
+ "finger_dofs": [
+ 1.1487889289855957,
+ -0.007905436679720879,
+ -0.0029243985190987587,
+ 1.3237360715866089,
+ -0.0010576163185760379,
+ 0.0005489408504217863,
+ 1.1547126770019531,
+ 0.0007654218352399766,
+ -2.426116043352522e-05,
+ 1.208711862564087,
+ -0.0030417160596698523,
+ 0.04579423740506172,
+ 1.2413710355758667,
+ -0.004251325968652964,
+ -0.002158132381737232,
+ 1.17503023147583,
+ 0.0022158450447022915,
+ 0.002211450831964612,
+ 1.1533559560775757,
+ -0.0013474903535097837,
+ 0.05526035279035568,
+ 1.3357553482055664,
+ -0.0027658590115606785,
+ -0.002168563660234213,
+ 1.1620548963546753,
+ 0.0020641651935875416,
+ 0.0018497230485081673,
+ 1.4805172681808472,
+ -0.025637419894337654,
+ 0.03900546953082085,
+ 1.2845945358276367,
+ -0.0024511420633643866,
+ -0.0021965024061501026,
+ 1.171692967414856,
+ 0.0020360718481242657,
+ 0.0021110938396304846,
+ 0.4049474895000458,
+ 1.195000171661377,
+ -0.296379417181015,
+ 0.0020004366524517536,
+ 0.0004219749534968287,
+ -0.5229997038841248,
+ -0.0020112083293497562,
+ -0.0019107687985524535,
+ -0.5974504947662354
+ ],
+ "wrist_pos": [
+ 0.10940168797969818,
+ 0.0014324351213872433,
+ 0.8398762345314026
+ ],
+ "wrist_rot": [
+ -0.01019949372857809,
+ 0.010308733209967613,
+ 0.6903953552246094,
+ 0.7232868671417236
+ ],
+ "joint_positions": [
+ 0.0643310546875,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 45,
+ "virtual_xyz": [
+ 0.10780639201402664,
+ 0.0014619843568652868,
+ 0.8398656845092773
+ ],
+ "wrist_rpy": [
+ -0.028577212244272232,
+ 0.0004486864781938493,
+ 1.5246479511260986
+ ],
+ "finger_dofs": [
+ 1.1469013690948486,
+ -0.00744917755946517,
+ -0.005021803081035614,
+ 1.324243426322937,
+ 0.00021325150737538934,
+ 9.27673900150694e-05,
+ 1.1546509265899658,
+ 0.00046812568325549364,
+ -2.5115810785791837e-05,
+ 1.2089972496032715,
+ -0.002581219654530287,
+ 0.044410981237888336,
+ 1.2409874200820923,
+ -0.003504151478409767,
+ -0.0021894951350986958,
+ 1.1753162145614624,
+ 0.002058459213003516,
+ 0.002156783826649189,
+ 1.1543048620224,
+ -0.001972637604922056,
+ 0.054102469235658646,
+ 1.333174228668213,
+ -0.0027024715673178434,
+ -0.002057686448097229,
+ 1.1618248224258423,
+ 0.002021936932578683,
+ 0.0017905639251694083,
+ 1.4845447540283203,
+ -0.025614047423005104,
+ 0.03831702470779419,
+ 1.282643437385559,
+ -0.0023045071866363287,
+ -0.002190063940361142,
+ 1.1719410419464111,
+ 0.001986375544220209,
+ 0.002041161060333252,
+ 0.4084717333316803,
+ 1.1957182884216309,
+ -0.2983655035495758,
+ 0.00204674806445837,
+ 0.0006935962592251599,
+ -0.524376630783081,
+ -0.0020126127637922764,
+ -0.0018839470576494932,
+ -0.5974897742271423
+ ],
+ "wrist_pos": [
+ 0.10780651867389679,
+ 0.0014619841240346432,
+ 0.8398656249046326
+ ],
+ "wrist_rot": [
+ -0.010178557597100735,
+ 0.01002961304038763,
+ 0.6905311346054077,
+ 0.7231613993644714
+ ],
+ "joint_positions": [
+ 0.06591272354125977,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 46,
+ "virtual_xyz": [
+ 0.10620006918907166,
+ 0.001458076061680913,
+ 0.8399549126625061
+ ],
+ "wrist_rpy": [
+ -0.029278619214892387,
+ 0.0011366832768544555,
+ 1.5242680311203003
+ ],
+ "finger_dofs": [
+ 1.1509461402893066,
+ -0.0076358625665307045,
+ -0.0038697689305990934,
+ 1.3237861394882202,
+ -0.0011717615416273475,
+ 0.00047507777344435453,
+ 1.1546729803085327,
+ 0.0007342367898672819,
+ -1.8010066924034618e-05,
+ 1.2085000276565552,
+ -0.0029371287673711777,
+ 0.04577016457915306,
+ 1.2397494316101074,
+ -0.004066494759172201,
+ -0.002169715240597725,
+ 1.1747599840164185,
+ 0.002192774321883917,
+ 0.0022048146929591894,
+ 1.1538100242614746,
+ -0.00010353696416132152,
+ 0.055617958307266235,
+ 1.3349438905715942,
+ -0.002724282443523407,
+ -0.0021635396406054497,
+ 1.1617852449417114,
+ 0.0020576491951942444,
+ 0.0018483649473637342,
+ 1.4823156595230103,
+ -0.02588927187025547,
+ 0.039339032024145126,
+ 1.283797264099121,
+ -0.0023528696037828922,
+ -0.002219787798821926,
+ 1.1714301109313965,
+ 0.002013378543779254,
+ 0.0021053520031273365,
+ 0.4068402051925659,
+ 1.194813847541809,
+ -0.29612997174263,
+ 0.002013497520238161,
+ 0.0009861335856840014,
+ -0.5251320600509644,
+ -0.002014810685068369,
+ -0.0019160571973770857,
+ -0.597547173500061
+ ],
+ "wrist_pos": [
+ 0.1062002032995224,
+ 0.001458075363188982,
+ 0.8399548530578613
+ ],
+ "wrist_rot": [
+ -0.010196640156209469,
+ 0.010518621653318405,
+ 0.6903864741325378,
+ 0.7232922911643982
+ ],
+ "joint_positions": [
+ 0.0675005093216896,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 47,
+ "virtual_xyz": [
+ 0.10458772629499435,
+ 0.0014382228255271912,
+ 0.8398570418357849
+ ],
+ "wrist_rpy": [
+ -0.02883707918226719,
+ 0.00040904543129727244,
+ 1.5248825550079346
+ ],
+ "finger_dofs": [
+ 1.1461656093597412,
+ -0.00823917519301176,
+ -0.004464550409466028,
+ 1.324350118637085,
+ -0.0012481013545766473,
+ -2.9817554604960606e-05,
+ 1.1546295881271362,
+ 0.00040760100819170475,
+ -2.8616828785743564e-05,
+ 1.2095494270324707,
+ -0.003050729166716337,
+ 0.04445914551615715,
+ 1.2412885427474976,
+ -0.00418334873393178,
+ -0.0020857034251093864,
+ 1.17466139793396,
+ 0.002168169943615794,
+ 0.0021522794850170612,
+ 1.1522468328475952,
+ -0.0015746215358376503,
+ 0.05455484613776207,
+ 1.3358482122421265,
+ -0.002795965177938342,
+ -0.0019937262404710054,
+ 1.1608173847198486,
+ 0.00201426912099123,
+ 0.0013892780989408493,
+ 1.4925371408462524,
+ -0.025735504925251007,
+ 0.0388154461979866,
+ 1.2857099771499634,
+ -0.0022360580042004585,
+ -0.0022233943454921246,
+ 1.1707113981246948,
+ 0.0019716236274689436,
+ 0.002000891836360097,
+ 0.4075380265712738,
+ 1.195041537284851,
+ -0.2985759973526001,
+ 0.0020328317768871784,
+ 0.00022947267279960215,
+ -0.5227921009063721,
+ -0.001962025184184313,
+ -0.0020066103897988796,
+ -0.597466230392456
+ ],
+ "wrist_pos": [
+ 0.1045878529548645,
+ 0.0014382223598659039,
+ 0.8398569822311401
+ ],
+ "wrist_rot": [
+ -0.010285058058798313,
+ 0.010106200352311134,
+ 0.6906147599220276,
+ 0.7230789661407471
+ ],
+ "joint_positions": [
+ 0.06920547038316727,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 48,
+ "virtual_xyz": [
+ 0.10297495126724243,
+ 0.0014167313929647207,
+ 0.8398895263671875
+ ],
+ "wrist_rpy": [
+ -0.02860971726477146,
+ 0.0011999967973679304,
+ 1.5251131057739258
+ ],
+ "finger_dofs": [
+ 1.1473079919815063,
+ -0.008342461660504341,
+ -0.004525493364781141,
+ 1.3244909048080444,
+ 0.00029564902069978416,
+ -0.0002940634440165013,
+ 1.1545994281768799,
+ 0.00021725862461607903,
+ -2.6461844754521735e-05,
+ 1.2074021100997925,
+ -0.0028625354170799255,
+ 0.04545191675424576,
+ 1.2432888746261597,
+ -0.003615668974816799,
+ -0.0022366310004144907,
+ 1.1745779514312744,
+ 0.0021098488941788673,
+ 0.0021616697777062654,
+ 1.1502307653427124,
+ 0.0009959428571164608,
+ 0.05412396043539047,
+ 1.3363399505615234,
+ -0.00276481406763196,
+ -0.0019604528788477182,
+ 1.1607476472854614,
+ 0.0020053370390087366,
+ 0.0014837437774986029,
+ 1.4906177520751953,
+ -0.026432378217577934,
+ 0.03928274288773537,
+ 1.2880768775939941,
+ -0.0023765030782669783,
+ -0.002154147019609809,
+ 1.169187307357788,
+ 0.001995005877688527,
+ 0.002000831300392747,
+ 0.40720975399017334,
+ 1.1949654817581177,
+ -0.30141082406044006,
+ 0.002029683440923691,
+ -0.0005952455103397369,
+ -0.5197257399559021,
+ -0.0019896277226507664,
+ -0.0019372161477804184,
+ -0.5984991788864136
+ ],
+ "wrist_pos": [
+ 0.10297508537769318,
+ 0.0014167306944727898,
+ 0.8398894667625427
+ ],
+ "wrist_rot": [
+ -0.00992854405194521,
+ 0.0103148203343153,
+ 0.6906951069831848,
+ 0.7230042815208435
+ ],
+ "joint_positions": [
+ 0.07081395387649536,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 49,
+ "virtual_xyz": [
+ 0.10139399021863937,
+ 0.0014420003863051534,
+ 0.8397781848907471
+ ],
+ "wrist_rpy": [
+ -0.027892902493476868,
+ -0.00041030478314496577,
+ 1.5250232219696045
+ ],
+ "finger_dofs": [
+ 1.1455048322677612,
+ -0.007435773964971304,
+ -0.0060159447602927685,
+ 1.3246145248413086,
+ -0.00016590346058364958,
+ -0.0002260582405142486,
+ 1.154572606086731,
+ 0.00029810110572725534,
+ -2.417669747956097e-05,
+ 1.20938241481781,
+ -0.0028894287534058094,
+ 0.04451533034443855,
+ 1.2388360500335693,
+ -0.003921749535948038,
+ -0.002114602131769061,
+ 1.177744746208191,
+ 0.0021331750322133303,
+ 0.002138157607987523,
+ 1.1552249193191528,
+ -0.00287986034527421,
+ 0.05304231867194176,
+ 1.3285678625106812,
+ -0.0027224260848015547,
+ -0.0019514772575348616,
+ 1.162071704864502,
+ 0.0020180433057248592,
+ 0.0017799538327381015,
+ 1.4892531633377075,
+ -0.026509782299399376,
+ 0.038539234548807144,
+ 1.2811015844345093,
+ -0.0024286191910505295,
+ -0.0021213062573224306,
+ 1.1730560064315796,
+ 0.0020041088573634624,
+ 0.002024918096140027,
+ 0.41259539127349854,
+ 1.1961699724197388,
+ -0.3020704686641693,
+ 0.0020507723093032837,
+ -0.00026165018789470196,
+ -0.5250377058982849,
+ -0.0020278070587664843,
+ -0.0018475385149940848,
+ -0.5971470475196838
+ ],
+ "wrist_pos": [
+ 0.10139410942792892,
+ 0.0014419998042285442,
+ 0.8397781252861023
+ ],
+ "wrist_rot": [
+ -0.010225754231214523,
+ 0.009484647773206234,
+ 0.6906745433807373,
+ 0.7230311632156372
+ ],
+ "joint_positions": [
+ 0.07235389947891235,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 50,
+ "virtual_xyz": [
+ 0.09977087378501892,
+ 0.0014541520504280925,
+ 0.8399156332015991
+ ],
+ "wrist_rpy": [
+ -0.028455398976802826,
+ 0.0009642430813983083,
+ 1.5245691537857056
+ ],
+ "finger_dofs": [
+ 1.1478832960128784,
+ -0.008045345544815063,
+ -0.004981847945600748,
+ 1.3243701457977295,
+ -0.0005735178128816187,
+ 0.00033423030981794,
+ 1.1546790599822998,
+ 0.0006351525662466884,
+ -2.5271659978898242e-05,
+ 1.208207368850708,
+ -0.002997743897140026,
+ 0.04530557617545128,
+ 1.2408665418624878,
+ -0.004076792858541012,
+ -0.002167275408282876,
+ 1.1758935451507568,
+ 0.0021792808547616005,
+ 0.0021798056550323963,
+ 1.1527827978134155,
+ -0.0023591071367263794,
+ 0.05400507152080536,
+ 1.332479476928711,
+ -0.002796495333313942,
+ -0.002013820456340909,
+ 1.161430835723877,
+ 0.002037117024883628,
+ 0.001793154631741345,
+ 1.482231855392456,
+ -0.026108143851161003,
+ 0.038502126932144165,
+ 1.2843416929244995,
+ -0.002477931324392557,
+ -0.002147773513570428,
+ 1.171634554862976,
+ 0.0020251101814210415,
+ 0.0020521755795925856,
+ 0.4107948839664459,
+ 1.194474458694458,
+ -0.3005908727645874,
+ 0.00204556155949831,
+ 0.00028142560040578246,
+ -0.5247979760169983,
+ -0.0020184104796499014,
+ -0.001880691503174603,
+ -0.5979589819908142
+ ],
+ "wrist_pos": [
+ 0.09977099299430847,
+ 0.001454151701182127,
+ 0.8399155735969543
+ ],
+ "wrist_rot": [
+ -0.00995688233524561,
+ 0.010173405520617962,
+ 0.6905005574226379,
+ 0.7231916785240173
+ ],
+ "joint_positions": [
+ 0.07394208014011383,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 51,
+ "virtual_xyz": [
+ 0.09815594553947449,
+ 0.0014393841847777367,
+ 0.8398311734199524
+ ],
+ "wrist_rpy": [
+ -0.02782466821372509,
+ 0.00045792359742335975,
+ 1.5245747566223145
+ ],
+ "finger_dofs": [
+ 1.1455371379852295,
+ -0.008014354854822159,
+ -0.004490324296057224,
+ 1.3240385055541992,
+ -0.0007900629425421357,
+ 0.00017670456145424396,
+ 1.1546980142593384,
+ 0.0005200078594498336,
+ -3.637504414655268e-05,
+ 1.210471749305725,
+ -0.0031523166690021753,
+ 0.04456008970737457,
+ 1.2417244911193848,
+ -0.0044017662294209,
+ -0.0020824733655899763,
+ 1.1780699491500854,
+ 0.002204336691647768,
+ 0.002147554187104106,
+ 1.1536953449249268,
+ -0.002412560163065791,
+ 0.05374252796173096,
+ 1.3319889307022095,
+ -0.0027994317933917046,
+ -0.001934336731210351,
+ 1.161102294921875,
+ 0.002015292877331376,
+ 0.0015870787901803851,
+ 1.4784181118011475,
+ -0.02570781484246254,
+ 0.037470743060112,
+ 1.2828948497772217,
+ -0.0024714318569749594,
+ -0.0021223840303719044,
+ 1.1722501516342163,
+ 0.0020105161238461733,
+ 0.0020090490579605103,
+ 0.41205886006355286,
+ 1.1952457427978516,
+ -0.3018614947795868,
+ 0.002038578735664487,
+ -0.0003600679337978363,
+ -0.5258370637893677,
+ -0.002020885469391942,
+ -0.0018613636493682861,
+ -0.5978075265884399
+ ],
+ "wrist_pos": [
+ 0.09815606474876404,
+ 0.0014393837191164494,
+ 0.8398311138153076
+ ],
+ "wrist_rot": [
+ -0.00990363210439682,
+ 0.00977260246872902,
+ 0.6905083656311035,
+ 0.7231904864311218
+ ],
+ "joint_positions": [
+ 0.0756278857588768,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 52,
+ "virtual_xyz": [
+ 0.0965849757194519,
+ 0.0014356571482494473,
+ 0.8396753668785095
+ ],
+ "wrist_rpy": [
+ -0.027572261169552803,
+ -0.0009751501493155956,
+ 1.5245282649993896
+ ],
+ "finger_dofs": [
+ 1.1434156894683838,
+ -0.007646123878657818,
+ -0.00453109759837389,
+ 1.323829174041748,
+ -0.00033759191865101457,
+ -9.336465154774487e-05,
+ 1.1546237468719482,
+ 0.00037072456325404346,
+ -3.214527168893255e-05,
+ 1.2104195356369019,
+ -0.0030613562557846308,
+ 0.04507914185523987,
+ 1.2403018474578857,
+ -0.004347358364611864,
+ -0.002078559948131442,
+ 1.1809316873550415,
+ 0.002215920016169548,
+ 0.0021544285118579865,
+ 1.1574162244796753,
+ -0.004189850762486458,
+ 0.05363659933209419,
+ 1.3285441398620605,
+ -0.0028228245209902525,
+ -0.0018468421185389161,
+ 1.1619353294372559,
+ 0.002040235558524728,
+ 0.0018060327274724841,
+ 1.481054425239563,
+ -0.027252433821558952,
+ 0.03820832818746567,
+ 1.2788736820220947,
+ -0.002378718927502632,
+ -0.00213563721626997,
+ 1.1741935014724731,
+ 0.0019958403427153826,
+ 0.002046676119789481,
+ 0.4119541645050049,
+ 1.196938395500183,
+ -0.3014622628688812,
+ 0.0020018082577735186,
+ 3.338200258440338e-05,
+ -0.5261618494987488,
+ -0.001966138370335102,
+ -0.0019745409954339266,
+ -0.5963602662086487
+ ],
+ "wrist_pos": [
+ 0.09658510982990265,
+ 0.0014356565661728382,
+ 0.8396753072738647
+ ],
+ "wrist_rot": [
+ -0.010307169519364834,
+ 0.00916721299290657,
+ 0.6904997229576111,
+ 0.7232009768486023
+ ],
+ "joint_positions": [
+ 0.07711600512266159,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 53,
+ "virtual_xyz": [
+ 0.09496225416660309,
+ 0.0014638755237683654,
+ 0.8398793339729309
+ ],
+ "wrist_rpy": [
+ -0.028592677786946297,
+ 0.000698323012329638,
+ 1.5240159034729004
+ ],
+ "finger_dofs": [
+ 1.1464498043060303,
+ -0.007007364649325609,
+ -0.003711419180035591,
+ 1.3233914375305176,
+ -0.001252753776498139,
+ 0.0006128441891632974,
+ 1.154725193977356,
+ 0.0008212793618440628,
+ -2.8523489163490012e-05,
+ 1.2077544927597046,
+ -0.003063078038394451,
+ 0.046366315335035324,
+ 1.2416795492172241,
+ -0.004298207815736532,
+ -0.0021362535189837217,
+ 1.1780019998550415,
+ 0.0022167435381561518,
+ 0.00217792228795588,
+ 1.154091477394104,
+ -0.002858996158465743,
+ 0.055024728178977966,
+ 1.3323792219161987,
+ -0.0027721377555280924,
+ -0.0020131347700953484,
+ 1.161589503288269,
+ 0.0020455936901271343,
+ 0.0018268442945554852,
+ 1.4751310348510742,
+ -0.026063596829771996,
+ 0.03875191509723663,
+ 1.283551812171936,
+ -0.0024004774168133736,
+ -0.0021670879796147346,
+ 1.1724954843521118,
+ 0.0020113091450184584,
+ 0.002074924996122718,
+ 0.40886858105659485,
+ 1.1945137977600098,
+ -0.2999841868877411,
+ 0.002020697109401226,
+ -0.0006017017876729369,
+ -0.5235990881919861,
+ -0.002001160988584161,
+ -0.0019031036645174026,
+ -0.5973315238952637
+ ],
+ "wrist_pos": [
+ 0.09496237337589264,
+ 0.0014638751745224,
+ 0.8398792743682861
+ ],
+ "wrist_rot": [
+ -0.010101188905537128,
+ 0.010121910832822323,
+ 0.6903010606765747,
+ 0.7233808040618896
+ ],
+ "joint_positions": [
+ 0.07867193967103958,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 54,
+ "virtual_xyz": [
+ 0.09337534755468369,
+ 0.0014499373501166701,
+ 0.8397544026374817
+ ],
+ "wrist_rpy": [
+ -0.028736352920532227,
+ -0.00011892305337823927,
+ 1.5238579511642456
+ ],
+ "finger_dofs": [
+ 1.1430878639221191,
+ -0.006879018619656563,
+ -0.0032660060096532106,
+ 1.3233156204223633,
+ -0.0006338258972391486,
+ 0.0007143544498831034,
+ 1.1547046899795532,
+ 0.0009093606495298445,
+ -2.123222657246515e-05,
+ 1.207574725151062,
+ -0.0030968079809099436,
+ 0.04767923057079315,
+ 1.2413548231124878,
+ -0.004369603004306555,
+ -0.002182369353249669,
+ 1.1795014142990112,
+ 0.0022569571156054735,
+ 0.0022413127589970827,
+ 1.1568512916564941,
+ -1.2214730304549448e-05,
+ 0.055667780339717865,
+ 1.333897352218628,
+ -0.0026531191542744637,
+ -0.002320952946320176,
+ 1.1629194021224976,
+ 0.0020852095913141966,
+ 0.0019310496281832457,
+ 1.4786664247512817,
+ -0.02671124041080475,
+ 0.04056588187813759,
+ 1.2827366590499878,
+ -0.0024151119869202375,
+ -0.0022189596202224493,
+ 1.1738702058792114,
+ 0.0020443815737962723,
+ 0.0021866096649318933,
+ 0.40679502487182617,
+ 1.1954275369644165,
+ -0.2978089153766632,
+ 0.0019198883092030883,
+ 0.0004974502953700721,
+ -0.5245773196220398,
+ -0.0019523827359080315,
+ -0.0020020881202071905,
+ -0.5962477326393127
+ ],
+ "wrist_pos": [
+ 0.09337547421455383,
+ 0.0014499370008707047,
+ 0.8397543430328369
+ ],
+ "wrist_rot": [
+ -0.010435914620757103,
+ 0.009875286370515823,
+ 0.690247654914856,
+ 0.7234304547309875
+ ],
+ "joint_positions": [
+ 0.0802125558257103,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 55,
+ "virtual_xyz": [
+ 0.0917435735464096,
+ 0.001466097543016076,
+ 0.8398356437683105
+ ],
+ "wrist_rpy": [
+ -0.028030285611748695,
+ 0.0005283689824864268,
+ 1.5242226123809814
+ ],
+ "finger_dofs": [
+ 1.1445469856262207,
+ -0.0078606978058815,
+ -0.0041866786777973175,
+ 1.3239898681640625,
+ -0.0014743898063898087,
+ 0.00016431175754405558,
+ 1.1546703577041626,
+ 0.0005231156828813255,
+ -3.0365239581442438e-05,
+ 1.2089678049087524,
+ -0.00310609582811594,
+ 0.04476115480065346,
+ 1.24168860912323,
+ -0.004402506165206432,
+ -0.0021012029610574245,
+ 1.1789690256118774,
+ 0.002206416567787528,
+ 0.002149580977857113,
+ 1.1543152332305908,
+ -0.0026307455264031887,
+ 0.05345294252038002,
+ 1.33052659034729,
+ -0.002806532196700573,
+ -0.001938726520165801,
+ 1.1618934869766235,
+ 0.0020236384589225054,
+ 0.001767017412930727,
+ 1.4718012809753418,
+ -0.025513213127851486,
+ 0.036815788596868515,
+ 1.2812354564666748,
+ -0.002559971297159791,
+ -0.002100905869156122,
+ 1.1731587648391724,
+ 0.0020312785636633635,
+ 0.0020248626824468374,
+ 0.4120785892009735,
+ 1.1949654817581177,
+ -0.3030543029308319,
+ 0.0020545616280287504,
+ -0.001034769113175571,
+ -0.5240508913993835,
+ -0.00202134158462286,
+ -0.0018345294520258904,
+ -0.5977180600166321
+ ],
+ "wrist_pos": [
+ 0.09174370765686035,
+ 0.0014660968445241451,
+ 0.8398355841636658
+ ],
+ "wrist_rot": [
+ -0.00995540525764227,
+ 0.009867293760180473,
+ 0.6903795599937439,
+ 0.7233114242553711
+ ],
+ "joint_positions": [
+ 0.08198386430740356,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 56,
+ "virtual_xyz": [
+ 0.0901336744427681,
+ 0.0014393174787983298,
+ 0.8398054838180542
+ ],
+ "wrist_rpy": [
+ -0.027746276929974556,
+ 0.00033732407609932125,
+ 1.5243550539016724
+ ],
+ "finger_dofs": [
+ 1.14556086063385,
+ -0.007245976943522692,
+ -0.003677195170894265,
+ 1.3239364624023438,
+ -0.001993876416236162,
+ -0.00016169287846423686,
+ 1.1546742916107178,
+ 0.0003415935789234936,
+ -3.4937416785396636e-05,
+ 1.21068274974823,
+ -0.0032482901588082314,
+ 0.0443003810942173,
+ 1.2422741651535034,
+ -0.0045229424722492695,
+ -0.002059666207060218,
+ 1.1806467771530151,
+ 0.002226616023108363,
+ 0.002147337654605508,
+ 1.154232382774353,
+ -0.002141385106369853,
+ 0.05261547118425369,
+ 1.3314399719238281,
+ -0.002733977511525154,
+ -0.0019945185631513596,
+ 1.161134958267212,
+ 0.002012295415624976,
+ 0.0017633979441598058,
+ 1.470831274986267,
+ -0.026025064289569855,
+ 0.03589553385972977,
+ 1.2819602489471436,
+ -0.0024672651197761297,
+ -0.002104580868035555,
+ 1.1728090047836304,
+ 0.0020067787263542414,
+ 0.00202301237732172,
+ 0.4120853543281555,
+ 1.1950262784957886,
+ -0.3025294840335846,
+ 0.00204367539845407,
+ -0.0008355993777513504,
+ -0.5253337025642395,
+ -0.0020245136693120003,
+ -0.0018754306947812438,
+ -0.5976989269256592
+ ],
+ "wrist_pos": [
+ 0.09013380110263824,
+ 0.0014393171295523643,
+ 0.8398054242134094
+ ],
+ "wrist_rot": [
+ -0.0099180331453681,
+ 0.00970088317990303,
+ 0.6904298663139343,
+ 0.7232661843299866
+ ],
+ "joint_positions": [
+ 0.08361215144395828,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 57,
+ "virtual_xyz": [
+ 0.08854998648166656,
+ 0.001477265846915543,
+ 0.8398822546005249
+ ],
+ "wrist_rpy": [
+ -0.02837822213768959,
+ 0.001078418456017971,
+ 1.5238256454467773
+ ],
+ "finger_dofs": [
+ 1.1434483528137207,
+ -0.007833112962543964,
+ -0.003767347661778331,
+ 1.3237807750701904,
+ -0.0016008949605748057,
+ 0.0005742940120398998,
+ 1.1547032594680786,
+ 0.000800370704382658,
+ -1.83223655767506e-05,
+ 1.2042099237442017,
+ -0.002677098847925663,
+ 0.04701630026102066,
+ 1.244436264038086,
+ -0.0033206113148480654,
+ -0.0023058156948536634,
+ 1.1789861917495728,
+ 0.002120710676535964,
+ 0.002201074967160821,
+ 1.1542465686798096,
+ -0.0005909523461014032,
+ 0.054081812500953674,
+ 1.3318202495574951,
+ -0.002721241209656,
+ -0.0021239062771201134,
+ 1.162137508392334,
+ 0.0020440921653062105,
+ 0.0018290274310857058,
+ 1.4637335538864136,
+ -0.025768401101231575,
+ 0.03597712144255638,
+ 1.2825982570648193,
+ -0.0023305052891373634,
+ -0.0022203801199793816,
+ 1.1724604368209839,
+ 0.0020052145700901747,
+ 0.0020935265347361565,
+ 0.40795475244522095,
+ 1.1957060098648071,
+ -0.3003824055194855,
+ 0.0019638717640191317,
+ 0.00020586000755429268,
+ -0.5222007632255554,
+ -0.001926817698404193,
+ -0.002033946104347706,
+ -0.5975383520126343
+ ],
+ "wrist_pos": [
+ 0.08855010569095612,
+ 0.001477265264838934,
+ 0.8398821949958801
+ ],
+ "wrist_rot": [
+ -0.00989333726465702,
+ 0.010184396058321,
+ 0.6902313828468323,
+ 0.7234494090080261
+ ],
+ "joint_positions": [
+ 0.08498121052980423,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 58,
+ "virtual_xyz": [
+ 0.08695303648710251,
+ 0.0014732142444700003,
+ 0.8397403359413147
+ ],
+ "wrist_rpy": [
+ -0.027783021330833435,
+ 5.763193985330872e-05,
+ 1.5237964391708374
+ ],
+ "finger_dofs": [
+ 1.1424509286880493,
+ -0.0064937821589410305,
+ -0.0040322644636034966,
+ 1.323795199394226,
+ -0.000305746216326952,
+ 0.0005823566461913288,
+ 1.1546721458435059,
+ 0.0008358234190382063,
+ -1.8122031178791076e-05,
+ 1.2038402557373047,
+ -0.0028121352661401033,
+ 0.04725731164216995,
+ 1.2429677248001099,
+ -0.003678182838484645,
+ -0.0022497556637972593,
+ 1.17949640750885,
+ 0.0021723711397498846,
+ 0.0022476129233837128,
+ 1.157182216644287,
+ -0.0018024197779595852,
+ 0.053658269345760345,
+ 1.3319406509399414,
+ -0.0026909292209893465,
+ -0.002249040175229311,
+ 1.1627659797668457,
+ 0.002074130345135927,
+ 0.0019073848379775882,
+ 1.4684088230133057,
+ -0.025450825691223145,
+ 0.03676704317331314,
+ 1.2786363363265991,
+ -0.0024120816960930824,
+ -0.002214941196143627,
+ 1.1741153001785278,
+ 0.002034054836258292,
+ 0.002166104270145297,
+ 0.40848711133003235,
+ 1.1970123052597046,
+ -0.30063125491142273,
+ 0.001933952560648322,
+ -0.00012518352014012635,
+ -0.5232332944869995,
+ -0.0019525696989148855,
+ -0.0019761656876653433,
+ -0.5967549681663513
+ ],
+ "wrist_pos": [
+ 0.08695316314697266,
+ 0.0014732140116393566,
+ 0.8397402763366699
+ ],
+ "wrist_rot": [
+ -0.01003056950867176,
+ 0.009609576314687729,
+ 0.6902289986610413,
+ 0.7234575152397156
+ ],
+ "joint_positions": [
+ 0.08668269217014313,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 59,
+ "virtual_xyz": [
+ 0.08533037453889847,
+ 0.0014388741692528129,
+ 0.8398266434669495
+ ],
+ "wrist_rpy": [
+ -0.027853498235344887,
+ 0.000493041705340147,
+ 1.5240646600723267
+ ],
+ "finger_dofs": [
+ 1.1474838256835938,
+ -0.006058911327272654,
+ -0.003624117700383067,
+ 1.3234671354293823,
+ -0.0006608011317439377,
+ 0.0002074271033052355,
+ 1.1546207666397095,
+ 0.0005933988140895963,
+ -2.143071651516948e-05,
+ 1.2075889110565186,
+ -0.0031953384168446064,
+ 0.044933632016181946,
+ 1.2421265840530396,
+ -0.0043851337395608425,
+ -0.002103731967508793,
+ 1.1798672676086426,
+ 0.0022441770415753126,
+ 0.0021835726220160723,
+ 1.1555663347244263,
+ -0.002679424360394478,
+ 0.05229497328400612,
+ 1.3300416469573975,
+ -0.002692342735826969,
+ -0.00203917408362031,
+ 1.161876916885376,
+ 0.002031130250543356,
+ 0.0018367217853665352,
+ 1.4596186876296997,
+ -0.02604283206164837,
+ 0.03369131684303284,
+ 1.2784852981567383,
+ -0.0025478461757302284,
+ -0.0020929272286593914,
+ 1.1735049486160278,
+ 0.002032194985076785,
+ 0.002079225843772292,
+ 0.40986260771751404,
+ 1.1961290836334229,
+ -0.30129390954971313,
+ 0.0019701907876878977,
+ -0.0006979319150559604,
+ -0.5233769416809082,
+ -0.001999747473746538,
+ -0.0018854789668694139,
+ -0.5975536704063416
+ ],
+ "wrist_pos": [
+ 0.08533050119876862,
+ 0.0014388738200068474,
+ 0.8398265838623047
+ ],
+ "wrist_rot": [
+ -0.009904401376843452,
+ 0.00979276280850172,
+ 0.6903235912322998,
+ 0.7233665585517883
+ ],
+ "joint_positions": [
+ 0.08833901584148407,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 60,
+ "virtual_xyz": [
+ 0.08373646438121796,
+ 0.0014630974037572742,
+ 0.839776873588562
+ ],
+ "wrist_rpy": [
+ -0.0279138945043087,
+ 0.00017996152746491134,
+ 1.523747444152832
+ ],
+ "finger_dofs": [
+ 1.1435699462890625,
+ -0.007816746830940247,
+ -0.0033604521304368973,
+ 1.3231326341629028,
+ -0.0011435684282332659,
+ 0.00022249447647482157,
+ 1.1546350717544556,
+ 0.0005921724368818104,
+ -2.3254719053511508e-05,
+ 1.2065526247024536,
+ -0.0030783622059971094,
+ 0.04565829038619995,
+ 1.2433573007583618,
+ -0.004243902396410704,
+ -0.002141851931810379,
+ 1.1802778244018555,
+ 0.0022269783075898886,
+ 0.002174526220187545,
+ 1.155950903892517,
+ -0.0031962417997419834,
+ 0.05300627276301384,
+ 1.329947590827942,
+ -0.0028487343806773424,
+ -0.0019507886609062552,
+ 1.1619502305984497,
+ 0.0020490302704274654,
+ 0.0018146093934774399,
+ 1.4530303478240967,
+ -0.026038436219096184,
+ 0.03315071761608124,
+ 1.2782734632492065,
+ -0.0024515956174582243,
+ -0.00215543108060956,
+ 1.173949956893921,
+ 0.0020166337490081787,
+ 0.002065904438495636,
+ 0.40772390365600586,
+ 1.1967297792434692,
+ -0.2993454039096832,
+ 0.0020074595231562853,
+ 9.8623377198237e-06,
+ -0.5236175060272217,
+ -0.0019460039911791682,
+ -0.0020116670057177544,
+ -0.5968605279922485
+ ],
+ "wrist_pos": [
+ 0.0837365984916687,
+ 0.0014630970545113087,
+ 0.8397768139839172
+ ],
+ "wrist_rot": [
+ -0.010035958141088486,
+ 0.009698867797851562,
+ 0.6902099847793579,
+ 0.7234744429588318
+ ],
+ "joint_positions": [
+ 0.08985351026058197,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 61,
+ "virtual_xyz": [
+ 0.08212218433618546,
+ 0.001472646021284163,
+ 0.8398280739784241
+ ],
+ "wrist_rpy": [
+ -0.028251009061932564,
+ 0.0010550084989517927,
+ 1.5235124826431274
+ ],
+ "finger_dofs": [
+ 1.142120599746704,
+ -0.007748125120997429,
+ -0.0023326037917286158,
+ 1.3231709003448486,
+ -0.0022235047072172165,
+ 0.0004266943142283708,
+ 1.1546909809112549,
+ 0.000683397229295224,
+ -2.126353865605779e-05,
+ 1.206368327140808,
+ -0.0030275105964392424,
+ 0.04499874264001846,
+ 1.245294213294983,
+ -0.004239382687956095,
+ -0.002149213571101427,
+ 1.1796578168869019,
+ 0.00220211548730731,
+ 0.0021705764811486006,
+ 1.1533153057098389,
+ -0.00195550499483943,
+ 0.052244652062654495,
+ 1.3304632902145386,
+ -0.0026405053213238716,
+ -0.0021141767501831055,
+ 1.1618753671646118,
+ 0.0020258433651179075,
+ 0.0018296388443559408,
+ 1.441707968711853,
+ -0.02612927183508873,
+ 0.030622592195868492,
+ 1.2802356481552124,
+ -0.0025263086427003145,
+ -0.0021179018076509237,
+ 1.1728218793869019,
+ 0.0020276010036468506,
+ 0.0020760761108249426,
+ 0.40523698925971985,
+ 1.1954643726348877,
+ -0.29904836416244507,
+ 0.002020134823396802,
+ -0.0004373751871753484,
+ -0.5214192867279053,
+ -0.0019917830359190702,
+ -0.001925039803609252,
+ -0.5974864959716797
+ ],
+ "wrist_pos": [
+ 0.0821223109960556,
+ 0.0014726454392075539,
+ 0.8398280143737793
+ ],
+ "wrist_rot": [
+ -0.009857013821601868,
+ 0.010130639187991619,
+ 0.6901188492774963,
+ 0.7235578894615173
+ ],
+ "joint_positions": [
+ 0.09145575016736984,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 62,
+ "virtual_xyz": [
+ 0.08053263276815414,
+ 0.0014704250497743487,
+ 0.8398107886314392
+ ],
+ "wrist_rpy": [
+ -0.029078001156449318,
+ 0.0007047436665743589,
+ 1.5230532884597778
+ ],
+ "finger_dofs": [
+ 1.1439892053604126,
+ -0.007748277857899666,
+ -0.0005132600199431181,
+ 1.3223822116851807,
+ -0.0024280797224491835,
+ 0.0009441878646612167,
+ 1.1547316312789917,
+ 0.001039743423461914,
+ -1.4278845810622443e-05,
+ 1.205997109413147,
+ -0.0029565112199634314,
+ 0.04613339528441429,
+ 1.244637370109558,
+ -0.004312985576689243,
+ -0.002156950766220689,
+ 1.1803796291351318,
+ 0.002211038488894701,
+ 0.0021753222681581974,
+ 1.15556800365448,
+ -0.0027836961671710014,
+ 0.05320979654788971,
+ 1.3290051221847534,
+ -0.0026935681235045195,
+ -0.0021135087590664625,
+ 1.161749005317688,
+ 0.00205709645524621,
+ 0.0018777730874717236,
+ 1.4170253276824951,
+ -0.02509738877415657,
+ 0.027300382032990456,
+ 1.2796779870986938,
+ -0.002694701077416539,
+ -0.002089938847348094,
+ 1.174002766609192,
+ 0.002063959604129195,
+ 0.0021136519499123096,
+ 0.40066543221473694,
+ 1.196130633354187,
+ -0.2932109236717224,
+ 0.002023053588345647,
+ 0.0009548444650135934,
+ -0.5230950117111206,
+ -0.0019559236243367195,
+ -0.0020214375108480453,
+ -0.5964030027389526
+ ],
+ "wrist_pos": [
+ 0.08053275942802429,
+ 0.0014704247005283833,
+ 0.8398107290267944
+ ],
+ "wrist_rot": [
+ -0.010279492475092411,
+ 0.010286788456141949,
+ 0.6899504065513611,
+ 0.7237104773521423
+ ],
+ "joint_positions": [
+ 0.09302632510662079,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 63,
+ "virtual_xyz": [
+ 0.0789007917046547,
+ 0.0014728271635249257,
+ 0.8397806286811829
+ ],
+ "wrist_rpy": [
+ -0.028262127190828323,
+ 0.0013521190267056227,
+ 1.5228075981140137
+ ],
+ "finger_dofs": [
+ 1.1410305500030518,
+ -0.007442727219313383,
+ 0.0005666800425387919,
+ 1.3223742246627808,
+ -0.0024127871729433537,
+ 0.000552114681340754,
+ 1.1547049283981323,
+ 0.0007646981975995004,
+ -1.8535372873884626e-05,
+ 1.2079607248306274,
+ -0.0030940668657422066,
+ 0.04380510747432709,
+ 1.2477134466171265,
+ -0.004493324551731348,
+ -0.0021344437263906,
+ 1.1845084428787231,
+ 0.002223418327048421,
+ 0.002153353299945593,
+ 1.152819275856018,
+ -0.0010324018076062202,
+ 0.049822382628917694,
+ 1.3253055810928345,
+ -0.0025568066630512476,
+ -0.0021785451099276543,
+ 1.1618945598602295,
+ 0.0020275700371712446,
+ 0.001865363446995616,
+ 1.3902790546417236,
+ -0.02268451265990734,
+ 0.01794552430510521,
+ 1.273330807685852,
+ -0.0024283123202621937,
+ -0.002170254709199071,
+ 1.1738195419311523,
+ 0.001998498337343335,
+ 0.002094126306474209,
+ 0.40031754970550537,
+ 1.1969724893569946,
+ -0.2957560420036316,
+ 0.0020053607877343893,
+ -0.0018085892079398036,
+ -0.5207421183586121,
+ -0.0019587045535445213,
+ -0.0019363422179594636,
+ -0.5974594354629517
+ ],
+ "wrist_pos": [
+ 0.07890091836452484,
+ 0.0014728265814483166,
+ 0.8397805690765381
+ ],
+ "wrist_rot": [
+ -0.009762068279087543,
+ 0.01023839134722948,
+ 0.6898621916770935,
+ 0.723802387714386
+ ],
+ "joint_positions": [
+ 0.09468444436788559,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 64,
+ "virtual_xyz": [
+ 0.07732332497835159,
+ 0.0014662534231320024,
+ 0.839654266834259
+ ],
+ "wrist_rpy": [
+ -0.027202492579817772,
+ 0.0005071081686764956,
+ 1.522030234336853
+ ],
+ "finger_dofs": [
+ 1.1393102407455444,
+ -0.007295357063412666,
+ 0.0007143246475607157,
+ 1.3223010301589966,
+ -0.0015587087254971266,
+ 0.0005160483997315168,
+ 1.154686689376831,
+ 0.0007966017001308501,
+ -1.1203354006283917e-05,
+ 1.205289363861084,
+ -0.0028547269757837057,
+ 0.04562161862850189,
+ 1.2484441995620728,
+ -0.0037506944499909878,
+ -0.002219216199591756,
+ 1.187382459640503,
+ 0.0022282039280980825,
+ 0.0022156911436468363,
+ 1.1561790704727173,
+ -0.0028902008198201656,
+ 0.05074470862746239,
+ 1.3221633434295654,
+ -0.002676160540431738,
+ -0.002169739454984665,
+ 1.1625808477401733,
+ 0.002068194793537259,
+ 0.0019090046407654881,
+ 1.3651331663131714,
+ -0.0217172522097826,
+ 0.014044724404811859,
+ 1.2646347284317017,
+ -0.0023471324238926172,
+ -0.002271938370540738,
+ 1.1767842769622803,
+ 0.0019918365869671106,
+ 0.00215099286288023,
+ 0.3976742625236511,
+ 1.2008390426635742,
+ -0.2924174666404724,
+ 0.0019223308190703392,
+ -0.0010963064851239324,
+ -0.5217819809913635,
+ -0.001919042901135981,
+ -0.00200832006521523,
+ -0.5963914394378662
+ ],
+ "wrist_pos": [
+ 0.07732345163822174,
+ 0.0014662528410553932,
+ 0.8396542072296143
+ ],
+ "wrist_rot": [
+ -0.009673811495304108,
+ 0.009563413448631763,
+ 0.6895903944969177,
+ 0.724071741104126
+ ],
+ "joint_positions": [
+ 0.09609516710042953,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 65,
+ "virtual_xyz": [
+ 0.07571008801460266,
+ 0.0014715041033923626,
+ 0.8396103382110596
+ ],
+ "wrist_rpy": [
+ -0.02565227448940277,
+ 0.0002803266979753971,
+ 1.5218195915222168
+ ],
+ "finger_dofs": [
+ 1.1378281116485596,
+ -0.007949519902467728,
+ -0.0004247945034876466,
+ 1.3225388526916504,
+ 0.0001534055918455124,
+ -4.755328336614184e-05,
+ 1.1546337604522705,
+ 0.0003749888273887336,
+ -2.1122439648024738e-05,
+ 1.2065339088439941,
+ -0.0025832674000412226,
+ 0.042836081236600876,
+ 1.2497060298919678,
+ -0.0038802388589829206,
+ -0.002146243816241622,
+ 1.1870319843292236,
+ 0.002223812974989414,
+ 0.002176507143303752,
+ 1.158176302909851,
+ -0.0028087436221539974,
+ 0.049614325165748596,
+ 1.3176865577697754,
+ -0.00258049787953496,
+ -0.0021983194164931774,
+ 1.1632064580917358,
+ 0.0020576706156134605,
+ 0.0019102250225842,
+ 1.3500256538391113,
+ -0.02165400981903076,
+ 0.009835303761065006,
+ 1.26109778881073,
+ -0.0024509348440915346,
+ -0.0022303613368421793,
+ 1.178165078163147,
+ 0.0020007924176752567,
+ 0.0021359222009778023,
+ 0.3996601104736328,
+ 1.2033110857009888,
+ -0.29405322670936584,
+ 0.001960023073479533,
+ -0.0010718127014115453,
+ -0.5220450758934021,
+ -0.0019215873908251524,
+ -0.0019824719056487083,
+ -0.5967258810997009
+ ],
+ "wrist_pos": [
+ 0.07571021467447281,
+ 0.0014715036377310753,
+ 0.8396102786064148
+ ],
+ "wrist_rot": [
+ -0.009191829711198807,
+ 0.008945822715759277,
+ 0.6895224452018738,
+ 0.7241506576538086
+ ],
+ "joint_positions": [
+ 0.09772567451000214,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 66,
+ "virtual_xyz": [
+ 0.07409951090812683,
+ 0.0014835239853709936,
+ 0.8396643996238708
+ ],
+ "wrist_rpy": [
+ -0.024875754490494728,
+ 0.0013701848220080137,
+ 1.521409511566162
+ ],
+ "finger_dofs": [
+ 1.134397029876709,
+ -0.007360863033682108,
+ -9.673066233517602e-05,
+ 1.3226898908615112,
+ -0.002347203902900219,
+ 0.0002517005486879498,
+ 1.1546696424484253,
+ 0.0005470323376357555,
+ -1.5631218047928996e-05,
+ 1.205579400062561,
+ -0.0024628303945064545,
+ 0.04243667796254158,
+ 1.2528477907180786,
+ -0.003429944161325693,
+ -0.0022681839764118195,
+ 1.186798334121704,
+ 0.0021735208574682474,
+ 0.0022076077293604612,
+ 1.156353235244751,
+ -0.0016820047749206424,
+ 0.04898401349782944,
+ 1.3184551000595093,
+ -0.002561323344707489,
+ -0.002303280169144273,
+ 1.1631455421447754,
+ 0.002059582620859146,
+ 0.0019217133522033691,
+ 1.3287651538848877,
+ -0.019343258813023567,
+ 0.005362456664443016,
+ 1.2598891258239746,
+ -0.0024505567271262407,
+ -0.0022850220557302237,
+ 1.1778984069824219,
+ 0.0020039279479533434,
+ 0.0021590287797152996,
+ 0.39867499470710754,
+ 1.2037161588668823,
+ -0.2954970598220825,
+ 0.0019448839593678713,
+ -0.0014991732314229012,
+ -0.5196651816368103,
+ -0.001926314551383257,
+ -0.0019407939398661256,
+ -0.5976945161819458
+ ],
+ "wrist_pos": [
+ 0.07409963011741638,
+ 0.00148352375254035,
+ 0.8396643400192261
+ ],
+ "wrist_rot": [
+ -0.008536714129149914,
+ 0.00907090213149786,
+ 0.6893724203109741,
+ 0.7242999076843262
+ ],
+ "joint_positions": [
+ 0.09921006858348846,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 67,
+ "virtual_xyz": [
+ 0.07250580191612244,
+ 0.0014763710787519813,
+ 0.8395556211471558
+ ],
+ "wrist_rpy": [
+ -0.023831546306610107,
+ 0.000946001906413585,
+ 1.5208518505096436
+ ],
+ "finger_dofs": [
+ 1.1345226764678955,
+ -0.006704724393785,
+ 0.00034140923526138067,
+ 1.3224895000457764,
+ -0.0011924655409529805,
+ 0.0005321417702361941,
+ 1.154680609703064,
+ 0.0007516748155467212,
+ -1.182504820462782e-05,
+ 1.2052793502807617,
+ -0.00244267750531435,
+ 0.04245777800679207,
+ 1.2542325258255005,
+ -0.003202249063178897,
+ -0.0022931070998311043,
+ 1.1891878843307495,
+ 0.002199383918195963,
+ 0.0022436571307480335,
+ 1.1593308448791504,
+ -0.002290913835167885,
+ 0.04906998202204704,
+ 1.3152451515197754,
+ -0.0025364654138684273,
+ -0.0023629353381693363,
+ 1.1639455556869507,
+ 0.0020816021133214235,
+ 0.00198102043941617,
+ 1.2961574792861938,
+ -0.018889347091317177,
+ 0.001844199257902801,
+ 1.2510688304901123,
+ -0.002460119314491749,
+ -0.002321479143574834,
+ 1.1799132823944092,
+ 0.0020051144529134035,
+ 0.0022061271592974663,
+ 0.39779025316238403,
+ 1.206141471862793,
+ -0.29344043135643005,
+ 0.0018772827461361885,
+ -0.0015969311352819204,
+ -0.5220451951026917,
+ -0.0019026140216737986,
+ -0.0019720622804015875,
+ -0.5970860123634338
+ ],
+ "wrist_pos": [
+ 0.07250593602657318,
+ 0.0014763707295060158,
+ 0.839555561542511
+ ],
+ "wrist_rot": [
+ -0.008307239040732384,
+ 0.008555024862289429,
+ 0.6891769766807556,
+ 0.7244948148727417
+ ],
+ "joint_positions": [
+ 0.10080161690711975,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 68,
+ "virtual_xyz": [
+ 0.07093744724988937,
+ 0.001466949936002493,
+ 0.8396943807601929
+ ],
+ "wrist_rpy": [
+ -0.02639620378613472,
+ -0.0017069752793759108,
+ 1.522396445274353
+ ],
+ "finger_dofs": [
+ 1.1414202451705933,
+ -0.007780298590660095,
+ -0.0015655314782634377,
+ 1.3228117227554321,
+ -0.0005508883623406291,
+ 0.0003530268731992692,
+ 1.1546920537948608,
+ 0.0006965824868530035,
+ -2.7844624128192663e-05,
+ 1.2064071893692017,
+ -0.0032165597658604383,
+ 0.04138045012950897,
+ 1.244538426399231,
+ -0.004255256149917841,
+ -0.001974770799279213,
+ 1.1803532838821411,
+ 0.0020760020706802607,
+ 0.002115407260134816,
+ 1.1555095911026,
+ -0.0020973191130906343,
+ 0.04962051287293434,
+ 1.3239850997924805,
+ -0.0028196722269058228,
+ -0.001870560459792614,
+ 1.1612086296081543,
+ 0.001988746225833893,
+ 0.0013338037533685565,
+ 1.398036003112793,
+ -0.02354465052485466,
+ 0.009120387025177479,
+ 1.2623628377914429,
+ -0.002225382486358285,
+ -0.0022300705313682556,
+ 1.1730960607528687,
+ 0.0019373387331143022,
+ 0.001956418389454484,
+ 0.40303513407707214,
+ 1.1982954740524292,
+ -0.2886561155319214,
+ 0.0021511977538466454,
+ 0.0016677132807672024,
+ -0.5291146039962769,
+ -0.0020631817169487476,
+ -0.001961570931598544,
+ -0.5940297245979309
+ ],
+ "wrist_pos": [
+ 0.07093757390975952,
+ 0.0014669494703412056,
+ 0.8396943211555481
+ ],
+ "wrist_rot": [
+ -0.01014365628361702,
+ 0.008485783822834492,
+ 0.68973708152771,
+ 0.7239390015602112
+ ],
+ "joint_positions": [
+ 0.10284951329231262,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 69,
+ "virtual_xyz": [
+ 0.06926211714744568,
+ 0.0014411757001653314,
+ 0.83994460105896
+ ],
+ "wrist_rpy": [
+ -0.0306983832269907,
+ 0.0018593667773529887,
+ 1.5242536067962646
+ ],
+ "finger_dofs": [
+ 1.1526869535446167,
+ -0.007836615666747093,
+ 0.003226468339562416,
+ 1.3219211101531982,
+ -0.002460361225530505,
+ 0.0014780120691284537,
+ 1.1548402309417725,
+ 0.0013961151707917452,
+ -2.1109521185280755e-05,
+ 1.2126471996307373,
+ -0.003093381877988577,
+ 0.040985703468322754,
+ 1.2408571243286133,
+ -0.004146589897572994,
+ -0.0020087799057364464,
+ 1.168168544769287,
+ 0.002110893139615655,
+ 0.002098898170515895,
+ 1.1422810554504395,
+ -0.0020220703445374966,
+ 0.05181542783975601,
+ 1.3417649269104004,
+ -0.0027705910615622997,
+ -0.001869496307335794,
+ 1.1600981950759888,
+ 0.0019817424472421408,
+ 0.000852182216476649,
+ 1.4411866664886475,
+ -0.024821434170007706,
+ 0.02265807054936886,
+ 1.2903735637664795,
+ -0.0023467985447496176,
+ -0.0021135425195097923,
+ 1.1643218994140625,
+ 0.0019638019148260355,
+ 0.0019485921366140246,
+ 0.3974023163318634,
+ 1.1903929710388184,
+ -0.29029276967048645,
+ 0.0021334972698241472,
+ 0.0014081498375162482,
+ -0.5237957239151001,
+ -0.00200828374363482,
+ -0.002034747740253806,
+ -0.5970886945724487
+ ],
+ "wrist_pos": [
+ 0.06926224380731583,
+ 0.0014411751180887222,
+ 0.8399445414543152
+ ],
+ "wrist_rot": [
+ -0.010460777208209038,
+ 0.011269890703260899,
+ 0.6903693675994873,
+ 0.7232935428619385
+ ],
+ "joint_positions": [
+ 0.10482443124055862,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 70,
+ "virtual_xyz": [
+ 0.06772062927484512,
+ 0.0014365753158926964,
+ 0.8397342562675476
+ ],
+ "wrist_rpy": [
+ -0.030601536855101585,
+ -0.0012139929458498955,
+ 1.5249072313308716
+ ],
+ "finger_dofs": [
+ 1.1514511108398438,
+ -0.006813133135437965,
+ -0.0021427790634334087,
+ 1.3232827186584473,
+ -0.00041745940688997507,
+ -0.0001354404230369255,
+ 1.1546227931976318,
+ 0.0003937993024010211,
+ -1.820768738980405e-05,
+ 1.209690809249878,
+ -0.0028896695002913475,
+ 0.04360978677868843,
+ 1.2381837368011475,
+ -0.0034371628426015377,
+ -0.0021310935262590647,
+ 1.1733907461166382,
+ 0.0020569083280861378,
+ 0.0021328700240701437,
+ 1.1520205736160278,
+ -0.0032947103027254343,
+ 0.052574798464775085,
+ 1.3349027633666992,
+ -0.0027389379683882,
+ -0.0018390682525932789,
+ 1.1615616083145142,
+ 0.0019946773536503315,
+ 0.0017421102384105325,
+ 1.484731912612915,
+ -0.027169711887836456,
+ 0.032640259712934494,
+ 1.2851130962371826,
+ -0.002237465465441346,
+ -0.0021494447719305754,
+ 1.169237732887268,
+ 0.0019557829946279526,
+ 0.001990905497223139,
+ 0.4022243022918701,
+ 1.1935783624649048,
+ -0.2895115911960602,
+ 0.0021392025519162416,
+ 0.0010784068144857883,
+ -0.5286378264427185,
+ -0.002067878842353821,
+ -0.0018889053026214242,
+ -0.594617486000061
+ ],
+ "wrist_pos": [
+ 0.06772075593471527,
+ 0.001436574850231409,
+ 0.8397341966629028
+ ],
+ "wrist_rot": [
+ -0.011483142152428627,
+ 0.01012885756790638,
+ 0.6906233429908752,
+ 0.7230523824691772
+ ],
+ "joint_positions": [
+ 0.10615165531635284,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 71,
+ "virtual_xyz": [
+ 0.06605589389801025,
+ 0.0014352352591231465,
+ 0.8399637341499329
+ ],
+ "wrist_rpy": [
+ -0.03064861334860325,
+ 0.001148836687207222,
+ 1.5263316631317139
+ ],
+ "finger_dofs": [
+ 1.1582368612289429,
+ -0.007205418776720762,
+ -0.0043027400970458984,
+ 1.3250309228897095,
+ 0.00028296266100369394,
+ -0.0005289682885631919,
+ 1.1546556949615479,
+ 2.1360425307648256e-05,
+ -3.761595507967286e-05,
+ 1.2086893320083618,
+ -0.0031573562882840633,
+ 0.04375706985592842,
+ 1.2376371622085571,
+ -0.003562936559319496,
+ -0.002116225194185972,
+ 1.1679320335388184,
+ 0.0020318191964179277,
+ 0.002108573680743575,
+ 1.1436482667922974,
+ 0.0014902845723554492,
+ 0.05110200494527817,
+ 1.3460791110992432,
+ -0.002782318275421858,
+ -0.0017223925096914172,
+ 1.1606600284576416,
+ 0.0019346914486959577,
+ -0.0006637044134549797,
+ 1.5516033172607422,
+ -0.027193190529942513,
+ 0.03729751706123352,
+ 1.2986942529678345,
+ -0.002479333197697997,
+ -0.0020167874172329903,
+ 1.1636468172073364,
+ 0.0019818104337900877,
+ 0.0018633321160450578,
+ 0.40750592947006226,
+ 1.1904939413070679,
+ -0.2996085584163666,
+ 0.0020751655101776123,
+ 0.0007658819085918367,
+ -0.522304356098175,
+ -0.0020232151728123426,
+ -0.0019297939725220203,
+ -0.5980781316757202
+ ],
+ "wrist_pos": [
+ 0.0660560205578804,
+ 0.0014352346770465374,
+ 0.8399636745452881
+ ],
+ "wrist_rot": [
+ -0.010676580481231213,
+ 0.01100686751306057,
+ 0.6911249756813049,
+ 0.7225725054740906
+ ],
+ "joint_positions": [
+ 0.10816236585378647,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 72,
+ "virtual_xyz": [
+ 0.06445696949958801,
+ 0.0014488589949905872,
+ 0.8400751352310181
+ ],
+ "wrist_rpy": [
+ -0.030696265399456024,
+ 0.0029187153559178114,
+ 1.525094747543335
+ ],
+ "finger_dofs": [
+ 1.1482313871383667,
+ -0.007893383502960205,
+ -0.003384924726560712,
+ 1.324623465538025,
+ -0.0018255272880196571,
+ 0.0004307245835661888,
+ 1.1546119451522827,
+ 0.000684641650877893,
+ 1.0250768355035689e-05,
+ 1.2037506103515625,
+ -0.0025269880425184965,
+ 0.0479256846010685,
+ 1.243085503578186,
+ -0.002999733667820692,
+ -0.0023676250129938126,
+ 1.1719650030136108,
+ 0.00209796242415905,
+ 0.002245284616947174,
+ 1.14220130443573,
+ -0.0005878384690731764,
+ 0.0535636842250824,
+ 1.3362725973129272,
+ -0.0027225425001233816,
+ -0.0021795693319290876,
+ 1.1596873998641968,
+ 0.0020579735282808542,
+ 0.0018471279181540012,
+ 1.5262489318847656,
+ -0.02636808715760708,
+ 0.03941015899181366,
+ 1.2996662855148315,
+ -0.002378287259489298,
+ -0.002224197145551443,
+ 1.1673121452331543,
+ 0.0020281332544982433,
+ 0.002118275035172701,
+ 0.4002379775047302,
+ 1.1944268941879272,
+ -0.297833114862442,
+ 0.0019453810527920723,
+ -0.00016293665976263583,
+ -0.514835000038147,
+ -0.001887439633719623,
+ -0.002065455075353384,
+ -0.5993943214416504
+ ],
+ "wrist_pos": [
+ 0.06445709615945816,
+ 0.0014488585293293,
+ 0.8400750756263733
+ ],
+ "wrist_rot": [
+ -0.010089323855936527,
+ 0.01165651623159647,
+ 0.6906672120094299,
+ 0.7230083346366882
+ ],
+ "joint_positions": [
+ 0.10915733128786087,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 73,
+ "virtual_xyz": [
+ 0.0628647729754448,
+ 0.001483139698393643,
+ 0.8398268222808838
+ ],
+ "wrist_rpy": [
+ -0.028006142005324364,
+ 0.0003265555715188384,
+ 1.524304986000061
+ ],
+ "finger_dofs": [
+ 1.1383678913116455,
+ -0.008016020990908146,
+ -0.005416563246399164,
+ 1.3250129222869873,
+ -0.0005099604604765773,
+ 2.7216708986088634e-05,
+ 1.1546173095703125,
+ 0.0004139438096899539,
+ -1.1831417396024335e-05,
+ 1.2047890424728394,
+ -0.0026451137382537127,
+ 0.046671923249959946,
+ 1.2442978620529175,
+ -0.0033814352937042713,
+ -0.0022851184476166964,
+ 1.1805059909820557,
+ 0.002086423337459564,
+ 0.0021856047678738832,
+ 1.1520956754684448,
+ -0.002243905095383525,
+ 0.05355548858642578,
+ 1.325620174407959,
+ -0.0027793103363364935,
+ -0.0020454965997487307,
+ 1.160178542137146,
+ 0.0020363759249448776,
+ 0.001795135554857552,
+ 1.4893975257873535,
+ -0.02566514164209366,
+ 0.03946354240179062,
+ 1.2866991758346558,
+ -0.002374148229137063,
+ -0.0021888965275138617,
+ 1.174631118774414,
+ 0.0020151904318481684,
+ 0.0020527991000562906,
+ 0.4030207395553589,
+ 1.1993895769119263,
+ -0.2979021370410919,
+ 0.0019986764527857304,
+ -0.001692290767095983,
+ -0.5182506442070007,
+ -0.001982936868444085,
+ -0.001860960852354765,
+ -0.5980264544487
+ ],
+ "wrist_pos": [
+ 0.06286489963531494,
+ 0.0014831391163170338,
+ 0.839826762676239
+ ],
+ "wrist_rot": [
+ -0.010016017593443394,
+ 0.009786427021026611,
+ 0.6904104948043823,
+ 0.7232821583747864
+ ],
+ "joint_positions": [
+ 0.11067657917737961,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 74,
+ "virtual_xyz": [
+ 0.06124936416745186,
+ 0.0014767207903787494,
+ 0.83990478515625
+ ],
+ "wrist_rpy": [
+ -0.027884624898433685,
+ 0.0015938726719468832,
+ 1.5238076448440552
+ ],
+ "finger_dofs": [
+ 1.1401981115341187,
+ -0.008377003483474255,
+ -0.004537639673799276,
+ 1.3242690563201904,
+ -0.000745878554880619,
+ 0.000300705898553133,
+ 1.1546258926391602,
+ 0.000618160527665168,
+ -9.31958402361488e-06,
+ 1.2048134803771973,
+ -0.0028803888708353043,
+ 0.046676814556121826,
+ 1.2447737455368042,
+ -0.004086073953658342,
+ -0.002232410479336977,
+ 1.1791852712631226,
+ 0.0022102610673755407,
+ 0.002208267105743289,
+ 1.1532037258148193,
+ -0.0011546437162905931,
+ 0.054252348840236664,
+ 1.3277877569198608,
+ -0.002663708059117198,
+ -0.0022448182571679354,
+ 1.1607158184051514,
+ 0.0020687978249043226,
+ 0.0018928517820313573,
+ 1.4627776145935059,
+ -0.02596510574221611,
+ 0.037270672619342804,
+ 1.2830008268356323,
+ -0.002297636354342103,
+ -0.0022489309776574373,
+ 1.1735605001449585,
+ 0.0020086332224309444,
+ 0.0021413450594991446,
+ 0.40084800124168396,
+ 1.1994425058364868,
+ -0.29581716656684875,
+ 0.0019513817969709635,
+ 0.00011590325448196381,
+ -0.5186671018600464,
+ -0.0019492476712912321,
+ -0.0019753158558160067,
+ -0.5987345576286316
+ ],
+ "wrist_pos": [
+ 0.061249490827322006,
+ 0.0014767204411327839,
+ 0.8399047255516052
+ ],
+ "wrist_rot": [
+ -0.009537027217447758,
+ 0.010200370103120804,
+ 0.6902245879173279,
+ 0.72346031665802
+ ],
+ "joint_positions": [
+ 0.11225538700819016,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 75,
+ "virtual_xyz": [
+ 0.05963583663105965,
+ 0.0014320849440991879,
+ 0.8397020697593689
+ ],
+ "wrist_rpy": [
+ -0.026595866307616234,
+ 0.0006322344415821135,
+ 1.5232386589050293
+ ],
+ "finger_dofs": [
+ 1.1407874822616577,
+ -0.007852744311094284,
+ -0.0023097277153283358,
+ 1.3232662677764893,
+ -0.0011428968282416463,
+ 0.0006014397367835045,
+ 1.1547592878341675,
+ 0.0007669003680348396,
+ -2.8061544071533717e-05,
+ 1.2092725038528442,
+ -0.0033436345402151346,
+ 0.044033948332071304,
+ 1.2469643354415894,
+ -0.005144150462001562,
+ -0.002011645119637251,
+ 1.1857988834381104,
+ 0.0023475131019949913,
+ 0.002149420091882348,
+ 1.1545145511627197,
+ -0.0025612087920308113,
+ 0.051514726132154465,
+ 1.3230172395706177,
+ -0.0026889489963650703,
+ -0.002016112208366394,
+ 1.1610113382339478,
+ 0.0020220077130943537,
+ 0.0018159309402108192,
+ 1.4246435165405273,
+ -0.02619902417063713,
+ 0.029564956203103065,
+ 1.275668740272522,
+ -0.002544299466535449,
+ -0.002100905403494835,
+ 1.1758803129196167,
+ 0.002019050996750593,
+ 0.002052949508652091,
+ 0.40046316385269165,
+ 1.2006442546844482,
+ -0.2936733365058899,
+ 0.0020277935545891523,
+ -0.0006193856243044138,
+ -0.5226553082466125,
+ -0.0020167608745396137,
+ -0.0018678834894672036,
+ -0.5979551672935486
+ ],
+ "wrist_pos": [
+ 0.059635963290929794,
+ 0.0014320844784379005,
+ 0.8397020101547241
+ ],
+ "wrist_rot": [
+ -0.009405353106558323,
+ 0.009405200369656086,
+ 0.690030038356781,
+ 0.7236583828926086
+ ],
+ "joint_positions": [
+ 0.11401133984327316,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 76,
+ "virtual_xyz": [
+ 0.058036528527736664,
+ 0.0014552187640219927,
+ 0.8397079706192017
+ ],
+ "wrist_rpy": [
+ -0.02651653252542019,
+ 0.0018171307165175676,
+ 1.522153377532959
+ ],
+ "finger_dofs": [
+ 1.1362690925598145,
+ -0.007676572538912296,
+ 0.0008062256965786219,
+ 1.3224643468856812,
+ -0.002287407638505101,
+ 0.0007599327364005148,
+ 1.1547279357910156,
+ 0.0008940195548348129,
+ -1.419728414475685e-05,
+ 1.2057849168777466,
+ -0.002535388106480241,
+ 0.0445760041475296,
+ 1.2510638236999512,
+ -0.0034224900882691145,
+ -0.0022975995671004057,
+ 1.188293218612671,
+ 0.0021602504421025515,
+ 0.002208372810855508,
+ 1.1510878801345825,
+ -0.0016228551976382732,
+ 0.04933955520391464,
+ 1.3190075159072876,
+ -0.0025324434973299503,
+ -0.002265406074002385,
+ 1.1615995168685913,
+ 0.002041960833594203,
+ 0.0018996702274307609,
+ 1.3694273233413696,
+ -0.022335292771458626,
+ 0.017465226352214813,
+ 1.2723710536956787,
+ -0.0024959202855825424,
+ -0.002197784371674061,
+ 1.1760483980178833,
+ 0.002025434048846364,
+ 0.002144597703590989,
+ 0.39315444231033325,
+ 1.2021530866622925,
+ -0.28932517766952515,
+ 0.0019189105369150639,
+ -0.0011143607553094625,
+ -0.5206828117370605,
+ -0.001909709069877863,
+ -0.0019367481581866741,
+ -0.5981740355491638
+ ],
+ "wrist_pos": [
+ 0.05803665146231651,
+ 0.001455218531191349,
+ 0.8397079110145569
+ ],
+ "wrist_rot": [
+ -0.008973104879260063,
+ 0.009801696054637432,
+ 0.6896316409111023,
+ 0.7240383625030518
+ ],
+ "joint_positions": [
+ 0.11536819487810135,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 77,
+ "virtual_xyz": [
+ 0.056483253836631775,
+ 0.0015136675210669637,
+ 0.839655339717865
+ ],
+ "wrist_rpy": [
+ -0.026043187826871872,
+ -0.00011727315722964704,
+ 1.5214316844940186
+ ],
+ "finger_dofs": [
+ 1.135382890701294,
+ -0.007902066223323345,
+ -0.0001013004730339162,
+ 1.3223686218261719,
+ -0.0022085667587816715,
+ 0.001207425957545638,
+ 1.1547651290893555,
+ 0.0012104064226150513,
+ -1.0923336049017962e-05,
+ 1.2024723291397095,
+ -0.0015177775640040636,
+ 0.04647139459848404,
+ 1.2496267557144165,
+ -0.0029770378023386,
+ -0.0022972398437559605,
+ 1.1868213415145874,
+ 0.0020864924881607294,
+ 0.0021999587770551443,
+ 1.1566282510757446,
+ -0.0021137839648872614,
+ 0.05323008447885513,
+ 1.3187172412872314,
+ -0.002690665889531374,
+ -0.002239296678453684,
+ 1.1620961427688599,
+ 0.0020679538138210773,
+ 0.0018855337984859943,
+ 1.3684247732162476,
+ -0.021653851494193077,
+ 0.013530715368688107,
+ 1.2681481838226318,
+ -0.0024041428696364164,
+ -0.0022705818992108107,
+ 1.1780844926834106,
+ 0.0020073633641004562,
+ 0.002133195521309972,
+ 0.3948037624359131,
+ 1.2036573886871338,
+ -0.28616899251937866,
+ 0.0020013300236314535,
+ -0.00018911367806140333,
+ -0.5243707895278931,
+ -0.001966991228982806,
+ -0.0019693670328706503,
+ -0.5955948233604431
+ ],
+ "wrist_pos": [
+ 0.05648338049650192,
+ 0.0015136669389903545,
+ 0.8396552801132202
+ ],
+ "wrist_rot": [
+ -0.009471987374126911,
+ 0.008934775367379189,
+ 0.6893821954727173,
+ 0.7242806553840637
+ ],
+ "joint_positions": [
+ 0.11680502444505692,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 78,
+ "virtual_xyz": [
+ 0.05480687692761421,
+ 0.0014532755594700575,
+ 0.8397811651229858
+ ],
+ "wrist_rpy": [
+ -0.02678476832807064,
+ 0.0012364514404907823,
+ 1.522776484489441
+ ],
+ "finger_dofs": [
+ 1.1460959911346436,
+ -0.006761643569916487,
+ -0.0004647878813557327,
+ 1.322701334953308,
+ -0.0022446871735155582,
+ 0.0005679975147359073,
+ 1.1547961235046387,
+ 0.0008149640052579343,
+ -3.635395842138678e-05,
+ 1.2054519653320312,
+ -0.0033424776047468185,
+ 0.04332100227475166,
+ 1.2462716102600098,
+ -0.004240415990352631,
+ -0.002023815643042326,
+ 1.1799956560134888,
+ 0.0021484061144292355,
+ 0.0020962839480489492,
+ 1.1515614986419678,
+ -0.0015970738604664803,
+ 0.049704659730196,
+ 1.329218864440918,
+ -0.0025989371351897717,
+ -0.0018921525916084647,
+ 1.1611552238464355,
+ 0.0019454068969935179,
+ 0.0009157344466075301,
+ 1.3904352188110352,
+ -0.021458201110363007,
+ 0.013000193051993847,
+ 1.2719378471374512,
+ -0.0023114443756639957,
+ -0.0021092325914651155,
+ 1.171852469444275,
+ 0.0019308251794427633,
+ 0.0019465830409899354,
+ 0.39920756220817566,
+ 1.198788046836853,
+ -0.29217806458473206,
+ 0.002004483714699745,
+ -0.0004095564945600927,
+ -0.5228813886642456,
+ -0.001996617065742612,
+ -0.0018795853247866035,
+ -0.5977001190185547
+ ],
+ "wrist_pos": [
+ 0.05480700731277466,
+ 0.0014532748609781265,
+ 0.8397811055183411
+ ],
+ "wrist_rot": [
+ -0.009267596527934074,
+ 0.009686888195574284,
+ 0.6898589134216309,
+ 0.7238196730613708
+ ],
+ "joint_positions": [
+ 0.11910274624824524,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 79,
+ "virtual_xyz": [
+ 0.05324413999915123,
+ 0.0014882582472637296,
+ 0.839824378490448
+ ],
+ "wrist_rpy": [
+ -0.02795243076980114,
+ 0.0014540982665494084,
+ 1.5230966806411743
+ ],
+ "finger_dofs": [
+ 1.1429123878479004,
+ -0.007587060332298279,
+ -0.0009159003966487944,
+ 1.3228964805603027,
+ -0.002072142204269767,
+ 0.0006797960959374905,
+ 1.154667615890503,
+ 0.000894483644515276,
+ -4.8324504859920125e-06,
+ 1.2055014371871948,
+ -0.0029018244240432978,
+ 0.04475885257124901,
+ 1.2480413913726807,
+ -0.0038838775362819433,
+ -0.0022305569145828485,
+ 1.18004310131073,
+ 0.0021837889216840267,
+ 0.0022004316560924053,
+ 1.1527518033981323,
+ -0.002120211021974683,
+ 0.05072857812047005,
+ 1.3313690423965454,
+ -0.002708916552364826,
+ -0.0021544061601161957,
+ 1.1625044345855713,
+ 0.00205055414699018,
+ 0.0018500550650060177,
+ 1.3959522247314453,
+ -0.022402828559279442,
+ 0.013764590956270695,
+ 1.2735077142715454,
+ -0.0023161277640610933,
+ -0.002263505943119526,
+ 1.1713670492172241,
+ 0.001989621901884675,
+ 0.00210790173150599,
+ 0.39815428853034973,
+ 1.1982842683792114,
+ -0.2910514175891876,
+ 0.0020153403747826815,
+ 0.0014394880272448063,
+ -0.5228060483932495,
+ -0.0019573690369725227,
+ -0.001996781909838319,
+ -0.5972041487693787
+ ],
+ "wrist_pos": [
+ 0.053244270384311676,
+ 0.0014882576651871204,
+ 0.8398243188858032
+ ],
+ "wrist_rot": [
+ -0.009613375179469585,
+ 0.010169817134737968,
+ 0.6899678111076355,
+ 0.7237046360969543
+ ],
+ "joint_positions": [
+ 0.12029537558555603,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 80,
+ "virtual_xyz": [
+ 0.051616352051496506,
+ 0.0014566583558917046,
+ 0.8397243022918701
+ ],
+ "wrist_rpy": [
+ -0.028116585686802864,
+ 0.00011396038462407887,
+ 1.5233906507492065
+ ],
+ "finger_dofs": [
+ 1.1458097696304321,
+ -0.007996945641934872,
+ -0.0012952105607837439,
+ 1.3231121301651,
+ -0.002144312020391226,
+ 0.0001434257865184918,
+ 1.1547414064407349,
+ 0.0004987157881259918,
+ -3.552213092916645e-05,
+ 1.2103121280670166,
+ -0.003305385820567608,
+ 0.04278012737631798,
+ 1.2439504861831665,
+ -0.004705474711954594,
+ -0.001992651028558612,
+ 1.1794300079345703,
+ 0.0022134333848953247,
+ 0.002120248507708311,
+ 1.153801441192627,
+ -0.0013183922274038196,
+ 0.05069105327129364,
+ 1.3316128253936768,
+ -0.002690952504053712,
+ -0.001973565202206373,
+ 1.161744236946106,
+ 0.0019920591730624437,
+ 0.0015229275450110435,
+ 1.4106017351150513,
+ -0.021265089511871338,
+ 0.0165367741137743,
+ 1.2722821235656738,
+ -0.002206147415563464,
+ -0.002216718392446637,
+ 1.1717360019683838,
+ 0.0019317414844408631,
+ 0.0019964799284934998,
+ 0.40066957473754883,
+ 1.196749210357666,
+ -0.29091233015060425,
+ 0.0020398376509547234,
+ 0.0005348799168132246,
+ -0.5254186987876892,
+ -0.0019116258481517434,
+ -0.0020713452249765396,
+ -0.5963011980056763
+ ],
+ "wrist_pos": [
+ 0.05161647871136665,
+ 0.0014566578902304173,
+ 0.8397242426872253
+ ],
+ "wrist_rot": [
+ -0.010133733041584492,
+ 0.00974313821643591,
+ 0.6900804042816162,
+ 0.7235960960388184
+ ],
+ "joint_positions": [
+ 0.12222939729690552,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 81,
+ "virtual_xyz": [
+ 0.05002050846815109,
+ 0.0014546384336426854,
+ 0.8398224711418152
+ ],
+ "wrist_rpy": [
+ -0.028994884341955185,
+ 0.0010779390577226877,
+ 1.5235852003097534
+ ],
+ "finger_dofs": [
+ 1.1495620012283325,
+ -0.0069075836800038815,
+ -4.891751359537011e-06,
+ 1.322648048400879,
+ -0.002380558755248785,
+ 0.0005830575828440487,
+ 1.154731273651123,
+ 0.0007878653705120087,
+ -2.309330193384085e-05,
+ 1.2078897953033447,
+ -0.00304185738787055,
+ 0.04367740452289581,
+ 1.2437598705291748,
+ -0.0038077752105891705,
+ -0.0021177881862968206,
+ 1.1784640550613403,
+ 0.002159730764105916,
+ 0.002153320936486125,
+ 1.15077805519104,
+ -0.001943019451573491,
+ 0.050552498549222946,
+ 1.3323622941970825,
+ -0.0026225652545690536,
+ -0.0020057843066751957,
+ 1.1620512008666992,
+ 0.001989518292248249,
+ 0.0017803929513320327,
+ 1.4043834209442139,
+ -0.023312825709581375,
+ 0.01574108377099037,
+ 1.2812637090682983,
+ -0.0022993783932179213,
+ -0.002150673419237137,
+ 1.1700628995895386,
+ 0.0019618605729192495,
+ 0.002025082241743803,
+ 0.3975827395915985,
+ 1.1959480047225952,
+ -0.2921575903892517,
+ 0.002024867804720998,
+ -0.0004140285309404135,
+ -0.5201306939125061,
+ -0.001971103949472308,
+ -0.0019530497957020998,
+ -0.5970640182495117
+ ],
+ "wrist_pos": [
+ 0.05002063512802124,
+ 0.0014546378515660763,
+ 0.8398224115371704
+ ],
+ "wrist_rot": [
+ -0.010117829777300358,
+ 0.010395912453532219,
+ 0.6901412010192871,
+ 0.7235292792320251
+ ],
+ "joint_positions": [
+ 0.12369529157876968,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 82,
+ "virtual_xyz": [
+ 0.048422861844301224,
+ 0.0014530356274917722,
+ 0.8396337032318115
+ ],
+ "wrist_rpy": [
+ -0.028239745646715164,
+ -0.0003972156555391848,
+ 1.5234756469726562
+ ],
+ "finger_dofs": [
+ 1.1446222066879272,
+ -0.008030543103814125,
+ -0.0010358812287449837,
+ 1.323121190071106,
+ -0.00038567400770261884,
+ 0.00029120032559148967,
+ 1.1547309160232544,
+ 0.0005699330358766019,
+ -3.226515036658384e-05,
+ 1.2076940536499023,
+ -0.0028917675372213125,
+ 0.043354619294404984,
+ 1.2440255880355835,
+ -0.0035870929714292288,
+ -0.0021712793968617916,
+ 1.1806155443191528,
+ 0.002085185842588544,
+ 0.0021186976227909327,
+ 1.154389500617981,
+ -0.003246314125135541,
+ 0.04969331994652748,
+ 1.3306517601013184,
+ -0.0028445059433579445,
+ -0.0017703755293041468,
+ 1.1622849702835083,
+ 0.0019923043437302113,
+ 0.0014610326616093516,
+ 1.4089696407318115,
+ -0.023864837363362312,
+ 0.01722986251115799,
+ 1.2736811637878418,
+ -0.002448071027174592,
+ -0.0021150249522179365,
+ 1.1724787950515747,
+ 0.0019794953987002373,
+ 0.001975045772269368,
+ 0.4006231129169464,
+ 1.1976741552352905,
+ -0.2917431890964508,
+ 0.0020423750393092632,
+ 0.0012142446357756853,
+ -0.5251244306564331,
+ -0.0019028893439099193,
+ -0.002057506702840328,
+ -0.5958567261695862
+ ],
+ "wrist_pos": [
+ 0.04842298850417137,
+ 0.001453035045415163,
+ 0.8396336436271667
+ ],
+ "wrist_rot": [
+ -0.010354164056479931,
+ 0.009601266123354435,
+ 0.6901131272315979,
+ 0.7235636711120605
+ ],
+ "joint_positions": [
+ 0.12539638578891754,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 83,
+ "virtual_xyz": [
+ 0.046799130737781525,
+ 0.001446505542844534,
+ 0.8398318886756897
+ ],
+ "wrist_rpy": [
+ -0.028930814936757088,
+ 0.0013590799644589424,
+ 1.5238211154937744
+ ],
+ "finger_dofs": [
+ 1.1473374366760254,
+ -0.007926862686872482,
+ -0.0006822120631113648,
+ 1.323008418083191,
+ -0.0015324967680498958,
+ 0.0003609651466831565,
+ 1.1547253131866455,
+ 0.0006104696076363325,
+ -2.757740003289655e-05,
+ 1.2069348096847534,
+ -0.002926565008237958,
+ 0.0429755337536335,
+ 1.2450814247131348,
+ -0.003769990988075733,
+ -0.002159289550036192,
+ 1.176027774810791,
+ 0.002119021024554968,
+ 0.0021461350843310356,
+ 1.149649739265442,
+ -0.002050006529316306,
+ 0.049642615020275116,
+ 1.3344266414642334,
+ -0.002672044327482581,
+ -0.002010983182117343,
+ 1.1616142988204956,
+ 0.002000551437959075,
+ 0.0016402435721829534,
+ 1.4053913354873657,
+ -0.021324079483747482,
+ 0.015764664858579636,
+ 1.279654860496521,
+ -0.0011895756470039487,
+ -0.0023441545199602842,
+ 1.1687296628952026,
+ 0.0018774992786347866,
+ 0.002023512264713645,
+ 0.39830052852630615,
+ 1.1953891515731812,
+ -0.29391956329345703,
+ 0.0020519024692475796,
+ -0.0002733470464590937,
+ -0.5191048383712769,
+ -0.001975197810679674,
+ -0.0019825308118015528,
+ -0.5975097417831421
+ ],
+ "wrist_pos": [
+ 0.04679926112294197,
+ 0.0014465050771832466,
+ 0.8398318290710449
+ ],
+ "wrist_rot": [
+ -0.009996496140956879,
+ 0.010476606898009777,
+ 0.69022536277771,
+ 0.7234494686126709
+ ],
+ "joint_positions": [
+ 0.12695787847042084,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 84,
+ "virtual_xyz": [
+ 0.045209407806396484,
+ 0.001458343118429184,
+ 0.8396633863449097
+ ],
+ "wrist_rpy": [
+ -0.028485368937253952,
+ -0.00015574214921798557,
+ 1.5236567258834839
+ ],
+ "finger_dofs": [
+ 1.1428343057632446,
+ -0.008131509646773338,
+ -0.0015974404523149133,
+ 1.3233941793441772,
+ -0.002023652894422412,
+ 3.5351829865248874e-05,
+ 1.1547088623046875,
+ 0.0004507005214691162,
+ -3.5888639104086906e-05,
+ 1.2064789533615112,
+ -0.002839034656062722,
+ 0.04266391694545746,
+ 1.2459899187088013,
+ -0.003551026340574026,
+ -0.0021808326710015535,
+ 1.1788290739059448,
+ 0.002081381157040596,
+ 0.0021297766361385584,
+ 1.1531199216842651,
+ -0.0020321859046816826,
+ 0.04947640001773834,
+ 1.3326340913772583,
+ -0.002710101893171668,
+ -0.0018971877871081233,
+ 1.1619815826416016,
+ 0.001970993122085929,
+ 0.001367327873595059,
+ 1.4062540531158447,
+ -0.02261333167552948,
+ 0.01769620180130005,
+ 1.273015022277832,
+ -0.00209651212207973,
+ -0.002225403906777501,
+ 1.171307921409607,
+ 0.001910027232952416,
+ 0.0019722809083759785,
+ 0.39936837553977966,
+ 1.1964596509933472,
+ -0.2921595573425293,
+ 0.002050825161859393,
+ 0.0009193546138703823,
+ -0.5232774019241333,
+ -0.0019081796053797007,
+ -0.002076634205877781,
+ -0.5960447788238525
+ ],
+ "wrist_pos": [
+ 0.04520953446626663,
+ 0.0014583426527678967,
+ 0.8396633267402649
+ ],
+ "wrist_rot": [
+ -0.01035866979509592,
+ 0.009774238802492619,
+ 0.6901761293411255,
+ 0.7235011458396912
+ ],
+ "joint_positions": [
+ 0.12853096425533295,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 85,
+ "virtual_xyz": [
+ 0.04361167922616005,
+ 0.0014641289599239826,
+ 0.8397743701934814
+ ],
+ "wrist_rpy": [
+ -0.02910255268216133,
+ 0.000578107254114002,
+ 1.5233588218688965
+ ],
+ "finger_dofs": [
+ 1.1470705270767212,
+ -0.006527228746563196,
+ 8.734625589568168e-05,
+ 1.3224852085113525,
+ -0.0023967691231518984,
+ 0.0007866123924031854,
+ 1.1547508239746094,
+ 0.0009325956925749779,
+ -2.350890645175241e-05,
+ 1.2071564197540283,
+ -0.003164562163874507,
+ 0.043940071016550064,
+ 1.2445523738861084,
+ -0.00421826122328639,
+ -0.0020592338405549526,
+ 1.1786417961120605,
+ 0.0022108075208961964,
+ 0.0021600357722491026,
+ 1.1527695655822754,
+ -0.00237571494653821,
+ 0.05066024139523506,
+ 1.3328771591186523,
+ -0.0025920202024281025,
+ -0.0020709263626486063,
+ 1.1623516082763672,
+ 0.002010383177548647,
+ 0.0018305085832253098,
+ 1.4070541858673096,
+ -0.021023806184530258,
+ 0.016204096376895905,
+ 1.2743651866912842,
+ -0.0019771999213844538,
+ -0.0022638419177383184,
+ 1.1708894968032837,
+ 0.0019157635979354382,
+ 0.0020634124521166086,
+ 0.3962896764278412,
+ 1.1964695453643799,
+ -0.29019254446029663,
+ 0.0020116695668548346,
+ -2.037046397163067e-05,
+ -0.5212017297744751,
+ -0.001993332989513874,
+ -0.0019367665518075228,
+ -0.5963975787162781
+ ],
+ "wrist_pos": [
+ 0.0436118058860302,
+ 0.0014641284942626953,
+ 0.8397743105888367
+ ],
+ "wrist_rot": [
+ -0.010330403223633766,
+ 0.010250957682728767,
+ 0.6900615096092224,
+ 0.7236042618751526
+ ],
+ "joint_positions": [
+ 0.13005360960960388,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 86,
+ "virtual_xyz": [
+ 0.04198373481631279,
+ 0.0014632998500019312,
+ 0.8397634029388428
+ ],
+ "wrist_rpy": [
+ -0.028691662475466728,
+ 0.0007509520510211587,
+ 1.5236670970916748
+ ],
+ "finger_dofs": [
+ 1.1442921161651611,
+ -0.008047454059123993,
+ -0.0012395012890920043,
+ 1.3232876062393188,
+ -0.0015801794361323118,
+ -8.619199070381e-05,
+ 1.1546868085861206,
+ 0.00031125868554227054,
+ -3.399630804779008e-05,
+ 1.2083817720413208,
+ -0.0030933786183595657,
+ 0.04185313731431961,
+ 1.2453964948654175,
+ -0.004144697450101376,
+ -0.0020814803428947926,
+ 1.1773626804351807,
+ 0.002153126522898674,
+ 0.0021333128679543734,
+ 1.150936245918274,
+ -0.0015184310032054782,
+ 0.0494670607149601,
+ 1.3333044052124023,
+ -0.0027011390775442123,
+ -0.0019744818564504385,
+ 1.1619433164596558,
+ 0.0019930265843868256,
+ 0.0014633242972195148,
+ 1.413594365119934,
+ -0.021534867584705353,
+ 0.017301684245467186,
+ 1.271976351737976,
+ -0.0021114402916282415,
+ -0.0022535689640790224,
+ 1.1702138185501099,
+ 0.0019193119369447231,
+ 0.002002705354243517,
+ 0.40019989013671875,
+ 1.195513367652893,
+ -0.2921890914440155,
+ 0.0020621430594474077,
+ 0.0007674751686863601,
+ -0.5243337154388428,
+ -0.0020125298760831356,
+ -0.0018858249532058835,
+ -0.5969839692115784
+ ],
+ "wrist_pos": [
+ 0.04198386147618294,
+ 0.0014632996171712875,
+ 0.839763343334198
+ ],
+ "wrist_rot": [
+ -0.010120496153831482,
+ 0.010173371061682701,
+ 0.6901741623878479,
+ 0.7235009670257568
+ ],
+ "joint_positions": [
+ 0.13179540634155273,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 87,
+ "virtual_xyz": [
+ 0.04038194194436073,
+ 0.0014247398357838392,
+ 0.8397248983383179
+ ],
+ "wrist_rpy": [
+ -0.028720125555992126,
+ -4.455271118786186e-05,
+ 1.5240509510040283
+ ],
+ "finger_dofs": [
+ 1.148154616355896,
+ -0.007457012310624123,
+ -0.0012542378390207887,
+ 1.32308030128479,
+ -0.002352470764890313,
+ -1.2601462913153227e-05,
+ 1.1547045707702637,
+ 0.00042361629311926663,
+ -4.242159775458276e-05,
+ 1.210845947265625,
+ -0.003312471555545926,
+ 0.041331443935632706,
+ 1.2426939010620117,
+ -0.004416866227984428,
+ -0.001997297862544656,
+ 1.1783533096313477,
+ 0.002176441252231598,
+ 0.0021093685645610094,
+ 1.1520733833312988,
+ -0.0023019772488623857,
+ 0.049365170300006866,
+ 1.3331449031829834,
+ -0.0027097826823592186,
+ -0.0018689678981900215,
+ 1.161592721939087,
+ 0.0019742283038794994,
+ 0.0012328728334978223,
+ 1.4074286222457886,
+ -0.023327121511101723,
+ 0.017883777618408203,
+ 1.2765755653381348,
+ -0.00262267142534256,
+ -0.0020323677454143763,
+ 1.1707137823104858,
+ 0.0020032310858368874,
+ 0.001969369826838374,
+ 0.3980494439601898,
+ 1.1963388919830322,
+ -0.2895001471042633,
+ 0.0020765450317412615,
+ 0.0011424600379541516,
+ -0.5248991847038269,
+ -0.0020168297924101353,
+ -0.001936115324497223,
+ -0.5964024662971497
+ ],
+ "wrist_pos": [
+ 0.04038207232952118,
+ 0.0014247391372919083,
+ 0.8397248387336731
+ ],
+ "wrist_rot": [
+ -0.010403277352452278,
+ 0.009897560812532902,
+ 0.6903170943260193,
+ 0.7233643531799316
+ ],
+ "joint_positions": [
+ 0.13350464403629303,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 88,
+ "virtual_xyz": [
+ 0.03880205750465393,
+ 0.0014598036650568247,
+ 0.8397562503814697
+ ],
+ "wrist_rpy": [
+ -0.029248710721731186,
+ 0.00033645855728536844,
+ 1.5235347747802734
+ ],
+ "finger_dofs": [
+ 1.1460226774215698,
+ -0.007867688313126564,
+ -0.0006211985019035637,
+ 1.3226710557937622,
+ -0.0017657506978139281,
+ 0.00034867855720221996,
+ 1.1546941995620728,
+ 0.0006444622995331883,
+ -2.5568848286638968e-05,
+ 1.206580638885498,
+ -0.0026334263384342194,
+ 0.04362303018569946,
+ 1.2449378967285156,
+ -0.0031736716628074646,
+ -0.0022808255162090063,
+ 1.1783907413482666,
+ 0.0020733356941491365,
+ 0.0021722796373069286,
+ 1.1528126001358032,
+ -0.0009219414787366986,
+ 0.05039651691913605,
+ 1.3315153121948242,
+ -0.002692843321710825,
+ -0.002069324254989624,
+ 1.162573218345642,
+ 0.0020217481069266796,
+ 0.0018053880194202065,
+ 1.3974663019180298,
+ -0.021861864253878593,
+ 0.01568514294922352,
+ 1.2742576599121094,
+ -0.0020479648374021053,
+ -0.0023117652162909508,
+ 1.1709316968917847,
+ 0.001930049154907465,
+ 0.0020665787160396576,
+ 0.39621320366859436,
+ 1.1966400146484375,
+ -0.2867252230644226,
+ 0.002078323159366846,
+ 0.0012357868254184723,
+ -0.526078999042511,
+ -0.0020060569513589144,
+ -0.0019333119271323085,
+ -0.5960165858268738
+ ],
+ "wrist_pos": [
+ 0.03880218788981438,
+ 0.0014598029665648937,
+ 0.839756190776825
+ ],
+ "wrist_rot": [
+ -0.01046583242714405,
+ 0.010215003043413162,
+ 0.6901257038116455,
+ 0.7235416173934937
+ ],
+ "joint_positions": [
+ 0.1348293572664261,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 89,
+ "virtual_xyz": [
+ 0.037163134664297104,
+ 0.0014526406303048134,
+ 0.8397467136383057
+ ],
+ "wrist_rpy": [
+ -0.028416424989700317,
+ 0.0008805380784906447,
+ 1.5233299732208252
+ ],
+ "finger_dofs": [
+ 1.1460717916488647,
+ -0.0074260542169213295,
+ -0.0002517312823329121,
+ 1.322893738746643,
+ -0.0023851743899285793,
+ 0.00018692364392336458,
+ 1.1547328233718872,
+ 0.0005242337938398123,
+ -3.909995939466171e-05,
+ 1.2056688070297241,
+ -0.00302761048078537,
+ 0.043011076748371124,
+ 1.2458698749542236,
+ -0.0038018005434423685,
+ -0.0021139264572411776,
+ 1.1786243915557861,
+ 0.002127294661477208,
+ 0.0021313463803380728,
+ 1.1509478092193604,
+ -0.0018671248108148575,
+ 0.04909100756049156,
+ 1.33259916305542,
+ -0.0026684142649173737,
+ -0.0019446127116680145,
+ 1.1617145538330078,
+ 0.0019777165725827217,
+ 0.0012357220984995365,
+ 1.3960165977478027,
+ -0.02079237625002861,
+ 0.013825071044266224,
+ 1.2722278833389282,
+ -0.0022355099208652973,
+ -0.0022033466957509518,
+ 1.1704189777374268,
+ 0.0019323196029290557,
+ 0.001991124590858817,
+ 0.39832359552383423,
+ 1.1969653367996216,
+ -0.2885604798793793,
+ 0.0020485122222453356,
+ 0.0006063462351448834,
+ -0.5269712805747986,
+ -0.0020291025284677744,
+ -0.00182961521204561,
+ -0.5969362854957581
+ ],
+ "wrist_pos": [
+ 0.03716326132416725,
+ 0.001452640164643526,
+ 0.8397466540336609
+ ],
+ "wrist_rot": [
+ -0.009977908805012703,
+ 0.010123577900230885,
+ 0.6900529861450195,
+ 0.7236192226409912
+ ],
+ "joint_positions": [
+ 0.13663364946842194,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 90,
+ "virtual_xyz": [
+ 0.035579096525907516,
+ 0.0014615599066019058,
+ 0.8397050499916077
+ ],
+ "wrist_rpy": [
+ -0.028406130149960518,
+ 0.00023409572895616293,
+ 1.5236194133758545
+ ],
+ "finger_dofs": [
+ 1.1426347494125366,
+ -0.008287371136248112,
+ -0.0016097259940579534,
+ 1.3233891725540161,
+ -0.00212661805562675,
+ -9.988398960558698e-05,
+ 1.1546473503112793,
+ 0.0003412942460272461,
+ -2.891764961532317e-05,
+ 1.2046728134155273,
+ -0.0026526262518018484,
+ 0.04291410744190216,
+ 1.2459945678710938,
+ -0.0032990414183586836,
+ -0.002205441240221262,
+ 1.1775712966918945,
+ 0.002051604213193059,
+ 0.0021392195485532284,
+ 1.1537519693374634,
+ -0.0017878256039693952,
+ 0.04925898462533951,
+ 1.3339869976043701,
+ -0.0027350997552275658,
+ -0.0019758306443691254,
+ 1.16170072555542,
+ 0.001991993049159646,
+ 0.0015305820852518082,
+ 1.4056106805801392,
+ -0.022659815847873688,
+ 0.01714525744318962,
+ 1.2720166444778442,
+ -0.002130904234945774,
+ -0.0022544818930327892,
+ 1.1709601879119873,
+ 0.0019231466576457024,
+ 0.002001388231292367,
+ 0.4003748893737793,
+ 1.1967661380767822,
+ -0.288680762052536,
+ 0.002151013817638159,
+ 0.0004833140119444579,
+ -0.530048668384552,
+ -0.002073421608656645,
+ -0.0018207886023446918,
+ -0.596235454082489
+ ],
+ "wrist_pos": [
+ 0.035579219460487366,
+ 0.0014615594409406185,
+ 0.8397049903869629
+ ],
+ "wrist_rot": [
+ -0.010195855051279068,
+ 0.00988768506795168,
+ 0.6901611089706421,
+ 0.7235162258148193
+ ],
+ "joint_positions": [
+ 0.1381407529115677,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 91,
+ "virtual_xyz": [
+ 0.033978432416915894,
+ 0.0014617200940847397,
+ 0.8397870659828186
+ ],
+ "wrist_rpy": [
+ -0.028967129066586494,
+ 0.0006534167914651334,
+ 1.5233186483383179
+ ],
+ "finger_dofs": [
+ 1.14743173122406,
+ -0.006824395153671503,
+ -1.1926416846108623e-05,
+ 1.3225550651550293,
+ -0.002420387463644147,
+ 0.0006745571154169738,
+ 1.1547380685806274,
+ 0.0008472992340102792,
+ -2.4598719392088242e-05,
+ 1.2049616575241089,
+ -0.00288237608037889,
+ 0.044076163321733475,
+ 1.2453645467758179,
+ -0.0033652393613010645,
+ -0.002168967854231596,
+ 1.1769057512283325,
+ 0.002099763834849,
+ 0.0021503798197954893,
+ 1.1519662141799927,
+ -0.002156146103516221,
+ 0.050573982298374176,
+ 1.3324710130691528,
+ -0.002628165064379573,
+ -0.0020144584123045206,
+ 1.16209876537323,
+ 0.001996547682210803,
+ 0.0017927589360624552,
+ 1.4066025018692017,
+ -0.02265406772494316,
+ 0.01666501723229885,
+ 1.2739224433898926,
+ -0.0016183683183044195,
+ -0.0022438804153352976,
+ 1.1702725887298584,
+ 0.0019133565947413445,
+ 0.002035031095147133,
+ 0.399400919675827,
+ 1.1960639953613281,
+ -0.2884732484817505,
+ 0.002070431597530842,
+ 0.0005600042059086263,
+ -0.5274972915649414,
+ -0.002031634794548154,
+ -0.0018736544298008084,
+ -0.5962589383125305
+ ],
+ "wrist_pos": [
+ 0.03397855907678604,
+ 0.0014617196284234524,
+ 0.8397870063781738
+ ],
+ "wrist_rot": [
+ -0.0102557223290205,
+ 0.010231342166662216,
+ 0.6900472640991211,
+ 0.7236192226409912
+ ],
+ "joint_positions": [
+ 0.13970637321472168,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 92,
+ "virtual_xyz": [
+ 0.03235228359699249,
+ 0.001456200028769672,
+ 0.83976149559021
+ ],
+ "wrist_rpy": [
+ -0.02855728007853031,
+ 0.0008488689782097936,
+ 1.523461103439331
+ ],
+ "finger_dofs": [
+ 1.1464712619781494,
+ -0.007720283232629299,
+ -0.00038864350062794983,
+ 1.32296621799469,
+ -0.0018602313939481974,
+ 1.0850344551727176e-05,
+ 1.1546945571899414,
+ 0.00037618380156345665,
+ -3.313224442536011e-05,
+ 1.207553744316101,
+ -0.002951333299279213,
+ 0.04218961298465729,
+ 1.2453112602233887,
+ -0.004016511142253876,
+ -0.002080329926684499,
+ 1.177791714668274,
+ 0.0021564604248851538,
+ 0.002132184337824583,
+ 1.1508398056030273,
+ -0.0008515178924426436,
+ 0.04936254397034645,
+ 1.332971453666687,
+ -0.0026641276199370623,
+ -0.0019951737485826015,
+ 1.1618870496749878,
+ 0.001991101773455739,
+ 0.001626036362722516,
+ 1.407349705696106,
+ -0.023486968129873276,
+ 0.017529405653476715,
+ 1.2731258869171143,
+ -0.0023095912765711546,
+ -0.002176479436457157,
+ 1.1700325012207031,
+ 0.001958689885213971,
+ 0.002011032309383154,
+ 0.40134865045547485,
+ 1.1958832740783691,
+ -0.2911072075366974,
+ 0.002077963203191757,
+ 0.0008376882178708911,
+ -0.5273871421813965,
+ -0.0020246743224561214,
+ -0.0018584575736895204,
+ -0.5968450903892517
+ ],
+ "wrist_pos": [
+ 0.03235241398215294,
+ 0.0014561996795237064,
+ 0.8397614359855652
+ ],
+ "wrist_rot": [
+ -0.010039174929261208,
+ 0.010161302983760834,
+ 0.690099835395813,
+ 0.7235731482505798
+ ],
+ "joint_positions": [
+ 0.14145229756832123,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 93,
+ "virtual_xyz": [
+ 0.03076041489839554,
+ 0.001445432542823255,
+ 0.8397179245948792
+ ],
+ "wrist_rpy": [
+ -0.028578205034136772,
+ 0.00020501269318629056,
+ 1.523585557937622
+ ],
+ "finger_dofs": [
+ 1.1453179121017456,
+ -0.007282259874045849,
+ -0.0006442886078730226,
+ 1.322966456413269,
+ -0.0023924661800265312,
+ 2.8299904442974366e-05,
+ 1.154670238494873,
+ 0.0004668906331062317,
+ -3.13838645524811e-05,
+ 1.207876443862915,
+ -0.0031481855548918247,
+ 0.04182073846459389,
+ 1.2450183629989624,
+ -0.0042055933736264706,
+ -0.002023817738518119,
+ 1.1790648698806763,
+ 0.002185962861403823,
+ 0.002128841355443001,
+ 1.152439832687378,
+ -0.0023700620513409376,
+ 0.04923629015684128,
+ 1.3325936794281006,
+ -0.0026730322279036045,
+ -0.0019222364062443376,
+ 1.1619956493377686,
+ 0.001982801826670766,
+ 0.0015890036011114717,
+ 1.4059985876083374,
+ -0.022389592602849007,
+ 0.017857151105999947,
+ 1.2731599807739258,
+ -0.0017750016413629055,
+ -0.002252215053886175,
+ 1.1709167957305908,
+ 0.001893380074761808,
+ 0.0019974764436483383,
+ 0.4008437991142273,
+ 1.1959786415100098,
+ -0.28957098722457886,
+ 0.0020834661554545164,
+ 0.0005820936639793217,
+ -0.5290990471839905,
+ -0.002053224015980959,
+ -0.0018431061180308461,
+ -0.5962116718292236
+ ],
+ "wrist_pos": [
+ 0.030760537832975388,
+ 0.0014454321935772896,
+ 0.8397178649902344
+ ],
+ "wrist_rot": [
+ -0.010268290527164936,
+ 0.009936260059475899,
+ 0.690148115158081,
+ 0.7235270142555237
+ ],
+ "joint_positions": [
+ 0.14299200475215912,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 94,
+ "virtual_xyz": [
+ 0.029148655012249947,
+ 0.001455024816095829,
+ 0.8398048281669617
+ ],
+ "wrist_rpy": [
+ -0.02880387380719185,
+ 0.0010427982779219747,
+ 1.5235106945037842
+ ],
+ "finger_dofs": [
+ 1.1473037004470825,
+ -0.006592300720512867,
+ -0.00024276023032143712,
+ 1.3227585554122925,
+ -0.0021531900856643915,
+ 0.00034339100238867104,
+ 1.1547139883041382,
+ 0.0006240152870304883,
+ -2.8501553970272653e-05,
+ 1.206830620765686,
+ -0.003056264016777277,
+ 0.04253331944346428,
+ 1.244722604751587,
+ -0.004021162167191505,
+ -0.00206201896071434,
+ 1.1776188611984253,
+ 0.0021809556055814028,
+ 0.002151925815269351,
+ 1.1516366004943848,
+ 0.0005946019664406776,
+ 0.04940163344144821,
+ 1.333642601966858,
+ -0.0025998996570706367,
+ -0.0020311397965997458,
+ 1.1622015237808228,
+ 0.0019947795663028955,
+ 0.0017985634040087461,
+ 1.4035489559173584,
+ -0.02371610328555107,
+ 0.01676025427877903,
+ 1.274609923362732,
+ -0.0023649348877370358,
+ -0.0021374973002821207,
+ 1.1699910163879395,
+ 0.00197308580391109,
+ 0.002037969883531332,
+ 0.39953216910362244,
+ 1.1961877346038818,
+ -0.2895839810371399,
+ 0.002029827795922756,
+ 0.0005731768906116486,
+ -0.5271604061126709,
+ -0.0020082436967641115,
+ -0.0019065361702814698,
+ -0.5969026684761047
+ ],
+ "wrist_pos": [
+ 0.029148779809474945,
+ 0.0014550243504345417,
+ 0.8398047685623169
+ ],
+ "wrist_rot": [
+ -0.010061266832053661,
+ 0.010316894389688969,
+ 0.6901154518127441,
+ 0.7235557436943054
+ ],
+ "joint_positions": [
+ 0.14455774426460266,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 95,
+ "virtual_xyz": [
+ 0.027556700631976128,
+ 0.0014739013276994228,
+ 0.839746356010437
+ ],
+ "wrist_rpy": [
+ -0.02883123978972435,
+ 0.00060443882830441,
+ 1.5232841968536377
+ ],
+ "finger_dofs": [
+ 1.1443344354629517,
+ -0.007527810987085104,
+ -0.0003199026396032423,
+ 1.3226925134658813,
+ -0.001897812238894403,
+ 0.00035589950857684016,
+ 1.154712200164795,
+ 0.0006150896078906953,
+ -2.5454566639382392e-05,
+ 1.2062410116195679,
+ -0.002769995015114546,
+ 0.043233443051576614,
+ 1.2456624507904053,
+ -0.0037339171394705772,
+ -0.0021240399219095707,
+ 1.1781419515609741,
+ 0.002128379885107279,
+ 0.0021393971983343363,
+ 1.1535905599594116,
+ -0.0006754565401934087,
+ 0.050190094858407974,
+ 1.3332843780517578,
+ -0.0026342410128563643,
+ -0.002039408776909113,
+ 1.1626496315002441,
+ 0.0020005572587251663,
+ 0.0017873398028314114,
+ 1.4084444046020508,
+ -0.021488435566425323,
+ 0.017887568101286888,
+ 1.2701706886291504,
+ -0.00211132294498384,
+ -0.0022625408601015806,
+ 1.1710970401763916,
+ 0.001924760639667511,
+ 0.0020349803380668163,
+ 0.39814847707748413,
+ 1.1972566843032837,
+ -0.2893691658973694,
+ 0.002050302689895034,
+ 0.0008820333168841898,
+ -0.525477409362793,
+ -0.00195747846737504,
+ -0.0020043794065713882,
+ -0.5962578058242798
+ ],
+ "wrist_pos": [
+ 0.027556825429201126,
+ 0.0014739008620381355,
+ 0.8397462964057922
+ ],
+ "wrist_rot": [
+ -0.010223638266324997,
+ 0.010166510008275509,
+ 0.6900357604026794,
+ 0.7236315608024597
+ ],
+ "joint_positions": [
+ 0.14613968133926392,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 96,
+ "virtual_xyz": [
+ 0.025943590328097343,
+ 0.0014606892364099622,
+ 0.83978271484375
+ ],
+ "wrist_rpy": [
+ -0.029155593365430832,
+ 0.0008089040638878942,
+ 1.5233571529388428
+ ],
+ "finger_dofs": [
+ 1.147090196609497,
+ -0.007892901077866554,
+ 0.00035035988548770547,
+ 1.3225206136703491,
+ -0.0022798427380621433,
+ 0.0003741120744962245,
+ 1.1547257900238037,
+ 0.0006649828283116221,
+ -2.448890700179618e-05,
+ 1.2063907384872437,
+ -0.003102316055446863,
+ 0.04336371272802353,
+ 1.2446465492248535,
+ -0.004284586291760206,
+ -0.0020650639198720455,
+ 1.1776350736618042,
+ 0.002225089119747281,
+ 0.002158517250791192,
+ 1.153127670288086,
+ -0.0020988225005567074,
+ 0.050672564655542374,
+ 1.3347830772399902,
+ -0.0027145659551024437,
+ -0.0020137534011155367,
+ 1.1621752977371216,
+ 0.002011044416576624,
+ 0.0017521691042929888,
+ 1.4124772548675537,
+ -0.021716253831982613,
+ 0.019072195515036583,
+ 1.272486925125122,
+ -0.002197041641920805,
+ -0.0022433132398873568,
+ 1.1705478429794312,
+ 0.0019440525211393833,
+ 0.0020340653136372566,
+ 0.3955928385257721,
+ 1.1970736980438232,
+ -0.2883990406990051,
+ 0.0020358620677143335,
+ 0.0011030692839995027,
+ -0.523432195186615,
+ -0.0019947520922869444,
+ -0.00196398189291358,
+ -0.5964983105659485
+ ],
+ "wrist_pos": [
+ 0.025943711400032043,
+ 0.001460688654333353,
+ 0.8397826552391052
+ ],
+ "wrist_rot": [
+ -0.010270053520798683,
+ 0.010352765209972858,
+ 0.6900593042373657,
+ 0.7236058115959167
+ ],
+ "joint_positions": [
+ 0.1478186398744583,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 97,
+ "virtual_xyz": [
+ 0.024337567389011383,
+ 0.0014527664752677083,
+ 0.8397731781005859
+ ],
+ "wrist_rpy": [
+ -0.029157768934965134,
+ 0.000710011925548315,
+ 1.523837924003601
+ ],
+ "finger_dofs": [
+ 1.1450614929199219,
+ -0.007889462634921074,
+ -0.0008968497859314084,
+ 1.3231637477874756,
+ -0.0018638486508280039,
+ -6.055911580915563e-05,
+ 1.1546672582626343,
+ 0.0003461972810328007,
+ -2.7895674065803178e-05,
+ 1.2069624662399292,
+ -0.002976128365844488,
+ 0.04216281324625015,
+ 1.2449010610580444,
+ -0.003978320863097906,
+ -0.0020840989891439676,
+ 1.1766749620437622,
+ 0.002154169837012887,
+ 0.0021368067245930433,
+ 1.1508989334106445,
+ -0.0020864433608949184,
+ 0.04988779500126839,
+ 1.3346437215805054,
+ -0.002716023474931717,
+ -0.001958571607246995,
+ 1.161677598953247,
+ 0.0019937995821237564,
+ 0.0014505530707538128,
+ 1.4025903940200806,
+ -0.02297072857618332,
+ 0.018096644431352615,
+ 1.2788169384002686,
+ -0.0025477923918515444,
+ -0.002103481674566865,
+ 1.1700713634490967,
+ 0.002004696521908045,
+ 0.00200538313947618,
+ 0.39805275201797485,
+ 1.1956188678741455,
+ -0.28936755657196045,
+ 0.0020691626705229282,
+ 0.0017787476535886526,
+ -0.5249766111373901,
+ -0.0020142034627497196,
+ -0.0019044880755245686,
+ -0.5966900587081909
+ ],
+ "wrist_pos": [
+ 0.02433769404888153,
+ 0.0014527658931910992,
+ 0.8397731184959412
+ ],
+ "wrist_rot": [
+ -0.010302498936653137,
+ 0.01032024435698986,
+ 0.6902337670326233,
+ 0.7234393954277039
+ ],
+ "joint_positions": [
+ 0.1494286209344864,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 98,
+ "virtual_xyz": [
+ 0.022735754027962685,
+ 0.0014487033477053046,
+ 0.8396940231323242
+ ],
+ "wrist_rpy": [
+ -0.02878475748002529,
+ 8.231426909333095e-05,
+ 1.5236523151397705
+ ],
+ "finger_dofs": [
+ 1.144836664199829,
+ -0.007878467440605164,
+ -0.0010896327439695597,
+ 1.3232258558273315,
+ -0.002278885105624795,
+ -0.00014591237413696945,
+ 1.154645323753357,
+ 0.0003034271067008376,
+ -3.206622932339087e-05,
+ 1.2074447870254517,
+ -0.0029598253313452005,
+ 0.042057253420352936,
+ 1.2449932098388672,
+ -0.004056904464960098,
+ -0.002086995868012309,
+ 1.1789113283157349,
+ 0.002172935288399458,
+ 0.002138574840500951,
+ 1.1525989770889282,
+ -0.001888419035822153,
+ 0.049465473741292953,
+ 1.3328886032104492,
+ -0.002718747826293111,
+ -0.0019855096470564604,
+ 1.1617857217788696,
+ 0.001996064791455865,
+ 0.0015833904035389423,
+ 1.4005978107452393,
+ -0.021923884749412537,
+ 0.01601356267929077,
+ 1.2725584506988525,
+ -0.0019949490670114756,
+ -0.0022810199297964573,
+ 1.1709654331207275,
+ 0.0019064381485804915,
+ 0.0020077943336218596,
+ 0.39866504073143005,
+ 1.1963591575622559,
+ -0.2875639796257019,
+ 0.00212441710755229,
+ 0.0006941920728422701,
+ -0.5288985371589661,
+ -0.002072311006486416,
+ -0.001817089389078319,
+ -0.5961062908172607
+ ],
+ "wrist_pos": [
+ 0.02273588255047798,
+ 0.0014487029984593391,
+ 0.8396939635276794
+ ],
+ "wrist_rot": [
+ -0.010385134257376194,
+ 0.009963501244783401,
+ 0.6901718378067017,
+ 0.7235023379325867
+ ],
+ "joint_positions": [
+ 0.15101081132888794,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 99,
+ "virtual_xyz": [
+ 0.02112475596368313,
+ 0.0014578175032511353,
+ 0.8397468328475952
+ ],
+ "wrist_rpy": [
+ -0.028761347755789757,
+ 0.0007557786302641034,
+ 1.5236046314239502
+ ],
+ "finger_dofs": [
+ 1.1435269117355347,
+ -0.007790760602802038,
+ -0.0009213626035489142,
+ 1.3232413530349731,
+ -0.0016356830019503832,
+ -0.0001424569491064176,
+ 1.1546686887741089,
+ 0.0002765001845546067,
+ -3.209632632206194e-05,
+ 1.2059130668640137,
+ -0.002852125559002161,
+ 0.04186481982469559,
+ 1.2461769580841064,
+ -0.003853015834465623,
+ -0.0021254231687635183,
+ 1.1779069900512695,
+ 0.002137039555236697,
+ 0.002143897581845522,
+ 1.1502984762191772,
+ -0.0018841177225112915,
+ 0.04875053092837334,
+ 1.3325600624084473,
+ -0.002657404402270913,
+ -0.0020221900194883347,
+ 1.1618893146514893,
+ 0.0019952114671468735,
+ 0.001654428313486278,
+ 1.3946157693862915,
+ -0.021328484639525414,
+ 0.0148098673671484,
+ 1.2727261781692505,
+ -0.001759762060828507,
+ -0.00231713498942554,
+ 1.1701618432998657,
+ 0.0018905660836026073,
+ 0.0020214528776705265,
+ 0.3977317810058594,
+ 1.1959995031356812,
+ -0.29119744896888733,
+ 0.0020517148077487946,
+ -0.0009070866508409381,
+ -0.5231612920761108,
+ -0.0019828423392027617,
+ -0.0019473538268357515,
+ -0.5967727899551392
+ ],
+ "wrist_pos": [
+ 0.021124880760908127,
+ 0.0014578169211745262,
+ 0.8397467732429504
+ ],
+ "wrist_rot": [
+ -0.01014433428645134,
+ 0.010198852978646755,
+ 0.6901511549949646,
+ 0.7235221266746521
+ ],
+ "joint_positions": [
+ 0.15256015956401825,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 100,
+ "virtual_xyz": [
+ 0.01953975483775139,
+ 0.0014771968126296997,
+ 0.8397142291069031
+ ],
+ "wrist_rpy": [
+ -0.02883792668581009,
+ 6.438988930312917e-05,
+ 1.5230653285980225
+ ],
+ "finger_dofs": [
+ 1.145287036895752,
+ -0.007443082518875599,
+ 0.00027511833468452096,
+ 1.322403907775879,
+ -0.002437716582790017,
+ 0.0006188173429109156,
+ 1.1547482013702393,
+ 0.0007896404713392258,
+ -2.709088585106656e-05,
+ 1.2056934833526611,
+ -0.0029051725286990404,
+ 0.04402631148695946,
+ 1.2446702718734741,
+ -0.003952605649828911,
+ -0.0020648762583732605,
+ 1.1793327331542969,
+ 0.0021635096054524183,
+ 0.0021313242614269257,
+ 1.1541498899459839,
+ -0.003162598004564643,
+ 0.05089554935693741,
+ 1.3305834531784058,
+ -0.002745692851021886,
+ -0.0018965920899063349,
+ 1.1624772548675537,
+ 0.0020102134440094233,
+ 0.0017865709960460663,
+ 1.3947558403015137,
+ -0.021992560476064682,
+ 0.014481423422694206,
+ 1.2712403535842896,
+ -0.0020599595736712217,
+ -0.002237945329397917,
+ 1.1720364093780518,
+ 0.001925875199958682,
+ 0.0020283826161175966,
+ 0.3988162577152252,
+ 1.1968716382980347,
+ -0.28775376081466675,
+ 0.0021217437461018562,
+ 0.0006969896494410932,
+ -0.5282776951789856,
+ -0.0020550128538161516,
+ -0.0018211498390883207,
+ -0.5956595540046692
+ ],
+ "wrist_pos": [
+ 0.019539877772331238,
+ 0.0014771963469684124,
+ 0.8397141695022583
+ ],
+ "wrist_rot": [
+ -0.010413501411676407,
+ 0.009972293861210346,
+ 0.6899592876434326,
+ 0.72370445728302
+ ],
+ "joint_positions": [
+ 0.15413010120391846,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 101,
+ "virtual_xyz": [
+ 0.01790730096399784,
+ 0.0014628177741542459,
+ 0.8397510647773743
+ ],
+ "wrist_rpy": [
+ -0.02835286781191826,
+ 0.0006710124434903264,
+ 1.5233131647109985
+ ],
+ "finger_dofs": [
+ 1.1461517810821533,
+ -0.00797324813902378,
+ -0.00025017865118570626,
+ 1.3228025436401367,
+ -0.001894141430966556,
+ 8.271470142062753e-05,
+ 1.1547282934188843,
+ 0.00048071169294416904,
+ -3.3266900572925806e-05,
+ 1.2078016996383667,
+ -0.0031173182651400566,
+ 0.04241363704204559,
+ 1.2449822425842285,
+ -0.00425295252352953,
+ -0.002041491912677884,
+ 1.1784117221832275,
+ 0.00221856776624918,
+ 0.0021447758190333843,
+ 1.1533727645874023,
+ -0.0014579681446775794,
+ 0.050095852464437485,
+ 1.3328242301940918,
+ -0.002705733058974147,
+ -0.002004076959565282,
+ 1.1620688438415527,
+ 0.002002340042963624,
+ 0.0016310709761455655,
+ 1.4065780639648438,
+ -0.023392368108034134,
+ 0.016435209661722183,
+ 1.272994875907898,
+ -0.0023653272073715925,
+ -0.0021709741558879614,
+ 1.1712865829467773,
+ 0.0019730920903384686,
+ 0.002019552979618311,
+ 0.4008990526199341,
+ 1.196742057800293,
+ -0.2907308042049408,
+ 0.002051325747743249,
+ 0.0001219754121848382,
+ -0.5271742343902588,
+ -0.002032626187428832,
+ -0.0018493372481316328,
+ -0.5967790484428406
+ ],
+ "wrist_pos": [
+ 0.01790742576122284,
+ 0.0014628171920776367,
+ 0.8397510051727295
+ ],
+ "wrist_rot": [
+ -0.010027458891272545,
+ 0.01002577506005764,
+ 0.6900482773780823,
+ 0.7236243486404419
+ ],
+ "joint_positions": [
+ 0.15588738024234772,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 102,
+ "virtual_xyz": [
+ 0.01630687713623047,
+ 0.0014546532183885574,
+ 0.8397617936134338
+ ],
+ "wrist_rpy": [
+ -0.028472047299146652,
+ 0.0008207337814383209,
+ 1.5234006643295288
+ ],
+ "finger_dofs": [
+ 1.1478140354156494,
+ -0.00788093265146017,
+ 0.00011052499030483887,
+ 1.3227404356002808,
+ -0.001471690833568573,
+ 5.1397320930846035e-05,
+ 1.1547048091888428,
+ 0.0004093693569302559,
+ -3.144572110613808e-05,
+ 1.208173155784607,
+ -0.0028474556747823954,
+ 0.04238408803939819,
+ 1.2447518110275269,
+ -0.0038237106055021286,
+ -0.002123844111338258,
+ 1.178757905960083,
+ 0.002128284191712737,
+ 0.0021380719263106585,
+ 1.1520167589187622,
+ -0.001204182393848896,
+ 0.049698278307914734,
+ 1.3328392505645752,
+ -0.0026749835815280676,
+ -0.0020099880639463663,
+ 1.1621594429016113,
+ 0.0019969947170466185,
+ 0.0016894834116101265,
+ 1.4044950008392334,
+ -0.023328550159931183,
+ 0.017124345526099205,
+ 1.2741283178329468,
+ -0.0023239501751959324,
+ -0.002181367250159383,
+ 1.1706560850143433,
+ 0.0019654561765491962,
+ 0.0020185282919555902,
+ 0.4002266526222229,
+ 1.1967326402664185,
+ -0.2900516390800476,
+ 0.002081278245896101,
+ 0.0006908782524988055,
+ -0.5272493958473206,
+ -0.0020202116575092077,
+ -0.001877851551398635,
+ -0.5968360304832458
+ ],
+ "wrist_pos": [
+ 0.016307003796100616,
+ 0.0014546527527272701,
+ 0.8397617340087891
+ ],
+ "wrist_rot": [
+ -0.010018415749073029,
+ 0.01012150477617979,
+ 0.690078616142273,
+ 0.7235942482948303
+ ],
+ "joint_positions": [
+ 0.15746162831783295,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 103,
+ "virtual_xyz": [
+ 0.014704016037285328,
+ 0.0014470971655100584,
+ 0.8397197127342224
+ ],
+ "wrist_rpy": [
+ -0.02823551371693611,
+ 0.0003334122884552926,
+ 1.5235121250152588
+ ],
+ "finger_dofs": [
+ 1.1465216875076294,
+ -0.0079346289858222,
+ -0.0008689388632774353,
+ 1.3232566118240356,
+ -0.002073784824460745,
+ -9.085090277949348e-05,
+ 1.1546920537948608,
+ 0.00033191803959198296,
+ -3.584568912629038e-05,
+ 1.208836317062378,
+ -0.0031457743607461452,
+ 0.04171169921755791,
+ 1.2446929216384888,
+ -0.004279493819922209,
+ -0.0020382388029247522,
+ 1.1795936822891235,
+ 0.002212377032265067,
+ 0.002144142286852002,
+ 1.15182363986969,
+ -0.0019974526949226856,
+ 0.048981674015522,
+ 1.3322232961654663,
+ -0.002717074006795883,
+ -0.001971278805285692,
+ 1.1619480848312378,
+ 0.001996637787669897,
+ 0.0015382907586172223,
+ 1.4114152193069458,
+ -0.02158423326909542,
+ 0.017085347324609756,
+ 1.2689006328582764,
+ -0.0022049983963370323,
+ -0.002232396975159645,
+ 1.1710572242736816,
+ 0.0019366138149052858,
+ 0.0020090912003070116,
+ 0.4021300673484802,
+ 1.196063756942749,
+ -0.2907659113407135,
+ 0.002087521832436323,
+ 0.0004988047294318676,
+ -0.5288366675376892,
+ -0.002047179965302348,
+ -0.0018409712938591838,
+ -0.596494197845459
+ ],
+ "wrist_pos": [
+ 0.014704141765832901,
+ 0.0014470969326794147,
+ 0.8397196531295776
+ ],
+ "wrist_rot": [
+ -0.010100358165800571,
+ 0.009864116087555885,
+ 0.6901226043701172,
+ 0.7235546708106995
+ ],
+ "joint_positions": [
+ 0.15908554196357727,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 104,
+ "virtual_xyz": [
+ 0.013101937249302864,
+ 0.0014499770477414131,
+ 0.8398167490959167
+ ],
+ "wrist_rpy": [
+ -0.028892185539007187,
+ 0.0009329129825346172,
+ 1.5235106945037842
+ ],
+ "finger_dofs": [
+ 1.1492704153060913,
+ -0.0066085089929401875,
+ -0.00015218782937154174,
+ 1.3226484060287476,
+ -0.0021448316983878613,
+ 0.0005275991279631853,
+ 1.1547425985336304,
+ 0.0007398378802463412,
+ -3.006523911608383e-05,
+ 1.2072522640228271,
+ -0.0031011770479381084,
+ 0.042877040803432465,
+ 1.2441577911376953,
+ -0.004128218628466129,
+ -0.00204105069860816,
+ 1.1777664422988892,
+ 0.0022012428380548954,
+ 0.0021451283246278763,
+ 1.1512726545333862,
+ -0.0017669530352577567,
+ 0.0500718392431736,
+ 1.333509922027588,
+ -0.002597181359305978,
+ -0.002014321507886052,
+ 1.1617697477340698,
+ 0.0019886982627213,
+ 0.0017858786741271615,
+ 1.4103325605392456,
+ -0.02166171930730343,
+ 0.01773882657289505,
+ 1.2725346088409424,
+ -0.0019935788586735725,
+ -0.0022412557154893875,
+ 1.1698668003082275,
+ 0.0019077016040682793,
+ 0.0020242754835635424,
+ 0.400277316570282,
+ 1.1957719326019287,
+ -0.2896711528301239,
+ 0.002051740884780884,
+ 0.000748742779251188,
+ -0.5273274779319763,
+ -0.0020201171282678843,
+ -0.001904690871015191,
+ -0.5967458486557007
+ ],
+ "wrist_pos": [
+ 0.013102065771818161,
+ 0.0014499765820801258,
+ 0.839816689491272
+ ],
+ "wrist_rot": [
+ -0.010131105780601501,
+ 0.010307692922651768,
+ 0.6901155710220337,
+ 0.723554790019989
+ ],
+ "joint_positions": [
+ 0.16062961518764496,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 105,
+ "virtual_xyz": [
+ 0.011487161740660667,
+ 0.0014547556638717651,
+ 0.8397661447525024
+ ],
+ "wrist_rpy": [
+ -0.02867201529443264,
+ 0.0007387218065559864,
+ 1.5236860513687134
+ ],
+ "finger_dofs": [
+ 1.1474413871765137,
+ -0.007809283211827278,
+ -0.0007230564369820058,
+ 1.323022484779358,
+ -0.0016865729121491313,
+ -1.1456359061412513e-06,
+ 1.1547095775604248,
+ 0.00036056010867469013,
+ -3.698785076267086e-05,
+ 1.2084940671920776,
+ -0.002951001515612006,
+ 0.042049940675497055,
+ 1.2442854642868042,
+ -0.0039954776875674725,
+ -0.0020717286970466375,
+ 1.1775422096252441,
+ 0.0021568371448665857,
+ 0.0021319801453500986,
+ 1.1504640579223633,
+ -0.0019481893396005034,
+ 0.04984471946954727,
+ 1.3335931301116943,
+ -0.002694172551855445,
+ -0.001961282454431057,
+ 1.1617025136947632,
+ 0.001988339005038142,
+ 0.0014302779454737902,
+ 1.415414571762085,
+ -0.023798998445272446,
+ 0.018481625244021416,
+ 1.275679111480713,
+ -0.0022790164221078157,
+ -0.002178322523832321,
+ 1.1695109605789185,
+ 0.001953525934368372,
+ 0.0019985807593911886,
+ 0.40298160910606384,
+ 1.194991111755371,
+ -0.2923743724822998,
+ 0.0020822258666157722,
+ 0.0006760546239092946,
+ -0.5277730822563171,
+ -0.002029694616794586,
+ -0.0018528937362134457,
+ -0.5968068242073059
+ ],
+ "wrist_pos": [
+ 0.011487290263175964,
+ 0.0014547551982104778,
+ 0.8397660851478577
+ ],
+ "wrist_rot": [
+ -0.010117619298398495,
+ 0.010162276215851307,
+ 0.690181314945221,
+ 0.723494291305542
+ ],
+ "joint_positions": [
+ 0.16233690083026886,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 106,
+ "virtual_xyz": [
+ 0.009898137301206589,
+ 0.001444891095161438,
+ 0.8397214412689209
+ ],
+ "wrist_rpy": [
+ -0.028852974995970726,
+ 7.321956218220294e-05,
+ 1.523987889289856
+ ],
+ "finger_dofs": [
+ 1.1449661254882812,
+ -0.008358334191143513,
+ -0.0014224383048713207,
+ 1.3233592510223389,
+ -0.0023640512954443693,
+ -2.872409277188126e-05,
+ 1.1546729803085327,
+ 0.0004247562028467655,
+ -3.279994780314155e-05,
+ 1.20810067653656,
+ -0.0029562911950051785,
+ 0.04167339950799942,
+ 1.2450543642044067,
+ -0.0039628795348107815,
+ -0.0020867937710136175,
+ 1.1774238348007202,
+ 0.0021495455875992775,
+ 0.002133004367351532,
+ 1.1517889499664307,
+ -0.002313386881724,
+ 0.049667175859212875,
+ 1.3342669010162354,
+ -0.0028225041460245848,
+ -0.0018845903687179089,
+ 1.161597490310669,
+ 0.0019992066081613302,
+ 0.0014206889318302274,
+ 1.4127323627471924,
+ -0.023706737905740738,
+ 0.019750472158193588,
+ 1.2768714427947998,
+ -0.0024730388540774584,
+ -0.0021343743428587914,
+ 1.1703288555145264,
+ 0.0019898880273103714,
+ 0.0019878996536135674,
+ 0.40274548530578613,
+ 1.1945937871932983,
+ -0.29124799370765686,
+ 0.0021745809353888035,
+ 0.0006497285212390125,
+ -0.5295462608337402,
+ -0.0020837667398154736,
+ -0.001851805835030973,
+ -0.5961432456970215
+ ],
+ "wrist_pos": [
+ 0.009898260235786438,
+ 0.0014448906295001507,
+ 0.8397213816642761
+ ],
+ "wrist_rot": [
+ -0.010411216877400875,
+ 0.009985520504415035,
+ 0.6902930736541748,
+ 0.7233859896659851
+ ],
+ "joint_positions": [
+ 0.16389170289039612,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 107,
+ "virtual_xyz": [
+ 0.008286390453577042,
+ 0.001461830921471119,
+ 0.8397656083106995
+ ],
+ "wrist_rpy": [
+ -0.02899215929210186,
+ 0.0008345810929313302,
+ 1.5238533020019531
+ ],
+ "finger_dofs": [
+ 1.1444849967956543,
+ -0.007860608398914337,
+ -0.0009749504388310015,
+ 1.3233067989349365,
+ -0.0011877120705321431,
+ -0.00014301299233920872,
+ 1.154649019241333,
+ 0.0003078769950661808,
+ -2.9276525310706347e-05,
+ 1.206649661064148,
+ -0.002817833097651601,
+ 0.04181231930851936,
+ 1.2463877201080322,
+ -0.0037462811451405287,
+ -0.002140881260856986,
+ 1.176928997039795,
+ 0.00213897624053061,
+ 0.0021513274405151606,
+ 1.1490415334701538,
+ -0.0020736600272357464,
+ 0.049267202615737915,
+ 1.3331378698349,
+ -0.00270284921862185,
+ -0.00201333942823112,
+ 1.161823034286499,
+ 0.0020074276253581047,
+ 0.0017314840806648135,
+ 1.411940574645996,
+ -0.022131184116005898,
+ 0.016213273629546165,
+ 1.2820125818252563,
+ -0.0020860466174781322,
+ -0.0022669327445328236,
+ 1.1692571640014648,
+ 0.0019285143353044987,
+ 0.002030017087236047,
+ 0.40080761909484863,
+ 1.1944258213043213,
+ -0.2951401472091675,
+ 0.0020626597106456757,
+ -0.0006651788135059178,
+ -0.5217589139938354,
+ -0.0019814472179859877,
+ -0.0019468599930405617,
+ -0.5968964099884033
+ ],
+ "wrist_pos": [
+ 0.00828651711344719,
+ 0.0014618304558098316,
+ 0.8397655487060547
+ ],
+ "wrist_rot": [
+ -0.010199503041803837,
+ 0.010308309458196163,
+ 0.6902395486831665,
+ 0.7234355211257935
+ ],
+ "joint_positions": [
+ 0.16541777551174164,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 108,
+ "virtual_xyz": [
+ 0.006684635300189257,
+ 0.0014483154518529773,
+ 0.8397596478462219
+ ],
+ "wrist_rpy": [
+ -0.029365800321102142,
+ 0.000306810368783772,
+ 1.5238044261932373
+ ],
+ "finger_dofs": [
+ 1.1477619409561157,
+ -0.007732116151601076,
+ -0.000771910126786679,
+ 1.3228654861450195,
+ -0.002408817643299699,
+ 0.00028683090931735933,
+ 1.154723048210144,
+ 0.0005797652993351221,
+ -3.604978337534703e-05,
+ 1.2074146270751953,
+ -0.0028862073086202145,
+ 0.042984746396541595,
+ 1.2429629564285278,
+ -0.003922828007489443,
+ -0.0020818919874727726,
+ 1.1764156818389893,
+ 0.002132783178240061,
+ 0.0021285226102918386,
+ 1.1513713598251343,
+ -0.001516444026492536,
+ 0.050747349858284,
+ 1.3344279527664185,
+ -0.0026744320057332516,
+ -0.001981951529160142,
+ 1.161581039428711,
+ 0.00199043657630682,
+ 0.0016056140884757042,
+ 1.4052543640136719,
+ -0.02279975265264511,
+ 0.018336815759539604,
+ 1.283515453338623,
+ -0.002524268114939332,
+ -0.002094566123560071,
+ 1.1703121662139893,
+ 0.0020021735690534115,
+ 0.0020073088817298412,
+ 0.4008362889289856,
+ 1.1941299438476562,
+ -0.2916080355644226,
+ 0.0021092710085213184,
+ 0.001219113008119166,
+ -0.525746762752533,
+ -0.0020444104447960854,
+ -0.0018788627348840237,
+ -0.5962134003639221
+ ],
+ "wrist_pos": [
+ 0.006684761494398117,
+ 0.0014483151026070118,
+ 0.8397595882415771
+ ],
+ "wrist_rot": [
+ -0.010516931302845478,
+ 0.0102460365742445,
+ 0.6902227997779846,
+ 0.7234477996826172
+ ],
+ "joint_positions": [
+ 0.16712945699691772,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 109,
+ "virtual_xyz": [
+ 0.005082562565803528,
+ 0.0014610507059842348,
+ 0.8398265838623047
+ ],
+ "wrist_rpy": [
+ -0.02952047437429428,
+ 0.0010905597591772676,
+ 1.5233262777328491
+ ],
+ "finger_dofs": [
+ 1.1490806341171265,
+ -0.006280053406953812,
+ 0.0008095467346720397,
+ 1.3221319913864136,
+ -0.0023650031071156263,
+ 0.0007477391045540571,
+ 1.1547255516052246,
+ 0.0009047337807714939,
+ -2.0801404389203526e-05,
+ 1.2065696716308594,
+ -0.0030327860731631517,
+ 0.04395671561360359,
+ 1.2443180084228516,
+ -0.0040062000043690205,
+ -0.0020833241287618876,
+ 1.1778897047042847,
+ 0.0022017064038664103,
+ 0.002164175035431981,
+ 1.1522082090377808,
+ -0.002343959640711546,
+ 0.0508996844291687,
+ 1.3333261013031006,
+ -0.0025785735342651606,
+ -0.0020670141093432903,
+ 1.1620891094207764,
+ 0.0020049933809787035,
+ 0.0018254846800118685,
+ 1.3963148593902588,
+ -0.022945888340473175,
+ 0.01592904143035412,
+ 1.2770497798919678,
+ -0.0023325374349951744,
+ -0.0021577756851911545,
+ 1.1704082489013672,
+ 0.0019717025570571423,
+ 0.002061809180304408,
+ 0.3995858132839203,
+ 1.1955186128616333,
+ -0.2901402413845062,
+ 0.002000754699110985,
+ 0.0007071487489156425,
+ -0.5260529518127441,
+ -0.001992986537516117,
+ -0.001911263563670218,
+ -0.5966193079948425
+ ],
+ "wrist_pos": [
+ 0.0050826892256736755,
+ 0.0014610500074923038,
+ 0.8398265242576599
+ ],
+ "wrist_rot": [
+ -0.010305013507604599,
+ 0.010580359026789665,
+ 0.6900447607040405,
+ 0.7236159443855286
+ ],
+ "joint_positions": [
+ 0.16858753561973572,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 110,
+ "virtual_xyz": [
+ 0.0034676322247833014,
+ 0.0014668666990473866,
+ 0.8397672772407532
+ ],
+ "wrist_rpy": [
+ -0.02884485572576523,
+ 0.0010012341663241386,
+ 1.5231074094772339
+ ],
+ "finger_dofs": [
+ 1.1454167366027832,
+ -0.007785102818161249,
+ 0.0005531014176085591,
+ 1.3222949504852295,
+ -0.0019372906535863876,
+ 0.00042535856482572854,
+ 1.1547226905822754,
+ 0.0006569849792867899,
+ -2.5749312044354156e-05,
+ 1.2068320512771606,
+ -0.0029910544399172068,
+ 0.043406467884778976,
+ 1.2460237741470337,
+ -0.004026828333735466,
+ -0.002083120634779334,
+ 1.1785013675689697,
+ 0.0021736074704676867,
+ 0.0021403443533927202,
+ 1.1528723239898682,
+ -0.0022731926292181015,
+ 0.05048317834734917,
+ 1.3323273658752441,
+ -0.0026796325109899044,
+ -0.0019935895688831806,
+ 1.161935567855835,
+ 0.0020016292110085487,
+ 0.0017585697351023555,
+ 1.389939785003662,
+ -0.02024303749203682,
+ 0.01335232239216566,
+ 1.2712074518203735,
+ -0.002201640047132969,
+ -0.0022440338507294655,
+ 1.1711045503616333,
+ 0.0019340157741680741,
+ 0.0020269581582397223,
+ 0.40182003378868103,
+ 1.195980429649353,
+ -0.2915091812610626,
+ 0.002057549310848117,
+ 0.0006227095145732164,
+ -0.5279917120933533,
+ -0.0020281244069337845,
+ -0.001845321268774569,
+ -0.5966553092002869
+ ],
+ "wrist_pos": [
+ 0.0034677572548389435,
+ 0.0014668661169707775,
+ 0.8397672176361084
+ ],
+ "wrist_rot": [
+ -0.010092459619045258,
+ 0.010313904844224453,
+ 0.6899694800376892,
+ 0.7236945033073425
+ ],
+ "joint_positions": [
+ 0.17026016116142273,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 111,
+ "virtual_xyz": [
+ 0.0018787587760016322,
+ 0.0014800246572121978,
+ 0.8397772312164307
+ ],
+ "wrist_rpy": [
+ -0.029122479259967804,
+ 0.0008081136620603502,
+ 1.5230134725570679
+ ],
+ "finger_dofs": [
+ 1.1452049016952515,
+ -0.007681043352931738,
+ 0.0009217136539518833,
+ 1.3219925165176392,
+ -0.0017889095470309258,
+ 0.0006065828492864966,
+ 1.1547144651412964,
+ 0.0008284223731607199,
+ -1.5350326066254638e-05,
+ 1.2051361799240112,
+ -0.0026787009555846453,
+ 0.044669076800346375,
+ 1.2456450462341309,
+ -0.003604825586080551,
+ -0.0021704372484236956,
+ 1.1776474714279175,
+ 0.0021114381961524487,
+ 0.0021551689133048058,
+ 1.1552153825759888,
+ -0.002522472059354186,
+ 0.051973141729831696,
+ 1.3329219818115234,
+ -0.0026882479432970285,
+ -0.0020469599403440952,
+ 1.1623713970184326,
+ 0.0020254820119589567,
+ 0.0018161304760724306,
+ 1.3964864015579224,
+ -0.02292102947831154,
+ 0.016975445672869682,
+ 1.2724555730819702,
+ -0.002393233124166727,
+ -0.0021876238752156496,
+ 1.1716225147247314,
+ 0.0019891138654202223,
+ 0.0020637749694287777,
+ 0.3979022204875946,
+ 1.197713017463684,
+ -0.28885361552238464,
+ 0.002018456580117345,
+ 0.0007287002517841756,
+ -0.5259944200515747,
+ -0.001945293741300702,
+ -0.00200891331769526,
+ -0.5961349606513977
+ ],
+ "wrist_pos": [
+ 0.0018788836896419525,
+ 0.0014800243079662323,
+ 0.8397771716117859
+ ],
+ "wrist_rot": [
+ -0.010260163806378841,
+ 0.010339362546801567,
+ 0.6899352073669434,
+ 0.7237244844436646
+ ],
+ "joint_positions": [
+ 0.17177210748195648,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 112,
+ "virtual_xyz": [
+ 0.0002549513301346451,
+ 0.0014572463696822524,
+ 0.839771032333374
+ ],
+ "wrist_rpy": [
+ -0.028802063316106796,
+ 0.0006795011577196419,
+ 1.5233582258224487
+ ],
+ "finger_dofs": [
+ 1.1466552019119263,
+ -0.0070782620459795,
+ 0.0002482932759448886,
+ 1.322445034980774,
+ -0.0020146656315773726,
+ 0.00023354934819508344,
+ 1.154727816581726,
+ 0.0005790216382592916,
+ -2.7555581255001016e-05,
+ 1.2069215774536133,
+ -0.0031693431083112955,
+ 0.04283815249800682,
+ 1.24448823928833,
+ -0.004342168103903532,
+ -0.001987618859857321,
+ 1.178084373474121,
+ 0.0022058244794607162,
+ 0.00212116283364594,
+ 1.1538097858428955,
+ -0.001526104984804988,
+ 0.050399668514728546,
+ 1.3331891298294067,
+ -0.002625316847115755,
+ -0.0019612826872617006,
+ 1.1618708372116089,
+ 0.001974350307136774,
+ 0.001492554903961718,
+ 1.4082266092300415,
+ -0.02364908531308174,
+ 0.017939092591404915,
+ 1.2720251083374023,
+ -0.002329751383513212,
+ -0.0021283843088895082,
+ 1.1707756519317627,
+ 0.0019521631766110659,
+ 0.001990290591493249,
+ 0.3995085656642914,
+ 1.19699227809906,
+ -0.29107674956321716,
+ 0.0020025670528411865,
+ 0.0006738817319273949,
+ -0.5240816473960876,
+ -0.001895523862913251,
+ -0.002084954408928752,
+ -0.5965913534164429
+ ],
+ "wrist_pos": [
+ 0.0002550780773162842,
+ 0.001457246020436287,
+ 0.8397709727287292
+ ],
+ "wrist_rot": [
+ -0.010186721570789814,
+ 0.010184044949710369,
+ 0.6900622248649597,
+ 0.7236066460609436
+ ],
+ "joint_positions": [
+ 0.17355023324489594,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 113,
+ "virtual_xyz": [
+ -0.0013490200508385897,
+ 0.0014584360178560019,
+ 0.8398295044898987
+ ],
+ "wrist_rpy": [
+ -0.02906280755996704,
+ 0.001452605938538909,
+ 1.5234133005142212
+ ],
+ "finger_dofs": [
+ 1.1479077339172363,
+ -0.007778570055961609,
+ 0.0006682466482743621,
+ 1.3225136995315552,
+ -0.0017867116257548332,
+ 0.00027895616949535906,
+ 1.154698133468628,
+ 0.0005709824035875499,
+ -2.107963155140169e-05,
+ 1.207055687904358,
+ -0.00288812885992229,
+ 0.04293661192059517,
+ 1.2450941801071167,
+ -0.003841293277218938,
+ -0.002141690580174327,
+ 1.177453875541687,
+ 0.002147246152162552,
+ 0.0021561156027019024,
+ 1.1504554748535156,
+ -0.0006176536553539336,
+ 0.049941904842853546,
+ 1.3335692882537842,
+ -0.0026750117540359497,
+ -0.0020505802240222692,
+ 1.1619305610656738,
+ 0.002009020419791341,
+ 0.0017880130326375365,
+ 1.402561068534851,
+ -0.023262960836291313,
+ 0.01709565334022045,
+ 1.2757104635238647,
+ -0.002341032959520817,
+ -0.0021884767338633537,
+ 1.169686198234558,
+ 0.0019756865222007036,
+ 0.002041339408606291,
+ 0.3974626064300537,
+ 1.1960076093673706,
+ -0.29329442977905273,
+ 0.0020483555272221565,
+ -0.0011652333196252584,
+ -0.5189610123634338,
+ -0.0019715866073966026,
+ -0.0019577492494136095,
+ -0.59734046459198
+ ],
+ "wrist_pos": [
+ -0.001348894089460373,
+ 0.0014584357850253582,
+ 0.8398294448852539
+ ],
+ "wrist_rot": [
+ -0.010014020837843418,
+ 0.010553927160799503,
+ 0.6900765895843506,
+ 0.7235900163650513
+ ],
+ "joint_positions": [
+ 0.1750761717557907,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 114,
+ "virtual_xyz": [
+ -0.0029487675055861473,
+ 0.0014577348483726382,
+ 0.8397042751312256
+ ],
+ "wrist_rpy": [
+ -0.028373384848237038,
+ 0.0004502828523982316,
+ 1.523529291152954
+ ],
+ "finger_dofs": [
+ 1.1437182426452637,
+ -0.007994872517883778,
+ -0.0007619330426678061,
+ 1.3231334686279297,
+ -0.0016620359383523464,
+ -0.00010590489546302706,
+ 1.1546779870986938,
+ 0.00036672447458840907,
+ -2.8144817406428047e-05,
+ 1.2055068016052246,
+ -0.0029677299316972494,
+ 0.04287128895521164,
+ 1.246870517730713,
+ -0.003637593472376466,
+ -0.0021603514906018972,
+ 1.1789182424545288,
+ 0.0021134887356311083,
+ 0.0021401906851679087,
+ 1.1520990133285522,
+ -0.0024138058070093393,
+ 0.04896489530801773,
+ 1.3323966264724731,
+ -0.002755498280748725,
+ -0.0018747325520962477,
+ 1.1620230674743652,
+ 0.001983773661777377,
+ 0.0013500945642590523,
+ 1.4088267087936401,
+ -0.023653050884604454,
+ 0.01789933629333973,
+ 1.2735841274261475,
+ -0.00231903325766325,
+ -0.0021627042442560196,
+ 1.1707402467727661,
+ 0.0019561878871172667,
+ 0.001984646311029792,
+ 0.4015251696109772,
+ 1.195946455001831,
+ -0.29379287362098694,
+ 0.0020845639519393444,
+ -0.00019971687288489193,
+ -0.524788498878479,
+ -0.002039350802078843,
+ -0.0018445050809532404,
+ -0.596630334854126
+ ],
+ "wrist_pos": [
+ -0.0029486417770385742,
+ 0.0014577344991266727,
+ 0.8397042155265808
+ ],
+ "wrist_rot": [
+ -0.010109810158610344,
+ 0.009954031556844711,
+ 0.6901274919509888,
+ 0.7235485911369324
+ ],
+ "joint_positions": [
+ 0.17670093476772308,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 115,
+ "virtual_xyz": [
+ -0.004554600454866886,
+ 0.0014576392713934183,
+ 0.8398323059082031
+ ],
+ "wrist_rpy": [
+ -0.0288749560713768,
+ 0.0014900168171152472,
+ 1.5235196352005005
+ ],
+ "finger_dofs": [
+ 1.1473454236984253,
+ -0.0066335261799395084,
+ 0.00010289681813446805,
+ 1.3227276802062988,
+ -0.002201214898377657,
+ 0.0004427146341186017,
+ 1.1546987295150757,
+ 0.0007043947116471827,
+ -1.950874320755247e-05,
+ 1.2031916379928589,
+ -0.002969975583255291,
+ 0.04437338560819626,
+ 1.2458465099334717,
+ -0.0035281646996736526,
+ -0.0021302986424416304,
+ 1.176697015762329,
+ 0.0021142351906746626,
+ 0.002151556545868516,
+ 1.1502182483673096,
+ -0.0002902217675000429,
+ 0.04941150173544884,
+ 1.3354767560958862,
+ -0.002603930654004216,
+ -0.001988750183954835,
+ 1.1618106365203857,
+ 0.0019788474310189486,
+ 0.0016270685009658337,
+ 1.4117677211761475,
+ -0.02143556997179985,
+ 0.017367174848914146,
+ 1.2750271558761597,
+ -0.0020031274762004614,
+ -0.0022324263118207455,
+ 1.1689603328704834,
+ 0.0019074564334005117,
+ 0.0020131473429501057,
+ 0.40010979771614075,
+ 1.1956896781921387,
+ -0.29210519790649414,
+ 0.0020288643427193165,
+ 0.0007393999258056283,
+ -0.524570643901825,
+ -0.0020024478435516357,
+ -0.0019182914402335882,
+ -0.5972734689712524
+ ],
+ "wrist_pos": [
+ -0.004554472863674164,
+ 0.0014576390385627747,
+ 0.8398322463035583
+ ],
+ "wrist_rot": [
+ -0.009932656772434711,
+ 0.01050326693803072,
+ 0.6901158094406128,
+ 0.7235544323921204
+ ],
+ "joint_positions": [
+ 0.1782677173614502,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 116,
+ "virtual_xyz": [
+ -0.006157806143164635,
+ 0.0014404767425730824,
+ 0.8397335410118103
+ ],
+ "wrist_rpy": [
+ -0.028628269210457802,
+ 0.0003154984151478857,
+ 1.523992657661438
+ ],
+ "finger_dofs": [
+ 1.1443595886230469,
+ -0.008167382329702377,
+ -0.001717539387755096,
+ 1.323433756828308,
+ -0.001551183988340199,
+ -3.9066730096237734e-05,
+ 1.1546565294265747,
+ 0.0003717885701917112,
+ -2.827917160175275e-05,
+ 1.2081608772277832,
+ -0.0030351593159139156,
+ 0.04186480492353439,
+ 1.24515700340271,
+ -0.003991112112998962,
+ -0.0020830424036830664,
+ 1.1765979528427124,
+ 0.0021340460516512394,
+ 0.002134389942511916,
+ 1.1513545513153076,
+ -0.002561726840212941,
+ 0.0494140163064003,
+ 1.3344790935516357,
+ -0.00281928270123899,
+ -0.0018747380236163735,
+ 1.1613409519195557,
+ 0.0020022918470203876,
+ 0.0013923220103606582,
+ 1.4076930284500122,
+ -0.023425258696079254,
+ 0.018357813358306885,
+ 1.2786145210266113,
+ -0.0026340021286159754,
+ -0.002067160326987505,
+ 1.1703275442123413,
+ 0.002019170206040144,
+ 0.001993132522329688,
+ 0.4028785824775696,
+ 1.1951853036880493,
+ -0.2937708795070648,
+ 0.002056924859061837,
+ 0.0012210564455017447,
+ -0.5253452062606812,
+ -0.0019221880938857794,
+ -0.0020985722076147795,
+ -0.596500813961029
+ ],
+ "wrist_pos": [
+ -0.006157681345939636,
+ 0.0014404761604964733,
+ 0.8397334814071655
+ ],
+ "wrist_rot": [
+ -0.010246285237371922,
+ 0.009995631873607635,
+ 0.6902945041656494,
+ 0.7233867645263672
+ ],
+ "joint_positions": [
+ 0.17997758090496063,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 117,
+ "virtual_xyz": [
+ -0.007751955650746822,
+ 0.0014496567891910672,
+ 0.8397495746612549
+ ],
+ "wrist_rpy": [
+ -0.02904602885246277,
+ 0.0006997278542257845,
+ 1.5236932039260864
+ ],
+ "finger_dofs": [
+ 1.1443041563034058,
+ -0.007993083447217941,
+ -0.0006592243444174528,
+ 1.3229223489761353,
+ -0.001780285150744021,
+ 0.0003344868600834161,
+ 1.154674768447876,
+ 0.0006262718816287816,
+ -1.9929648260585964e-05,
+ 1.2052711248397827,
+ -0.0026558153331279755,
+ 0.043450839817523956,
+ 1.2465944290161133,
+ -0.003161313710734248,
+ -0.0022509905975311995,
+ 1.1770561933517456,
+ 0.002056838944554329,
+ 0.002149200299754739,
+ 1.150968074798584,
+ -0.0014180552680045366,
+ 0.04961501806974411,
+ 1.332589030265808,
+ -0.0026853454764932394,
+ -0.0019889126997441053,
+ 1.1622291803359985,
+ 0.0019960994832217693,
+ 0.0017398475902155042,
+ 1.402092456817627,
+ -0.022064825519919395,
+ 0.01665356010198593,
+ 1.274987816810608,
+ -0.0018502059392631054,
+ -0.002295205369591713,
+ 1.1698561906814575,
+ 0.0019035139121115208,
+ 0.0020228964276611805,
+ 0.39914336800575256,
+ 1.1952675580978394,
+ -0.29339170455932617,
+ 0.0021011168137192726,
+ -0.00037672295002266765,
+ -0.5218260288238525,
+ -0.002007819479331374,
+ -0.0019165041157975793,
+ -0.5965279340744019
+ ],
+ "wrist_pos": [
+ -0.007751829922199249,
+ 0.001449656207114458,
+ 0.8397495150566101
+ ],
+ "wrist_rot": [
+ -0.010266363620758057,
+ 0.010277330875396729,
+ 0.6901821494102478,
+ 0.7234898209571838
+ ],
+ "joint_positions": [
+ 0.18143929541110992,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 118,
+ "virtual_xyz": [
+ -0.009371219202876091,
+ 0.0014623146271333098,
+ 0.8397198915481567
+ ],
+ "wrist_rpy": [
+ -0.028488177806138992,
+ 0.0006269059958867729,
+ 1.5236165523529053
+ ],
+ "finger_dofs": [
+ 1.1434696912765503,
+ -0.008051983080804348,
+ -0.0008182059391401708,
+ 1.3231459856033325,
+ -0.002179299248382449,
+ -0.0001477541372878477,
+ 1.1546586751937866,
+ 0.0003381678834557533,
+ -2.747877260844689e-05,
+ 1.2036287784576416,
+ -0.0028578918427228928,
+ 0.04331077262759209,
+ 1.246838927268982,
+ -0.003496438032016158,
+ -0.0021639137994498014,
+ 1.1772892475128174,
+ 0.0020946189761161804,
+ 0.002144960453733802,
+ 1.1518794298171997,
+ -0.0017731201369315386,
+ 0.04885073006153107,
+ 1.3339595794677734,
+ -0.002739632036536932,
+ -0.0019356489647179842,
+ 1.1621025800704956,
+ 0.0019865520298480988,
+ 0.001324283774010837,
+ 1.4081181287765503,
+ -0.02346588298678398,
+ 0.017307208850979805,
+ 1.2750083208084106,
+ -0.002317977137863636,
+ -0.002171838888898492,
+ 1.170146107673645,
+ 0.001959227491170168,
+ 0.0019922901410609484,
+ 0.4007885456085205,
+ 1.1959730386734009,
+ -0.29257458448410034,
+ 0.0020936245564371347,
+ 0.000471906503662467,
+ -0.5257598161697388,
+ -0.0020507893059402704,
+ -0.001840744400396943,
+ -0.5967013835906982
+ ],
+ "wrist_pos": [
+ -0.009371094405651093,
+ 0.0014623142778873444,
+ 0.839719831943512
+ ],
+ "wrist_rot": [
+ -0.010090094991028309,
+ 0.010057960636913776,
+ 0.6901575922966003,
+ 0.7235187292098999
+ ],
+ "joint_positions": [
+ 0.18312275409698486,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 119,
+ "virtual_xyz": [
+ -0.010971354320645332,
+ 0.0014590226346626878,
+ 0.8397486209869385
+ ],
+ "wrist_rpy": [
+ -0.02875058725476265,
+ 0.0006886886549182236,
+ 1.5238442420959473
+ ],
+ "finger_dofs": [
+ 1.14350163936615,
+ -0.007727275602519512,
+ -0.0013798803556710482,
+ 1.323442816734314,
+ -0.0012606203090399504,
+ -6.263843533815816e-05,
+ 1.1546480655670166,
+ 0.0003626875695772469,
+ -2.4913410015869886e-05,
+ 1.2061961889266968,
+ -0.002814888721331954,
+ 0.04245296120643616,
+ 1.2460709810256958,
+ -0.003665625350549817,
+ -0.0021503204479813576,
+ 1.1764390468597412,
+ 0.0020816223695874214,
+ 0.002134476089850068,
+ 1.1510194540023804,
+ -0.0018776776269078255,
+ 0.04912443086504936,
+ 1.3343487977981567,
+ -0.002647734945639968,
+ -0.002010774565860629,
+ 1.16204035282135,
+ 0.001990538090467453,
+ 0.0016664392314851284,
+ 1.4114221334457397,
+ -0.021960945799946785,
+ 0.017467554658651352,
+ 1.2779591083526611,
+ -0.0013280668063089252,
+ -0.0023288377560675144,
+ 1.16969895362854,
+ 0.0018763866974040866,
+ 0.00201240973547101,
+ 0.40063831210136414,
+ 1.1955320835113525,
+ -0.29112508893013,
+ 0.0020742646884173155,
+ 0.0014431431191042066,
+ -0.5267739295959473,
+ -0.002018654951825738,
+ -0.0018910063663497567,
+ -0.5967018604278564
+ ],
+ "wrist_pos": [
+ -0.010971229523420334,
+ 0.0014590220525860786,
+ 0.8397485613822937
+ ],
+ "wrist_rot": [
+ -0.010162584483623505,
+ 0.010172064416110516,
+ 0.6902382969856262,
+ 0.7234391570091248
+ ],
+ "joint_positions": [
+ 0.18469533324241638,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 120,
+ "virtual_xyz": [
+ -0.012579881586134434,
+ 0.0014489141758531332,
+ 0.8397248387336731
+ ],
+ "wrist_rpy": [
+ -0.028738420456647873,
+ -1.4176090189721435e-05,
+ 1.524005651473999
+ ],
+ "finger_dofs": [
+ 1.1450115442276,
+ -0.007608524989336729,
+ -0.0017172710504382849,
+ 1.3233442306518555,
+ -0.0023550987243652344,
+ 3.8955924537731335e-05,
+ 1.1546791791915894,
+ 0.0004950054571963847,
+ -3.5457418562145904e-05,
+ 1.2098119258880615,
+ -0.0033035408705472946,
+ 0.04167139157652855,
+ 1.2437283992767334,
+ -0.004522010218352079,
+ -0.002005311893299222,
+ 1.1783899068832397,
+ 0.0021992127876728773,
+ 0.0021220387425273657,
+ 1.1524487733840942,
+ -0.0014774245209991932,
+ 0.04948446527123451,
+ 1.333351969718933,
+ -0.002665520878508687,
+ -0.001954504055902362,
+ 1.1618987321853638,
+ 0.0019812698010355234,
+ 0.0015087149804458022,
+ 1.4182372093200684,
+ -0.02271151728928089,
+ 0.01877533458173275,
+ 1.2763733863830566,
+ -0.0022212027106434107,
+ -0.00218068715184927,
+ 1.1705886125564575,
+ 0.001935251522809267,
+ 0.001989800715819001,
+ 0.3985868990421295,
+ 1.1964004039764404,
+ -0.28930312395095825,
+ 0.0020444949623197317,
+ 0.0008218798320740461,
+ -0.5262022018432617,
+ -0.002012267941609025,
+ -0.0019215478096157312,
+ -0.5962685346603394
+ ],
+ "wrist_pos": [
+ -0.01257975772023201,
+ 0.0014489134773612022,
+ 0.8397247791290283
+ ],
+ "wrist_rot": [
+ -0.010399668477475643,
+ 0.009914631024003029,
+ 0.690300464630127,
+ 0.7233800292015076
+ ],
+ "joint_positions": [
+ 0.18638797104358673,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 121,
+ "virtual_xyz": [
+ -0.01417597196996212,
+ 0.001456945901736617,
+ 0.8397948145866394
+ ],
+ "wrist_rpy": [
+ -0.02946539968252182,
+ 0.0006604913505725563,
+ 1.5240809917449951
+ ],
+ "finger_dofs": [
+ 1.1453888416290283,
+ -0.007884449325501919,
+ -0.0016294827219098806,
+ 1.3234095573425293,
+ -0.0008871652535162866,
+ 3.1500829209107906e-05,
+ 1.1546725034713745,
+ 0.0004216757952235639,
+ -2.840486922650598e-05,
+ 1.2066586017608643,
+ -0.0026847783010452986,
+ 0.04326152056455612,
+ 1.2452917098999023,
+ -0.0032328113447874784,
+ -0.0022619380615651608,
+ 1.1764254570007324,
+ 0.002054508775472641,
+ 0.0021529896184802055,
+ 1.1508114337921143,
+ -0.0022075572051107883,
+ 0.050341591238975525,
+ 1.3355244398117065,
+ -0.0027192605193704367,
+ -0.001985065173357725,
+ 1.161752462387085,
+ 0.0020037516951560974,
+ 0.00168795813806355,
+ 1.4101464748382568,
+ -0.023481978103518486,
+ 0.019278431311249733,
+ 1.28255295753479,
+ -0.0024832242634147406,
+ -0.002129153348505497,
+ 1.169658899307251,
+ 0.0020021661184728146,
+ 0.002024731133133173,
+ 0.3972592055797577,
+ 1.195265769958496,
+ -0.28809234499931335,
+ 0.0020806698594242334,
+ 0.0017506997101008892,
+ -0.5254309773445129,
+ -0.002014754107221961,
+ -0.001935247448273003,
+ -0.5965790152549744
+ ],
+ "wrist_pos": [
+ -0.014175847172737122,
+ 0.0014569452032446861,
+ 0.8397947549819946
+ ],
+ "wrist_rot": [
+ -0.010429512709379196,
+ 0.010409743525087833,
+ 0.6903203725814819,
+ 0.7233536839485168
+ ],
+ "joint_positions": [
+ 0.1878860592842102,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 122,
+ "virtual_xyz": [
+ -0.015786757692694664,
+ 0.001471210620366037,
+ 0.8398242592811584
+ ],
+ "wrist_rpy": [
+ -0.029513811692595482,
+ 0.0014221550663933158,
+ 1.5237741470336914
+ ],
+ "finger_dofs": [
+ 1.1440613269805908,
+ -0.007661476265639067,
+ -0.0006667590350843966,
+ 1.3228156566619873,
+ -0.002261039102450013,
+ 0.00048140439321286976,
+ 1.15470552444458,
+ 0.0007157144718803465,
+ -2.0769422917510383e-05,
+ 1.202303409576416,
+ -0.002842942951247096,
+ 0.04491451382637024,
+ 1.2461844682693481,
+ -0.0034446031786501408,
+ -0.0021863544825464487,
+ 1.1750743389129639,
+ 0.0020915407221764326,
+ 0.002153297420591116,
+ 1.1502960920333862,
+ 0.00015483702009078115,
+ 0.050336334854364395,
+ 1.336798071861267,
+ -0.0026321979239583015,
+ -0.0020003505051136017,
+ 1.1619030237197876,
+ 0.001984549919143319,
+ 0.0015798340318724513,
+ 1.406764268875122,
+ -0.022116677835583687,
+ 0.017664479091763496,
+ 1.2804789543151855,
+ -0.002168698702007532,
+ -0.0022159158252179623,
+ 1.168478012084961,
+ 0.0019349225331097841,
+ 0.0020157555118203163,
+ 0.39582911133766174,
+ 1.1961177587509155,
+ -0.2873125374317169,
+ 0.0020278377924114466,
+ 0.0013165560085326433,
+ -0.5255619883537292,
+ -0.0020101123955100775,
+ -0.001890544081106782,
+ -0.5970313549041748
+ ],
+ "wrist_pos": [
+ -0.015786632895469666,
+ 0.0014712102711200714,
+ 0.8398241996765137
+ ],
+ "wrist_rot": [
+ -0.010185823775827885,
+ 0.010700497776269913,
+ 0.690204918384552,
+ 0.7234629988670349
+ ],
+ "joint_positions": [
+ 0.1894669383764267,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 123,
+ "virtual_xyz": [
+ -0.017381815239787102,
+ 0.0014589817728847265,
+ 0.839891254901886
+ ],
+ "wrist_rpy": [
+ -0.030233442783355713,
+ 0.001437044469639659,
+ 1.523574709892273
+ ],
+ "finger_dofs": [
+ 1.1479123830795288,
+ -0.007895363494753838,
+ 0.0002638354490045458,
+ 1.3222362995147705,
+ -0.0020629437640309334,
+ 0.0006544504431076348,
+ 1.1546870470046997,
+ 0.0008381169755011797,
+ -9.959981071006041e-06,
+ 1.200814962387085,
+ -0.0029861258808523417,
+ 0.04650638625025749,
+ 1.244737148284912,
+ -0.0036772589664906263,
+ -0.002184636890888214,
+ 1.175258755683899,
+ 0.0021182247437536716,
+ 0.0021595926955342293,
+ 1.1515376567840576,
+ -0.0026284977793693542,
+ 0.05166465416550636,
+ 1.3366447687149048,
+ -0.0027565713971853256,
+ -0.001953589729964733,
+ 1.1613609790802002,
+ 0.0020138430409133434,
+ 0.0017616896657273173,
+ 1.3966765403747559,
+ -0.02261536940932274,
+ 0.018693117424845695,
+ 1.2826614379882812,
+ -0.0025836487766355276,
+ -0.0020993829239159822,
+ 1.1692363023757935,
+ 0.00202159327454865,
+ 0.0020344925578683615,
+ 0.3950273096561432,
+ 1.1958873271942139,
+ -0.2845476269721985,
+ 0.002069399692118168,
+ 0.0014539436670020223,
+ -0.5270792245864868,
+ -0.0020300420001149178,
+ -0.0018992170225828886,
+ -0.5965531468391418
+ ],
+ "wrist_pos": [
+ -0.017381690442562103,
+ 0.0014589810743927956,
+ 0.8398911952972412
+ ],
+ "wrist_rot": [
+ -0.010441984049975872,
+ 0.010953147895634174,
+ 0.6901288032531738,
+ 0.723528265953064
+ ],
+ "joint_positions": [
+ 0.1910354197025299,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 124,
+ "virtual_xyz": [
+ -0.01899699680507183,
+ 0.001465527806431055,
+ 0.8398269414901733
+ ],
+ "wrist_rpy": [
+ -0.029400669038295746,
+ 0.0014280742034316063,
+ 1.5234814882278442
+ ],
+ "finger_dofs": [
+ 1.1453748941421509,
+ -0.007945804856717587,
+ -8.962353604147211e-05,
+ 1.3227286338806152,
+ -0.0016070085112005472,
+ 8.708570385351777e-05,
+ 1.1546200513839722,
+ 0.0004577371582854539,
+ -1.214890926348744e-05,
+ 1.2016865015029907,
+ -0.002708126325160265,
+ 0.044948939234018326,
+ 1.2467727661132812,
+ -0.003176340600475669,
+ -0.0022410242818295956,
+ 1.1773909330368042,
+ 0.0020648117642849684,
+ 0.0021500326693058014,
+ 1.1504822969436646,
+ -0.0016464267391711473,
+ 0.04947376251220703,
+ 1.3330373764038086,
+ -0.0026742126792669296,
+ -0.0020164481829851866,
+ 1.1619846820831299,
+ 0.0019984152168035507,
+ 0.0017082267440855503,
+ 1.3981449604034424,
+ -0.022998154163360596,
+ 0.016552211716771126,
+ 1.2754298448562622,
+ -0.002356814220547676,
+ -0.0021748323924839497,
+ 1.1695867776870728,
+ 0.001973837148398161,
+ 0.0020268314983695745,
+ 0.3962132930755615,
+ 1.1970044374465942,
+ -0.28867682814598083,
+ 0.002045737812295556,
+ -0.00037925882497802377,
+ -0.5236599445343018,
+ -0.001994450343772769,
+ -0.0018978735897690058,
+ -0.5970167517662048
+ ],
+ "wrist_pos": [
+ -0.018996872007846832,
+ 0.0014655273407697678,
+ 0.8398268818855286
+ ],
+ "wrist_rot": [
+ -0.01014427188783884,
+ 0.010662021115422249,
+ 0.6900995969772339,
+ 0.7235646843910217
+ ],
+ "joint_positions": [
+ 0.1926605999469757,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 125,
+ "virtual_xyz": [
+ -0.02058911696076393,
+ 0.0014572981745004654,
+ 0.8397907018661499
+ ],
+ "wrist_rpy": [
+ -0.02936330996453762,
+ 0.0008180244476534426,
+ 1.5233736038208008
+ ],
+ "finger_dofs": [
+ 1.1467561721801758,
+ -0.007669748272746801,
+ 0.00010342490713810548,
+ 1.3224151134490967,
+ -0.0010625706054270267,
+ 0.00022611042368225753,
+ 1.154613971710205,
+ 0.0005721438210457563,
+ -1.019128740153974e-05,
+ 1.2003775835037231,
+ -0.002783510833978653,
+ 0.04563622549176216,
+ 1.2458231449127197,
+ -0.0033052540384233,
+ -0.0022021953482180834,
+ 1.1772783994674683,
+ 0.002066398272290826,
+ 0.0021434978116303682,
+ 1.1541575193405151,
+ -0.00226628128439188,
+ 0.050449926406145096,
+ 1.3335641622543335,
+ -0.0027417270466685295,
+ -0.001950620673596859,
+ 1.1617393493652344,
+ 0.0019978168420493603,
+ 0.001623304677195847,
+ 1.3908337354660034,
+ -0.020836414769291878,
+ 0.015611229464411736,
+ 1.2746561765670776,
+ -0.0023396587930619717,
+ -0.0021894879173487425,
+ 1.1709718704223633,
+ 0.0019629967864602804,
+ 0.002012440003454685,
+ 0.39478281140327454,
+ 1.1985520124435425,
+ -0.28658339381217957,
+ 0.002023539738729596,
+ 0.0009982258779928088,
+ -0.5243805050849915,
+ -0.0019539811182767153,
+ -0.0019861666951328516,
+ -0.5962885618209839
+ ],
+ "wrist_pos": [
+ -0.020588990300893784,
+ 0.001457297708839178,
+ 0.8397906422615051
+ ],
+ "wrist_rot": [
+ -0.010341936722397804,
+ 0.01042795181274414,
+ 0.6900641322135925,
+ 0.7235991358757019
+ ],
+ "joint_positions": [
+ 0.19424352049827576,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 126,
+ "virtual_xyz": [
+ -0.022211140021681786,
+ 0.0014711580006405711,
+ 0.8398135900497437
+ ],
+ "wrist_rpy": [
+ -0.028770508244633675,
+ 0.0013733365340158343,
+ 1.5233910083770752
+ ],
+ "finger_dofs": [
+ 1.1446882486343384,
+ -0.007558961398899555,
+ -7.999563968041912e-05,
+ 1.3227074146270752,
+ -0.0016623594565317035,
+ 4.677949254983105e-05,
+ 1.154624104499817,
+ 0.00042639163439162076,
+ -1.4710873983858619e-05,
+ 1.2014498710632324,
+ -0.002757992595434189,
+ 0.04483353719115257,
+ 1.2471898794174194,
+ -0.0033143742475658655,
+ -0.002209582831710577,
+ 1.1764893531799316,
+ 0.002069885842502117,
+ 0.002148625673726201,
+ 1.1516597270965576,
+ -0.0024973961990326643,
+ 0.04971269890666008,
+ 1.3327908515930176,
+ -0.002678698394447565,
+ -0.0019818455912172794,
+ 1.1618727445602417,
+ 0.0020017523784190416,
+ 0.0017803652444854379,
+ 1.4008527994155884,
+ -0.02301807515323162,
+ 0.016142860054969788,
+ 1.2762951850891113,
+ -0.002314920537173748,
+ -0.002176315290853381,
+ 1.1701290607452393,
+ 0.0019661469850689173,
+ 0.002030482981353998,
+ 0.39742958545684814,
+ 1.1979809999465942,
+ -0.28967633843421936,
+ 0.00203634612262249,
+ 0.0006612673751078546,
+ -0.5237565040588379,
+ -0.0019904798828065395,
+ -0.0018978671869263053,
+ -0.5971696972846985
+ ],
+ "wrist_pos": [
+ -0.022211015224456787,
+ 0.0014711576513946056,
+ 0.8398135304450989
+ ],
+ "wrist_rot": [
+ -0.009935717098414898,
+ 0.010424437932670116,
+ 0.6900705099105835,
+ 0.7235987186431885
+ ],
+ "joint_positions": [
+ 0.19590359926223755,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 127,
+ "virtual_xyz": [
+ -0.023806950077414513,
+ 0.0014758536126464605,
+ 0.8397956490516663
+ ],
+ "wrist_rpy": [
+ -0.02905891090631485,
+ 0.0010436266893520951,
+ 1.523136854171753
+ ],
+ "finger_dofs": [
+ 1.1450930833816528,
+ -0.0080460449680686,
+ 0.0005182304885238409,
+ 1.3224555253982544,
+ -0.002293876837939024,
+ 0.00041610776679590344,
+ 1.1546779870986938,
+ 0.0007011823472566903,
+ -1.3565339031629264e-05,
+ 1.202118158340454,
+ -0.002871873090043664,
+ 0.04549771919846535,
+ 1.2470803260803223,
+ -0.0035004839301109314,
+ -0.0021942155435681343,
+ 1.1770668029785156,
+ 0.0020987270399928093,
+ 0.0021505760960280895,
+ 1.1529587507247925,
+ -0.001457558711990714,
+ 0.051083799451589584,
+ 1.334502100944519,
+ -0.002702377736568451,
+ -0.002002369612455368,
+ 1.162091851234436,
+ 0.001998510444536805,
+ 0.0016733285738155246,
+ 1.4052629470825195,
+ -0.021125705912709236,
+ 0.017798233777284622,
+ 1.273072600364685,
+ -0.0021840936969965696,
+ -0.0022441695909947157,
+ 1.1706622838974,
+ 0.0019373538671061397,
+ 0.002018760656937957,
+ 0.3957168161869049,
+ 1.1977648735046387,
+ -0.28577709197998047,
+ 0.002078110119327903,
+ 0.0011222438188269734,
+ -0.5270028114318848,
+ -0.0020406621042639017,
+ -0.0018634863663464785,
+ -0.5964527726173401
+ ],
+ "wrist_pos": [
+ -0.023806825280189514,
+ 0.0014758533798158169,
+ 0.8397955894470215
+ ],
+ "wrist_rot": [
+ -0.01015521865338087,
+ 0.010403269901871681,
+ 0.6899788975715637,
+ 0.7236834168434143
+ ],
+ "joint_positions": [
+ 0.19747154414653778,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 128,
+ "virtual_xyz": [
+ -0.025423966348171234,
+ 0.0014741423074156046,
+ 0.8398479223251343
+ ],
+ "wrist_rpy": [
+ -0.02900206297636032,
+ 0.0014422674430534244,
+ 1.5233547687530518
+ ],
+ "finger_dofs": [
+ 1.1467489004135132,
+ -0.007629574742168188,
+ 0.0003459146246314049,
+ 1.322560429573059,
+ -0.002223146380856633,
+ 0.0003528145607560873,
+ 1.1546778678894043,
+ 0.0006357290549203753,
+ -1.7531050616526045e-05,
+ 1.2057445049285889,
+ -0.003081544069573283,
+ 0.04416711628437042,
+ 1.2451322078704834,
+ -0.004118036944419146,
+ -0.002091373782604933,
+ 1.1774160861968994,
+ 0.0021864804439246655,
+ 0.0021496338304132223,
+ 1.1512140035629272,
+ -0.0006383738946169615,
+ 0.05049976333975792,
+ 1.3342621326446533,
+ -0.0026628433261066675,
+ -0.0020373822189867496,
+ 1.161965012550354,
+ 0.002005780814215541,
+ 0.0017869762377813458,
+ 1.4124568700790405,
+ -0.023135917261242867,
+ 0.018830887973308563,
+ 1.2720390558242798,
+ -0.0023019700311124325,
+ -0.00219203089363873,
+ 1.16982901096344,
+ 0.001965319039300084,
+ 0.0020366015378385782,
+ 0.39814746379852295,
+ 1.19699227809906,
+ -0.2878236174583435,
+ 0.002059208694845438,
+ 0.0010247710160911083,
+ -0.5268287658691406,
+ -0.0020202232990413904,
+ -0.0018874646630138159,
+ -0.5971024632453918
+ ],
+ "wrist_pos": [
+ -0.025423841550946236,
+ 0.001474142074584961,
+ 0.8398478627204895
+ ],
+ "wrist_rot": [
+ -0.009995866566896439,
+ 0.010529044084250927,
+ 0.6900558471679688,
+ 0.7236104011535645
+ ],
+ "joint_positions": [
+ 0.1991511583328247,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 129,
+ "virtual_xyz": [
+ -0.027016563341021538,
+ 0.0014415193581953645,
+ 0.8397311568260193
+ ],
+ "wrist_rpy": [
+ -0.029203685000538826,
+ -5.790709110442549e-05,
+ 1.523762822151184
+ ],
+ "finger_dofs": [
+ 1.1474628448486328,
+ -0.007969183847308159,
+ -0.00048653289559297264,
+ 1.3227626085281372,
+ -0.0022724992595613003,
+ 0.00020142761059105396,
+ 1.154693365097046,
+ 0.0005760437925346196,
+ -2.746665086306166e-05,
+ 1.2098674774169922,
+ -0.0032819893676787615,
+ 0.04300564527511597,
+ 1.2424002885818481,
+ -0.004565761424601078,
+ -0.002032626885920763,
+ 1.1788567304611206,
+ 0.002211008919402957,
+ 0.0021376973018050194,
+ 1.1536900997161865,
+ -0.0022302509751170874,
+ 0.05079817771911621,
+ 1.3339399099349976,
+ -0.0027679926715791225,
+ -0.001946722622960806,
+ 1.1617640256881714,
+ 0.0020055403001606464,
+ 0.0015956186689436436,
+ 1.412744402885437,
+ -0.023564692586660385,
+ 0.02083774097263813,
+ 1.276468276977539,
+ -0.0026434622704982758,
+ -0.0020751110278069973,
+ 1.1713114976882935,
+ 0.002024278976023197,
+ 0.002008326817303896,
+ 0.3966321051120758,
+ 1.1969666481018066,
+ -0.28584498167037964,
+ 0.002093907445669174,
+ 0.0013578658690676093,
+ -0.5277566313743591,
+ -0.0020411117002367973,
+ -0.0019083257066085935,
+ -0.5958312153816223
+ ],
+ "wrist_pos": [
+ -0.02701643854379654,
+ 0.0014415187761187553,
+ 0.8397310972213745
+ ],
+ "wrist_rot": [
+ -0.01058438140898943,
+ 0.010058167390525341,
+ 0.6902105808258057,
+ 0.7234611511230469
+ ],
+ "joint_positions": [
+ 0.2008589208126068,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 130,
+ "virtual_xyz": [
+ -0.028635174036026,
+ 0.001452501630410552,
+ 0.8397687077522278
+ ],
+ "wrist_rpy": [
+ -0.02905767597258091,
+ 0.0010735861724242568,
+ 1.5237421989440918
+ ],
+ "finger_dofs": [
+ 1.1455670595169067,
+ -0.0077707720920443535,
+ -0.0002547100593801588,
+ 1.3229546546936035,
+ -0.0012172744609415531,
+ -7.762441236991435e-05,
+ 1.154653549194336,
+ 0.00034557859180495143,
+ -2.6082036129082553e-05,
+ 1.2081753015518188,
+ -0.0029520797543227673,
+ 0.042284633964300156,
+ 1.2450840473175049,
+ -0.004007189068943262,
+ -0.0021473208907991648,
+ 1.1793596744537354,
+ 0.002164606936275959,
+ 0.0021504696924239397,
+ 1.1501176357269287,
+ -0.00044387587695382535,
+ 0.0487656332552433,
+ 1.3327631950378418,
+ -0.0026708536315709352,
+ -0.002034013159573078,
+ 1.1619831323623657,
+ 0.002002692548558116,
+ 0.0017480924725532532,
+ 1.4013597965240479,
+ -0.021355051547288895,
+ 0.014377755112946033,
+ 1.2788690328598022,
+ -0.002112079644575715,
+ -0.0022658559028059244,
+ 1.1697622537612915,
+ 0.0019285765010863543,
+ 0.0020317554008215666,
+ 0.3965769112110138,
+ 1.1966930627822876,
+ -0.28863832354545593,
+ 0.002059026388451457,
+ 0.0010893091093748808,
+ -0.5246990919113159,
+ -0.001985861686989665,
+ -0.0019380785524845123,
+ -0.5971019864082336
+ ],
+ "wrist_pos": [
+ -0.028635049238801003,
+ 0.0014525013975799084,
+ 0.839768648147583
+ ],
+ "wrist_rot": [
+ -0.010141324251890182,
+ 0.010416792705655098,
+ 0.6901976466178894,
+ 0.7234747409820557
+ ],
+ "joint_positions": [
+ 0.20235870778560638,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 131,
+ "virtual_xyz": [
+ -0.030232001096010208,
+ 0.0014549012994393706,
+ 0.8396881818771362
+ ],
+ "wrist_rpy": [
+ -0.02862117812037468,
+ -6.598189793294296e-05,
+ 1.5237045288085938
+ ],
+ "finger_dofs": [
+ 1.1435563564300537,
+ -0.008137273602187634,
+ -0.0015013475203886628,
+ 1.3232671022415161,
+ -0.001953210448846221,
+ -0.00019734307716134936,
+ 1.1546694040298462,
+ 0.0002882929111365229,
+ -3.537261363817379e-05,
+ 1.2097781896591187,
+ -0.0031027484219521284,
+ 0.04177837073802948,
+ 1.2446335554122925,
+ -0.004321088083088398,
+ -0.002060991944745183,
+ 1.1797728538513184,
+ 0.0021913214586675167,
+ 0.002135852351784706,
+ 1.1530264616012573,
+ -0.00214593973942101,
+ 0.04959488660097122,
+ 1.3319605588912964,
+ -0.002714033704251051,
+ -0.00199180212803185,
+ 1.1618773937225342,
+ 0.002005800139158964,
+ 0.0017276175785809755,
+ 1.400922417640686,
+ -0.021723080426454544,
+ 0.01583554595708847,
+ 1.2736114263534546,
+ -0.002230666112154722,
+ -0.002228318015113473,
+ 1.1716588735580444,
+ 0.001943197101354599,
+ 0.002020580228418112,
+ 0.3984282910823822,
+ 1.1967650651931763,
+ -0.2874923646450043,
+ 0.002088074339553714,
+ 0.0009733333718031645,
+ -0.528323769569397,
+ -0.0020542617421597242,
+ -0.0018284801626577973,
+ -0.596118688583374
+ ],
+ "wrist_pos": [
+ -0.03023187629878521,
+ 0.0014549009501934052,
+ 0.8396881222724915
+ ],
+ "wrist_rot": [
+ -0.010376723483204842,
+ 0.009853781200945377,
+ 0.6901923418045044,
+ 0.7234843373298645
+ ],
+ "joint_positions": [
+ 0.2039622813463211,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 132,
+ "virtual_xyz": [
+ -0.031835999339818954,
+ 0.0014634584076702595,
+ 0.8397937417030334
+ ],
+ "wrist_rpy": [
+ -0.028872739523649216,
+ 0.0007075552712194622,
+ 1.5234968662261963
+ ],
+ "finger_dofs": [
+ 1.1479287147521973,
+ -0.006792361382395029,
+ -0.00046809681225568056,
+ 1.3226394653320312,
+ -0.0021283214446157217,
+ 0.0003786649613175541,
+ 1.1547187566757202,
+ 0.0006465336191467941,
+ -2.8780968932551332e-05,
+ 1.2093616724014282,
+ -0.003104593837633729,
+ 0.04295366629958153,
+ 1.2438554763793945,
+ -0.004267973359674215,
+ -0.0020697906147688627,
+ 1.1792773008346558,
+ 0.002222127979621291,
+ 0.0021650081034749746,
+ 1.1526732444763184,
+ -0.0015928555512800813,
+ 0.0504877083003521,
+ 1.3320358991622925,
+ -0.0026134990621358156,
+ -0.002109409775584936,
+ 1.162459135055542,
+ 0.0020218966528773308,
+ 0.0018407994648441672,
+ 1.4027082920074463,
+ -0.02295180782675743,
+ 0.014961590990424156,
+ 1.2822704315185547,
+ -0.0023170937784016132,
+ -0.002178662922233343,
+ 1.1712344884872437,
+ 0.001977361971512437,
+ 0.0020764071960002184,
+ 0.3977859914302826,
+ 1.1972414255142212,
+ -0.286998987197876,
+ 0.002022910164669156,
+ 0.0008311225683428347,
+ -0.5275560617446899,
+ -0.0020090690813958645,
+ -0.0019062842475250363,
+ -0.5966498255729675
+ ],
+ "wrist_pos": [
+ -0.03183587267994881,
+ 0.0014634579420089722,
+ 0.8397936820983887
+ ],
+ "wrist_rot": [
+ -0.01020192913711071,
+ 0.010219335556030273,
+ 0.6901118159294128,
+ 0.7235585451126099
+ ],
+ "joint_positions": [
+ 0.20550915598869324,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 133,
+ "virtual_xyz": [
+ -0.03345304727554321,
+ 0.00146393571048975,
+ 0.8397455811500549
+ ],
+ "wrist_rpy": [
+ -0.02851780317723751,
+ 0.0007933037704788148,
+ 1.5235543251037598
+ ],
+ "finger_dofs": [
+ 1.144587755203247,
+ -0.007912833243608475,
+ -0.0010636616498231888,
+ 1.3232938051223755,
+ -0.0018584736390039325,
+ -8.600777800893411e-05,
+ 1.1547045707702637,
+ 0.0002941200218629092,
+ -3.6101580917602405e-05,
+ 1.2066705226898193,
+ -0.0029652281664311886,
+ 0.04272020235657692,
+ 1.2461116313934326,
+ -0.0036630963440984488,
+ -0.002163359196856618,
+ 1.178789734840393,
+ 0.002104428829625249,
+ 0.002136950148269534,
+ 1.1508551836013794,
+ -0.0019015721045434475,
+ 0.049237895756959915,
+ 1.333085536956787,
+ -0.0026895510964095592,
+ -0.0019391882233321667,
+ 1.1620904207229614,
+ 0.0019763093441724777,
+ 0.0013460121117532253,
+ 1.406868815422058,
+ -0.02348228171467781,
+ 0.016946587711572647,
+ 1.2759779691696167,
+ -0.0022918805480003357,
+ -0.002166918944567442,
+ 1.1704343557357788,
+ 0.001951974700205028,
+ 0.0019867972005158663,
+ 0.3999852240085602,
+ 1.1962904930114746,
+ -0.2894011437892914,
+ 0.0020611996296793222,
+ 0.0012550170067697763,
+ -0.5279988050460815,
+ -0.002022687578573823,
+ -0.0018380723195150495,
+ -0.5968902111053467
+ ],
+ "wrist_pos": [
+ -0.033452920615673065,
+ 0.0014639352448284626,
+ 0.8397455215454102
+ ],
+ "wrist_rot": [
+ -0.010043601505458355,
+ 0.010128148831427097,
+ 0.6901341080665588,
+ 0.7235409021377563
+ ],
+ "joint_positions": [
+ 0.2072134166955948,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 134,
+ "virtual_xyz": [
+ -0.03504788503050804,
+ 0.001462070271372795,
+ 0.8398025035858154
+ ],
+ "wrist_rpy": [
+ -0.028894398361444473,
+ 0.0012404853478074074,
+ 1.5233817100524902
+ ],
+ "finger_dofs": [
+ 1.1471648216247559,
+ -0.007641856092959642,
+ 0.0003328305028844625,
+ 1.3225690126419067,
+ -0.0015832133358344436,
+ 0.0003448828065302223,
+ 1.1547104120254517,
+ 0.0006126443040557206,
+ -2.3096028598956764e-05,
+ 1.2042157649993896,
+ -0.002832824597135186,
+ 0.044809672981500626,
+ 1.2458806037902832,
+ -0.003516086842864752,
+ -0.0021965329069644213,
+ 1.1784275770187378,
+ 0.0020908110309392214,
+ 0.002150041051208973,
+ 1.1514309644699097,
+ 5.2479750593192875e-05,
+ 0.05016447603702545,
+ 1.3351339101791382,
+ -0.002663451014086604,
+ -0.0020058713853359222,
+ 1.1618964672088623,
+ 0.0019917574245482683,
+ 0.0016492392169311643,
+ 1.4089183807373047,
+ -0.020758286118507385,
+ 0.017124498263001442,
+ 1.2744557857513428,
+ -0.00206529488787055,
+ -0.0022720813285559416,
+ 1.1696679592132568,
+ 0.0019158963114023209,
+ 0.0020173294469714165,
+ 0.3960089385509491,
+ 1.1976556777954102,
+ -0.28753823041915894,
+ 0.002057888312265277,
+ 0.0010091018630191684,
+ -0.5252726078033447,
+ -0.001989876851439476,
+ -0.0019470216939225793,
+ -0.5969231128692627
+ ],
+ "wrist_pos": [
+ -0.035047758370637894,
+ 0.0014620698057115078,
+ 0.8398024439811707
+ ],
+ "wrist_rot": [
+ -0.010026490315794945,
+ 0.010419059544801712,
+ 0.6900672316551208,
+ 0.7236006855964661
+ ],
+ "joint_positions": [
+ 0.20876501500606537,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 135,
+ "virtual_xyz": [
+ -0.03666333854198456,
+ 0.0014510761247947812,
+ 0.83976811170578
+ ],
+ "wrist_rpy": [
+ -0.028541672974824905,
+ 0.0009377282112836838,
+ 1.5236767530441284
+ ],
+ "finger_dofs": [
+ 1.1470911502838135,
+ -0.007767317816615105,
+ -0.0005322170909494162,
+ 1.3230516910552979,
+ -0.002000372624024749,
+ 3.9544185710838065e-05,
+ 1.1546831130981445,
+ 0.0004301124135963619,
+ -2.8045860744896345e-05,
+ 1.2060109376907349,
+ -0.0030943695455789566,
+ 0.043601810932159424,
+ 1.2452441453933716,
+ -0.003877747105434537,
+ -0.0021071252413094044,
+ 1.1782116889953613,
+ 0.0021433576475828886,
+ 0.0021385655272752047,
+ 1.1504234075546265,
+ -0.0019217308145016432,
+ 0.049577102065086365,
+ 1.33440101146698,
+ -0.002700053621083498,
+ -0.0019417415605857968,
+ 1.1613706350326538,
+ 0.0019809268414974213,
+ 0.001207422697916627,
+ 1.413933277130127,
+ -0.023793159052729607,
+ 0.01834268867969513,
+ 1.2753885984420776,
+ -0.0023086313158273697,
+ -0.002160255331546068,
+ 1.1692540645599365,
+ 0.0019561205990612507,
+ 0.0019887671805918217,
+ 0.40047410130500793,
+ 1.1963344812393188,
+ -0.29068097472190857,
+ 0.002060427563264966,
+ 0.0006014202372170985,
+ -0.5268136262893677,
+ -0.0020351612474769354,
+ -0.0018408962059766054,
+ -0.5970089435577393
+ ],
+ "wrist_pos": [
+ -0.03666321188211441,
+ 0.001451075542718172,
+ 0.8397680521011353
+ ],
+ "wrist_rot": [
+ -0.0100018922239542,
+ 0.010189195163547993,
+ 0.6901775002479553,
+ 0.7234991788864136
+ ],
+ "joint_positions": [
+ 0.21047954261302948,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 136,
+ "virtual_xyz": [
+ -0.03826042264699936,
+ 0.0014385381946340203,
+ 0.8397877812385559
+ ],
+ "wrist_rpy": [
+ -0.028986189514398575,
+ 0.0009815844241529703,
+ 1.5237632989883423
+ ],
+ "finger_dofs": [
+ 1.1486016511917114,
+ -0.007513601332902908,
+ -0.0001928539713844657,
+ 1.3229081630706787,
+ -0.0018063157331198454,
+ 0.00018671734142117202,
+ 1.15468430519104,
+ 0.0005122225265949965,
+ -2.5054265279322863e-05,
+ 1.2058906555175781,
+ -0.0028266014996916056,
+ 0.04407254979014397,
+ 1.2447398900985718,
+ -0.0035130272153764963,
+ -0.002186751225963235,
+ 1.1779221296310425,
+ 0.0020664157345891,
+ 0.002136560855433345,
+ 1.1500811576843262,
+ -0.0016593049513176084,
+ 0.049750443547964096,
+ 1.3352285623550415,
+ -0.002690270310267806,
+ -0.0019498418550938368,
+ 1.1613603830337524,
+ 0.0019811878446489573,
+ 0.0013403547927737236,
+ 1.4004325866699219,
+ -0.022633692249655724,
+ 0.017623376101255417,
+ 1.280737042427063,
+ -0.002547958167269826,
+ -0.0020901006646454334,
+ 1.1694952249526978,
+ 0.002002031309530139,
+ 0.0019948056433349848,
+ 0.39925581216812134,
+ 1.1959179639816284,
+ -0.2891540825366974,
+ 0.0021048171911388636,
+ 0.0010293170344084501,
+ -0.5272166728973389,
+ -0.0020359917543828487,
+ -0.0018800250254571438,
+ -0.596829354763031
+ ],
+ "wrist_pos": [
+ -0.03826029598712921,
+ 0.0014385376125574112,
+ 0.8397877216339111
+ ],
+ "wrist_rot": [
+ -0.010147002525627613,
+ 0.010359023697674274,
+ 0.6902062296867371,
+ 0.7234672904014587
+ ],
+ "joint_positions": [
+ 0.21206526458263397,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 137,
+ "virtual_xyz": [
+ -0.03987143188714981,
+ 0.0014487913576886058,
+ 0.8397402167320251
+ ],
+ "wrist_rpy": [
+ -0.02855568565428257,
+ 0.0007496614125557244,
+ 1.5234081745147705
+ ],
+ "finger_dofs": [
+ 1.14754319190979,
+ -0.007591129280626774,
+ 0.00022665922006126493,
+ 1.3226357698440552,
+ -0.0018753346521407366,
+ 6.38157653156668e-05,
+ 1.1546770334243774,
+ 0.00042443533311598003,
+ -2.8478769309003837e-05,
+ 1.2099812030792236,
+ -0.002905579749494791,
+ 0.042465221136808395,
+ 1.2445857524871826,
+ -0.0039059685077518225,
+ -0.0021308022551238537,
+ 1.1799020767211914,
+ 0.0021235255990177393,
+ 0.0021361627150326967,
+ 1.1515953540802002,
+ -0.001872608088888228,
+ 0.04944799095392227,
+ 1.331608533859253,
+ -0.002642169129103422,
+ -0.002029291121289134,
+ 1.1620023250579834,
+ 0.0019983139354735613,
+ 0.0017811112338677049,
+ 1.394835352897644,
+ -0.02295519784092903,
+ 0.014779197052121162,
+ 1.2724653482437134,
+ -0.0023818761110305786,
+ -0.0021628374233841896,
+ 1.170706033706665,
+ 0.0019732117652893066,
+ 0.002027864335104823,
+ 0.400174617767334,
+ 1.1967713832855225,
+ -0.2897965610027313,
+ 0.002064817352220416,
+ 0.0006945653003640473,
+ -0.5277652740478516,
+ -0.002013147808611393,
+ -0.0018652540165930986,
+ -0.5966869592666626
+ ],
+ "wrist_pos": [
+ -0.03987130522727966,
+ 0.0014487910084426403,
+ 0.8397401571273804
+ ],
+ "wrist_rot": [
+ -0.010073145851492882,
+ 0.010124613530933857,
+ 0.6900812387466431,
+ 0.7235908508300781
+ ],
+ "joint_positions": [
+ 0.21365107595920563,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 138,
+ "virtual_xyz": [
+ -0.04144987091422081,
+ 0.0014729475369676948,
+ 0.8397097587585449
+ ],
+ "wrist_rpy": [
+ -0.028876276686787605,
+ 6.300956010818481e-05,
+ 1.5231257677078247
+ ],
+ "finger_dofs": [
+ 1.145353078842163,
+ -0.007778682745993137,
+ 0.000330039591062814,
+ 1.3221724033355713,
+ -0.000781913404352963,
+ 0.00038234746898524463,
+ 1.1546928882598877,
+ 0.0006736591458320618,
+ -2.2692573111271486e-05,
+ 1.2071932554244995,
+ -0.0027767973951995373,
+ 0.04421772062778473,
+ 1.2445958852767944,
+ -0.0037414967082440853,
+ -0.0021581463515758514,
+ 1.1791051626205444,
+ 0.0021170026157051325,
+ 0.002148838248103857,
+ 1.1559580564498901,
+ -0.0023101570550352335,
+ 0.05138783901929855,
+ 1.3316164016723633,
+ -0.0026427682023495436,
+ -0.0020761650521308184,
+ 1.1627305746078491,
+ 0.002020818879827857,
+ 0.0018166805384680629,
+ 1.407623052597046,
+ -0.021572226658463478,
+ 0.018051594495773315,
+ 1.2680017948150635,
+ -0.0020911325700581074,
+ -0.0022894663270562887,
+ 1.1721832752227783,
+ 0.0019303916487842798,
+ 0.0020614671520888805,
+ 0.3980307877063751,
+ 1.1977280378341675,
+ -0.2860834002494812,
+ 0.0020908100996166468,
+ 0.0012545230565592647,
+ -0.5295429825782776,
+ -0.002036389661952853,
+ -0.0018713027238845825,
+ -0.5955716371536255
+ ],
+ "wrist_pos": [
+ -0.04144974425435066,
+ 0.0014729471877217293,
+ 0.8397096991539001
+ ],
+ "wrist_rot": [
+ -0.010427409783005714,
+ 0.009985382668673992,
+ 0.6899811029434204,
+ 0.7236832976341248
+ ],
+ "joint_positions": [
+ 0.21510663628578186,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 139,
+ "virtual_xyz": [
+ -0.04308316856622696,
+ 0.0014547521714121103,
+ 0.839796781539917
+ ],
+ "wrist_rpy": [
+ -0.029043959453701973,
+ 0.0008646381902508438,
+ 1.523289442062378
+ ],
+ "finger_dofs": [
+ 1.1480664014816284,
+ -0.007078190799802542,
+ 0.0005844031111337245,
+ 1.3223917484283447,
+ -0.002193082356825471,
+ 0.00048243728815577924,
+ 1.1547589302062988,
+ 0.0007297017727978528,
+ -2.9969500246807e-05,
+ 1.2082442045211792,
+ -0.0032305698841810226,
+ 0.04303641989827156,
+ 1.2441825866699219,
+ -0.004315549042075872,
+ -0.0020294729620218277,
+ 1.178068995475769,
+ 0.002183876931667328,
+ 0.0021256296895444393,
+ 1.1529364585876465,
+ -0.0013750417856499553,
+ 0.05054106563329697,
+ 1.3336132764816284,
+ -0.0026111402548849583,
+ -0.0019972394220530987,
+ 1.161939263343811,
+ 0.0019827750511467457,
+ 0.0016951111610978842,
+ 1.4058705568313599,
+ -0.023371949791908264,
+ 0.018395768478512764,
+ 1.2722277641296387,
+ -0.0023044671397656202,
+ -0.0021489907521754503,
+ 1.1705267429351807,
+ 0.0019507266115397215,
+ 0.0020075994543731213,
+ 0.3968025743961334,
+ 1.1972185373306274,
+ -0.2872547507286072,
+ 0.0020234391558915377,
+ 0.0008757488685660064,
+ -0.5263845920562744,
+ -0.0019929613918066025,
+ -0.001929156482219696,
+ -0.596607506275177
+ ],
+ "wrist_pos": [
+ -0.04308304190635681,
+ 0.0014547514729201794,
+ 0.8397967219352722
+ ],
+ "wrist_rot": [
+ -0.01021076925098896,
+ 0.010334105230867863,
+ 0.6900352239608765,
+ 0.723629891872406
+ ],
+ "joint_positions": [
+ 0.21688038110733032,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 140,
+ "virtual_xyz": [
+ -0.04469088092446327,
+ 0.0014516824157908559,
+ 0.8397636413574219
+ ],
+ "wrist_rpy": [
+ -0.02867770381271839,
+ 0.0009181894711218774,
+ 1.5235120058059692
+ ],
+ "finger_dofs": [
+ 1.1472153663635254,
+ -0.007920968346297741,
+ 2.892718111979775e-05,
+ 1.3228837251663208,
+ -0.002287004142999649,
+ 0.0001004008881864138,
+ 1.1546989679336548,
+ 0.0004501108778640628,
+ -3.1359453714685515e-05,
+ 1.209507942199707,
+ -0.0031078634783625603,
+ 0.04194101318717003,
+ 1.24492609500885,
+ -0.004163616802543402,
+ -0.0020904834382236004,
+ 1.1790101528167725,
+ 0.002172492677345872,
+ 0.002142740413546562,
+ 1.1512179374694824,
+ -0.0019429032690823078,
+ 0.048963241279125214,
+ 1.332575798034668,
+ -0.0026833543088287115,
+ -0.0019937162287533283,
+ 1.1620796918869019,
+ 0.0019954675808548927,
+ 0.0015231374418362975,
+ 1.405542016029358,
+ -0.023593701422214508,
+ 0.017131615430116653,
+ 1.2732056379318237,
+ -0.0023373831063508987,
+ -0.002169466344639659,
+ 1.1704128980636597,
+ 0.00196519261226058,
+ 0.0020146381575614214,
+ 0.3992333710193634,
+ 1.1964281797409058,
+ -0.29007259011268616,
+ 0.0020508356392383575,
+ 0.0007509089773520827,
+ -0.5260032415390015,
+ -0.002011057222262025,
+ -0.0018836194649338722,
+ -0.5970069766044617
+ ],
+ "wrist_pos": [
+ -0.044690754264593124,
+ 0.0014516818337142467,
+ 0.8397635817527771
+ ],
+ "wrist_rot": [
+ -0.010058634914457798,
+ 0.010228235274553299,
+ 0.6901172995567322,
+ 0.7235552668571472
+ ],
+ "joint_positions": [
+ 0.21847549080848694,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 141,
+ "virtual_xyz": [
+ -0.04628100246191025,
+ 0.0014498172095045447,
+ 0.8396966457366943
+ ],
+ "wrist_rpy": [
+ -0.028540030121803284,
+ 0.00016008630336727947,
+ 1.5235356092453003
+ ],
+ "finger_dofs": [
+ 1.1438454389572144,
+ -0.008173341862857342,
+ -0.0007017690222710371,
+ 1.3230063915252686,
+ -0.002441281918436289,
+ 0.00010103526437887922,
+ 1.1546790599822998,
+ 0.0005103390431031585,
+ -3.127978925476782e-05,
+ 1.208794355392456,
+ -0.003042385680601001,
+ 0.04205186665058136,
+ 1.2452418804168701,
+ -0.0041012209840118885,
+ -0.002094488125294447,
+ 1.17960786819458,
+ 0.0021530501544475555,
+ 0.0021338362712413073,
+ 1.153124451637268,
+ -0.002094830619171262,
+ 0.049192383885383606,
+ 1.3325440883636475,
+ -0.0027313355822116137,
+ -0.001949126715771854,
+ 1.1621053218841553,
+ 0.0019946140237152576,
+ 0.0015567791415378451,
+ 1.403104305267334,
+ -0.022168852388858795,
+ 0.017314380034804344,
+ 1.2719577550888062,
+ -0.00205697282217443,
+ -0.0022687881719321012,
+ 1.171242117881775,
+ 0.0019110690336674452,
+ 0.0020018569193780422,
+ 0.39906221628189087,
+ 1.1966969966888428,
+ -0.28816041350364685,
+ 0.0021262045484036207,
+ 0.0006560721667483449,
+ -0.5288863182067871,
+ -0.0020698101725429296,
+ -0.0018280987860634923,
+ -0.5962018966674805
+ ],
+ "wrist_pos": [
+ -0.0462808758020401,
+ 0.0014498168602585793,
+ 0.8396965861320496
+ ],
+ "wrist_rot": [
+ -0.010270227678120136,
+ 0.009906564839184284,
+ 0.6901305317878723,
+ 0.723544180393219
+ ],
+ "joint_positions": [
+ 0.22003114223480225,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 142,
+ "virtual_xyz": [
+ -0.047893013805150986,
+ 0.001455314690247178,
+ 0.8398146033287048
+ ],
+ "wrist_rpy": [
+ -0.028866635635495186,
+ 0.001216124976053834,
+ 1.523497223854065
+ ],
+ "finger_dofs": [
+ 1.147025227546692,
+ -0.007094100583344698,
+ 3.731497417902574e-05,
+ 1.3227033615112305,
+ -0.0023675982374697924,
+ 0.00043060359894298017,
+ 1.1547123193740845,
+ 0.0006875973776914179,
+ -2.504790791135747e-05,
+ 1.2069214582443237,
+ -0.0027933346573263407,
+ 0.04288875684142113,
+ 1.245726466178894,
+ -0.003289810847491026,
+ -0.0022067709360271692,
+ 1.1783473491668701,
+ 0.0020876023918390274,
+ 0.002156043890863657,
+ 1.1505990028381348,
+ -0.00018083088798448443,
+ 0.04926383122801781,
+ 1.3326144218444824,
+ -0.0026148101314902306,
+ -0.002046925248578191,
+ 1.162073016166687,
+ 0.0019976093899458647,
+ 0.0017968886531889439,
+ 1.3985674381256104,
+ -0.023416439071297646,
+ 0.015446115285158157,
+ 1.2743850946426392,
+ -0.002387894783169031,
+ -0.002142134588211775,
+ 1.1699529886245728,
+ 0.0019785212352871895,
+ 0.0020412695594131947,
+ 0.39805182814598083,
+ 1.1958413124084473,
+ -0.2927425503730774,
+ 0.0020283469930291176,
+ -0.0013129961444064975,
+ -0.5203070640563965,
+ -0.0019817317370325327,
+ -0.0019305797759443521,
+ -0.5971980690956116
+ ],
+ "wrist_pos": [
+ -0.04789288714528084,
+ 0.0014553139917552471,
+ 0.8398145437240601
+ ],
+ "wrist_rot": [
+ -0.010024262592196465,
+ 0.010401268489658833,
+ 0.6901092529296875,
+ 0.7235609292984009
+ ],
+ "joint_positions": [
+ 0.22159285843372345,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 143,
+ "virtual_xyz": [
+ -0.04949906840920448,
+ 0.001459802850149572,
+ 0.8397462964057922
+ ],
+ "wrist_rpy": [
+ -0.028416378423571587,
+ 0.0008638910367153585,
+ 1.5233453512191772
+ ],
+ "finger_dofs": [
+ 1.1450269222259521,
+ -0.007614819798618555,
+ -0.00032115867361426353,
+ 1.3228203058242798,
+ -0.0014748526737093925,
+ 3.544726496329531e-05,
+ 1.1546704769134521,
+ 0.000411656015785411,
+ -2.818652501446195e-05,
+ 1.20811927318573,
+ -0.0027737650088965893,
+ 0.041756048798561096,
+ 1.245367169380188,
+ -0.0038667318876832724,
+ -0.002090497873723507,
+ 1.1789672374725342,
+ 0.0021391885820776224,
+ 0.00213831989094615,
+ 1.1516696214675903,
+ -0.00024848271277733147,
+ 0.04898732900619507,
+ 1.331708312034607,
+ -0.0026275988202542067,
+ -0.002030090196058154,
+ 1.1622081995010376,
+ 0.001994642661884427,
+ 0.001779269427061081,
+ 1.3963277339935303,
+ -0.022947322577238083,
+ 0.015438884496688843,
+ 1.2715028524398804,
+ -0.0023394448217004538,
+ -0.0021729415748268366,
+ 1.170718789100647,
+ 0.0019641174003481865,
+ 0.0020259239245206118,
+ 0.3985500931739807,
+ 1.1969221830368042,
+ -0.2927265763282776,
+ 0.002053732518106699,
+ -0.0001485715329181403,
+ -0.5216993689537048,
+ -0.001987561583518982,
+ -0.0019245196599513292,
+ -0.5969738364219666
+ ],
+ "wrist_pos": [
+ -0.049498941749334335,
+ 0.0014598025009036064,
+ 0.8397462368011475
+ ],
+ "wrist_rot": [
+ -0.009983646683394909,
+ 0.010117556899785995,
+ 0.6900585889816284,
+ 0.7236137986183167
+ ],
+ "joint_positions": [
+ 0.22324863076210022,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 144,
+ "virtual_xyz": [
+ -0.051099859178066254,
+ 0.0014561699936166406,
+ 0.8397356867790222
+ ],
+ "wrist_rpy": [
+ -0.02855994552373886,
+ 0.0004974593175575137,
+ 1.5234451293945312
+ ],
+ "finger_dofs": [
+ 1.146173357963562,
+ -0.00796096958220005,
+ -0.0002379128709435463,
+ 1.3226838111877441,
+ -0.002215396612882614,
+ 6.356180529110134e-05,
+ 1.1546634435653687,
+ 0.00048212139518000185,
+ -2.7919286367250606e-05,
+ 1.2081354856491089,
+ -0.002925940789282322,
+ 0.04198005050420761,
+ 1.2448383569717407,
+ -0.004088376183062792,
+ -0.0020635284017771482,
+ 1.1780040264129639,
+ 0.002186775440350175,
+ 0.0021542466711252928,
+ 1.1534792184829712,
+ -0.0016735573299229145,
+ 0.049967214465141296,
+ 1.3336197137832642,
+ -0.0027117033023387194,
+ -0.0020164845045655966,
+ 1.1620653867721558,
+ 0.0020058697555214167,
+ 0.0016908834222704172,
+ 1.4119560718536377,
+ -0.023704783990979195,
+ 0.018894094973802567,
+ 1.2734487056732178,
+ -0.002304624067619443,
+ -0.0021951948292553425,
+ 1.1708450317382812,
+ 0.0019650275353342295,
+ 0.0020251807291060686,
+ 0.39911767840385437,
+ 1.1965725421905518,
+ -0.2902705669403076,
+ 0.0020661610178649426,
+ 0.0008720020414330065,
+ -0.5256966948509216,
+ -0.002036916557699442,
+ -0.0018697950290516019,
+ -0.5965297222137451
+ ],
+ "wrist_pos": [
+ -0.051099732518196106,
+ 0.0014561694115400314,
+ 0.8397356271743774
+ ],
+ "wrist_rot": [
+ -0.010161557234823704,
+ 0.01003515999764204,
+ 0.6900959014892578,
+ 0.7235769629478455
+ ],
+ "joint_positions": [
+ 0.22486311197280884,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 145,
+ "virtual_xyz": [
+ -0.05270900949835777,
+ 0.0014565619640052319,
+ 0.8397624492645264
+ ],
+ "wrist_rpy": [
+ -0.028780769556760788,
+ 0.0007306725601665676,
+ 1.5239601135253906
+ ],
+ "finger_dofs": [
+ 1.1447540521621704,
+ -0.007808588445186615,
+ -0.0014930821489542723,
+ 1.3235194683074951,
+ -0.0013437105808407068,
+ -0.0001077714841812849,
+ 1.1546598672866821,
+ 0.000321101862937212,
+ -2.9963095585117117e-05,
+ 1.2075750827789307,
+ -0.002666130196303129,
+ 0.04079956188797951,
+ 1.2454569339752197,
+ -0.003629625542089343,
+ -0.0021261400543153286,
+ 1.1759048700332642,
+ 0.0020834635943174362,
+ 0.0021401771809905767,
+ 1.1506540775299072,
+ -0.0015275777550414205,
+ 0.049110423773527145,
+ 1.3345739841461182,
+ -0.0026825075037777424,
+ -0.0020002347882837057,
+ 1.1618237495422363,
+ 0.001991140889003873,
+ 0.0014398208586499095,
+ 1.41681706905365,
+ -0.022485187277197838,
+ 0.018692636862397194,
+ 1.2789322137832642,
+ -0.0021209234837442636,
+ -0.002247774740681052,
+ 1.1696302890777588,
+ 0.001926168566569686,
+ 0.0020060709211975336,
+ 0.39990949630737305,
+ 1.195501446723938,
+ -0.2905885577201843,
+ 0.0020606177859008312,
+ 0.0013609897578135133,
+ -0.5262311100959778,
+ -0.002014170167967677,
+ -0.001884564757347107,
+ -0.5969218015670776
+ ],
+ "wrist_pos": [
+ -0.052708882838487625,
+ 0.0014565614983439445,
+ 0.8397623896598816
+ ],
+ "wrist_rot": [
+ -0.010158225893974304,
+ 0.010198301635682583,
+ 0.6902797818183899,
+ 0.72339928150177
+ ],
+ "joint_positions": [
+ 0.22647681832313538,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 146,
+ "virtual_xyz": [
+ -0.05429922789335251,
+ 0.0014557839604094625,
+ 0.8397176861763
+ ],
+ "wrist_rpy": [
+ -0.029120147228240967,
+ -0.0002714287838898599,
+ 1.5242098569869995
+ ],
+ "finger_dofs": [
+ 1.1432247161865234,
+ -0.008313681930303574,
+ -0.00245648087002337,
+ 1.32379150390625,
+ -0.0019490763079375029,
+ -0.00014199208817444742,
+ 1.154647707939148,
+ 0.0003292576293461025,
+ -3.172454671585001e-05,
+ 1.2075411081314087,
+ -0.0027667847461998463,
+ 0.041119154542684555,
+ 1.2437821626663208,
+ -0.0038065651897341013,
+ -0.0020733417477458715,
+ 1.174843192100525,
+ 0.002126427134498954,
+ 0.0021275701001286507,
+ 1.1531832218170166,
+ -0.0022331716027110815,
+ 0.049920644611120224,
+ 1.3348742723464966,
+ -0.0028301344718784094,
+ -0.0018919830908998847,
+ 1.1615198850631714,
+ 0.0019999132491648197,
+ 0.0014650392113253474,
+ 1.421987533569336,
+ -0.023718738928437233,
+ 0.02173718996345997,
+ 1.2771161794662476,
+ -0.0025643021799623966,
+ -0.0020931789185851812,
+ 1.1711161136627197,
+ 0.002006936352699995,
+ 0.0019856237340718508,
+ 0.3990097641944885,
+ 1.1960597038269043,
+ -0.2884214222431183,
+ 0.002101346617564559,
+ 0.001579001429490745,
+ -0.5268669128417969,
+ -0.0019279458792880177,
+ -0.002099500736221671,
+ -0.5958709716796875
+ ],
+ "wrist_pos": [
+ -0.05429910123348236,
+ 0.0014557833783328533,
+ 0.8397176265716553
+ ],
+ "wrist_rot": [
+ -0.010625485330820084,
+ 0.009954368695616722,
+ 0.6903737187385559,
+ 0.7233062982559204
+ ],
+ "joint_positions": [
+ 0.22807268798351288,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 147,
+ "virtual_xyz": [
+ -0.05590840429067612,
+ 0.0014512805500999093,
+ 0.8397702574729919
+ ],
+ "wrist_rpy": [
+ -0.029659761115908623,
+ 0.0003578428295440972,
+ 1.5241057872772217
+ ],
+ "finger_dofs": [
+ 1.1453144550323486,
+ -0.007700785528868437,
+ -0.001109145930968225,
+ 1.3230011463165283,
+ -0.0014163142768666148,
+ 0.00044015803723596036,
+ 1.1547331809997559,
+ 0.0006829807534813881,
+ -3.052550528082065e-05,
+ 1.20694100856781,
+ -0.0028221760876476765,
+ 0.041482169181108475,
+ 1.2439872026443481,
+ -0.0038996990770101547,
+ -0.0020845176186412573,
+ 1.1745030879974365,
+ 0.002146403305232525,
+ 0.002138660056516528,
+ 1.1507374048233032,
+ -0.0013005838263779879,
+ 0.04983138665556908,
+ 1.3330869674682617,
+ -0.0027083519380539656,
+ -0.0020143811125308275,
+ 1.1620666980743408,
+ 0.002009918447583914,
+ 0.001782641396857798,
+ 1.4055033922195435,
+ -0.023585069924592972,
+ 0.01799570769071579,
+ 1.2816591262817383,
+ -0.002603767206892371,
+ -0.0020865241531282663,
+ 1.1701844930648804,
+ 0.002023662207648158,
+ 0.0020303353667259216,
+ 0.39612525701522827,
+ 1.1951496601104736,
+ -0.28827282786369324,
+ 0.002126677194610238,
+ 0.0007149029988795519,
+ -0.523544192314148,
+ -0.0020272303372621536,
+ -0.0019113522721454501,
+ -0.596329927444458
+ ],
+ "wrist_pos": [
+ -0.05590827763080597,
+ 0.0014512799680233002,
+ 0.8397701978683472
+ ],
+ "wrist_rot": [
+ -0.010604132898151875,
+ 0.010367515496909618,
+ 0.6903300285339355,
+ 0.7233425974845886
+ ],
+ "joint_positions": [
+ 0.2296517938375473,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 148,
+ "virtual_xyz": [
+ -0.057499904185533524,
+ 0.001467749709263444,
+ 0.8397557139396667
+ ],
+ "wrist_rpy": [
+ -0.02962077409029007,
+ 5.386587872635573e-05,
+ 1.523421287536621
+ ],
+ "finger_dofs": [
+ 1.1472797393798828,
+ -0.007079118397086859,
+ 5.611020606011152e-05,
+ 1.3223024606704712,
+ -0.0021361093968153,
+ 0.000708056497387588,
+ 1.1547505855560303,
+ 0.0008749988046474755,
+ -2.481450246705208e-05,
+ 1.2066092491149902,
+ -0.003005038481205702,
+ 0.043340183794498444,
+ 1.2431342601776123,
+ -0.004116944968700409,
+ -0.002042605774477124,
+ 1.1772222518920898,
+ 0.0022067732643336058,
+ 0.0021670153364539146,
+ 1.154327630996704,
+ -0.0030609993264079094,
+ 0.051328208297491074,
+ 1.3320790529251099,
+ -0.0026786653324961662,
+ -0.0020075892098248005,
+ 1.1624755859375,
+ 0.0020276892464607954,
+ 0.0018401246052235365,
+ 1.409796118736267,
+ -0.021592305973172188,
+ 0.017340995371341705,
+ 1.2734055519104004,
+ -0.0020965919829905033,
+ -0.002250859048217535,
+ 1.1716033220291138,
+ 0.0019346371991559863,
+ 0.0020740043837577105,
+ 0.39471298456192017,
+ 1.1972118616104126,
+ -0.2837091088294983,
+ 0.0020500693935900927,
+ 0.0011493307538330555,
+ -0.527415931224823,
+ -0.002036054851487279,
+ -0.0018774457275867462,
+ -0.5956441164016724
+ ],
+ "wrist_pos": [
+ -0.057499777525663376,
+ 0.001467749010771513,
+ 0.839755654335022
+ ],
+ "wrist_rot": [
+ -0.010698520578444004,
+ 0.010240423493087292,
+ 0.6900842785835266,
+ 0.7235774397850037
+ ],
+ "joint_positions": [
+ 0.23116184771060944,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 149,
+ "virtual_xyz": [
+ -0.05912870541214943,
+ 0.0014697040896862745,
+ 0.8398070931434631
+ ],
+ "wrist_rpy": [
+ -0.02945505641400814,
+ 0.0009086853242479265,
+ 1.5236448049545288
+ ],
+ "finger_dofs": [
+ 1.1458659172058105,
+ -0.007763970177620649,
+ -0.00011956369417021051,
+ 1.3225938081741333,
+ -0.0021845423616468906,
+ 0.0004500359355006367,
+ 1.154738187789917,
+ 0.0006744944839738309,
+ -2.8696300432784483e-05,
+ 1.2065191268920898,
+ -0.0027308871503919363,
+ 0.042314521968364716,
+ 1.2445929050445557,
+ -0.0038083510007709265,
+ -0.0021033664233982563,
+ 1.1750568151474,
+ 0.002126354956999421,
+ 0.002140945289283991,
+ 1.1522036790847778,
+ -0.0001904764649225399,
+ 0.05073569715023041,
+ 1.3342370986938477,
+ -0.002640074584633112,
+ -0.0020627849735319614,
+ 1.1619664430618286,
+ 0.002005982678383589,
+ 0.0017944523133337498,
+ 1.4128953218460083,
+ -0.02346097119152546,
+ 0.018328221514821053,
+ 1.2764321565628052,
+ -0.0022503479849547148,
+ -0.0022045443765819073,
+ 1.169700026512146,
+ 0.001956905936822295,
+ 0.002037454629316926,
+ 0.3951532542705536,
+ 1.1971921920776367,
+ -0.2865382432937622,
+ 0.0020745513029396534,
+ 0.0012342138215899467,
+ -0.5248666405677795,
+ -0.001990193733945489,
+ -0.0019433024572208524,
+ -0.5967719554901123
+ ],
+ "wrist_pos": [
+ -0.05912857875227928,
+ 0.0014697038568556309,
+ 0.8398070335388184
+ ],
+ "wrist_rot": [
+ -0.010342437773942947,
+ 0.010493802838027477,
+ 0.6901612281799316,
+ 0.7235055565834045
+ ],
+ "joint_positions": [
+ 0.23288773000240326,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 150,
+ "virtual_xyz": [
+ -0.06072864681482315,
+ 0.001457680482417345,
+ 0.8397337794303894
+ ],
+ "wrist_rpy": [
+ -0.029034767299890518,
+ 0.0003389560733921826,
+ 1.5239770412445068
+ ],
+ "finger_dofs": [
+ 1.1439945697784424,
+ -0.008315561339259148,
+ -0.0014480382669717073,
+ 1.3233530521392822,
+ -0.0022328959312289953,
+ -0.00014428934082388878,
+ 1.154667854309082,
+ 0.000359538069460541,
+ -2.8915585062350146e-05,
+ 1.2077889442443848,
+ -0.0027893963269889355,
+ 0.041072361171245575,
+ 1.2450191974639893,
+ -0.003831632900983095,
+ -0.002091041300445795,
+ 1.17599618434906,
+ 0.0021322837565094233,
+ 0.002138107782229781,
+ 1.1522986888885498,
+ -0.002248974982649088,
+ 0.049588076770305634,
+ 1.3340755701065063,
+ -0.0027714776806533337,
+ -0.0019345707260072231,
+ 1.161773681640625,
+ 0.0020016769412904978,
+ 0.0015391049673780799,
+ 1.4164403676986694,
+ -0.02252788655459881,
+ 0.018645361065864563,
+ 1.2767287492752075,
+ -0.0022084147203713655,
+ -0.0022217710502445698,
+ 1.1703097820281982,
+ 0.0019410861423239112,
+ 0.0020020916126668453,
+ 0.3976214528083801,
+ 1.1966087818145752,
+ -0.28777578473091125,
+ 0.002108849585056305,
+ 0.000835609738714993,
+ -0.5271205902099609,
+ -0.002057461068034172,
+ -0.001844891463406384,
+ -0.5965268015861511
+ ],
+ "wrist_pos": [
+ -0.060728520154953,
+ 0.0014576800167560577,
+ 0.8397337198257446
+ ],
+ "wrist_rot": [
+ -0.010385188274085522,
+ 0.010144331492483616,
+ 0.6902868151664734,
+ 0.7233901023864746
+ ],
+ "joint_positions": [
+ 0.2345011681318283,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 151,
+ "virtual_xyz": [
+ -0.06233059987425804,
+ 0.0014530845219269395,
+ 0.8397723436355591
+ ],
+ "wrist_rpy": [
+ -0.029344800859689713,
+ 0.0005427656578831375,
+ 1.5241641998291016
+ ],
+ "finger_dofs": [
+ 1.1450769901275635,
+ -0.007882914505898952,
+ -0.0017841497901827097,
+ 1.3235251903533936,
+ -0.0005139478016644716,
+ -0.00010619866225169972,
+ 1.1546647548675537,
+ 0.0003254250332247466,
+ -2.8813945391448215e-05,
+ 1.2072031497955322,
+ -0.002622270956635475,
+ 0.04131864756345749,
+ 1.244247555732727,
+ -0.003568796208128333,
+ -0.002140885218977928,
+ 1.1748309135437012,
+ 0.0020804586820304394,
+ 0.002144915983080864,
+ 1.1508444547653198,
+ -0.0022669534664601088,
+ 0.04992096498608589,
+ 1.33492112159729,
+ -0.002731453161686659,
+ -0.0019605092238634825,
+ 1.1616604328155518,
+ 0.002002009889110923,
+ 0.0016024241922423244,
+ 1.4108781814575195,
+ -0.023410167545080185,
+ 0.019082700833678246,
+ 1.2817862033843994,
+ -0.002485469914972782,
+ -0.0021253619343042374,
+ 1.169804334640503,
+ 0.001998972613364458,
+ 0.0020133021753281355,
+ 0.39739635586738586,
+ 1.1958304643630981,
+ -0.2869146168231964,
+ 0.002098374767228961,
+ 0.0016800668090581894,
+ -0.5273470878601074,
+ -0.0020354846492409706,
+ -0.001894296845421195,
+ -0.5965873003005981
+ ],
+ "wrist_pos": [
+ -0.062330473214387894,
+ 0.0014530839398503304,
+ 0.8397722840309143
+ ],
+ "wrist_rot": [
+ -0.010426059365272522,
+ 0.0103260213509202,
+ 0.6903517246246338,
+ 0.7233249545097351
+ ],
+ "joint_positions": [
+ 0.23607903718948364,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 152,
+ "virtual_xyz": [
+ -0.06394287198781967,
+ 0.0014404418179765344,
+ 0.839796781539917
+ ],
+ "wrist_rpy": [
+ -0.02935643307864666,
+ 0.0009284229017794132,
+ 1.5239217281341553
+ ],
+ "finger_dofs": [
+ 1.1478867530822754,
+ -0.007200723048299551,
+ -0.0007006480591371655,
+ 1.3229776620864868,
+ -0.0023504707496613264,
+ 0.00039309149724431336,
+ 1.15471613407135,
+ 0.000656205287668854,
+ -2.806352131301537e-05,
+ 1.207554578781128,
+ -0.003085253993049264,
+ 0.04174746572971344,
+ 1.2443534135818481,
+ -0.004187471698969603,
+ -0.002012569224461913,
+ 1.1755297183990479,
+ 0.0022153586614876986,
+ 0.0021485767792910337,
+ 1.1503459215164185,
+ 8.272958211819059e-07,
+ 0.04978904500603676,
+ 1.3345568180084229,
+ -0.002595679135993123,
+ -0.002030749572440982,
+ 1.1619606018066406,
+ 0.0019917727913707495,
+ 0.001791591290384531,
+ 1.4064120054244995,
+ -0.02273232489824295,
+ 0.01649385876953602,
+ 1.2793959379196167,
+ -0.0018737376667559147,
+ -0.002247390104457736,
+ 1.1692153215408325,
+ 0.0019043070496991277,
+ 0.002030193107202649,
+ 0.39618298411369324,
+ 1.1961097717285156,
+ -0.28611183166503906,
+ 0.0020229846704751253,
+ 0.0011634116526693106,
+ -0.5270037055015564,
+ -0.002025580033659935,
+ -0.0018929860088974237,
+ -0.5968482494354248
+ ],
+ "wrist_pos": [
+ -0.06394274532794952,
+ 0.0014404412358999252,
+ 0.839796781539917
+ ],
+ "wrist_rot": [
+ -0.010298371315002441,
+ 0.010468292981386185,
+ 0.6902619004249573,
+ 0.7234104871749878
+ ],
+ "joint_positions": [
+ 0.23769111931324005,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 153,
+ "virtual_xyz": [
+ -0.06554342061281204,
+ 0.0014661174500361085,
+ 0.8397579193115234
+ ],
+ "wrist_rpy": [
+ -0.029010582715272903,
+ 0.0007057978073135018,
+ 1.523685336112976
+ ],
+ "finger_dofs": [
+ 1.1447234153747559,
+ -0.007663360331207514,
+ -0.0007872100104577839,
+ 1.3230634927749634,
+ -0.0013636264484375715,
+ 8.063192217377946e-05,
+ 1.154681921005249,
+ 0.00043055371497757733,
+ -2.7509693609317765e-05,
+ 1.2074086666107178,
+ -0.0027310217265039682,
+ 0.04165706783533096,
+ 1.2452644109725952,
+ -0.0037470378447324038,
+ -0.002099633449688554,
+ 1.1770596504211426,
+ 0.0021172601263970137,
+ 0.002138426760211587,
+ 1.1516023874282837,
+ -0.0024517630226910114,
+ 0.04964795336127281,
+ 1.3331708908081055,
+ -0.0026855606120079756,
+ -0.001956647029146552,
+ 1.1621750593185425,
+ 0.001996744656935334,
+ 0.0017319860635325313,
+ 1.4126179218292236,
+ -0.021765878424048424,
+ 0.017790649086236954,
+ 1.2710955142974854,
+ -0.002084893872961402,
+ -0.0022530029527843,
+ 1.1703386306762695,
+ 0.0019164608092978597,
+ 0.002014998346567154,
+ 0.39769965410232544,
+ 1.1967710256576538,
+ -0.2870328724384308,
+ 0.002082690829411149,
+ 0.0012134105199947953,
+ -0.5279566049575806,
+ -0.002029070630669594,
+ -0.001866049482487142,
+ -0.5966060757637024
+ ],
+ "wrist_pos": [
+ -0.0655432939529419,
+ 0.0014661168679594994,
+ 0.8397578597068787
+ ],
+ "wrist_rot": [
+ -0.010251467116177082,
+ 0.010267181321978569,
+ 0.6901794672012329,
+ 0.7234926819801331
+ ],
+ "joint_positions": [
+ 0.23926812410354614,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 154,
+ "virtual_xyz": [
+ -0.06715270131826401,
+ 0.0014483146369457245,
+ 0.8397291302680969
+ ],
+ "wrist_rpy": [
+ -0.029041629284620285,
+ 0.00020268304797355086,
+ 1.5238778591156006
+ ],
+ "finger_dofs": [
+ 1.1467814445495605,
+ -0.007931388914585114,
+ -0.000928397465031594,
+ 1.3230208158493042,
+ -0.0022571298759430647,
+ 2.8999236747040413e-05,
+ 1.1546941995620728,
+ 0.0004365363856777549,
+ -3.436830229475163e-05,
+ 1.2085963487625122,
+ -0.00292617897503078,
+ 0.04142308607697487,
+ 1.2432563304901123,
+ -0.004097688477486372,
+ -0.002041239757090807,
+ 1.1766008138656616,
+ 0.0021655429154634476,
+ 0.0021336236968636513,
+ 1.1529052257537842,
+ -0.001108077703975141,
+ 0.049988966435194016,
+ 1.3345587253570557,
+ -0.0026986405719071627,
+ -0.0019811796955764294,
+ 1.1618993282318115,
+ 0.0019897932652384043,
+ 0.001393503975123167,
+ 1.4181879758834839,
+ -0.022404011338949203,
+ 0.019633540883660316,
+ 1.2746816873550415,
+ -0.0022269373293966055,
+ -0.0022080354392528534,
+ 1.1703758239746094,
+ 0.0019403117476031184,
+ 0.001997420797124505,
+ 0.3955840468406677,
+ 1.1973053216934204,
+ -0.2858210504055023,
+ 0.002062177052721381,
+ 0.0011112807551398873,
+ -0.5270811319351196,
+ -0.002021272201091051,
+ -0.0019112052395939827,
+ -0.5962644219398499
+ ],
+ "wrist_pos": [
+ -0.06715257465839386,
+ 0.0014483141712844372,
+ 0.8397290706634521
+ ],
+ "wrist_rot": [
+ -0.01043531484901905,
+ 0.010096962563693523,
+ 0.6902516484260559,
+ 0.7234236001968384
+ ],
+ "joint_positions": [
+ 0.24099496006965637,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 155,
+ "virtual_xyz": [
+ -0.0687582716345787,
+ 0.0014686430804431438,
+ 0.8397940397262573
+ ],
+ "wrist_rpy": [
+ -0.02928692288696766,
+ 0.0008289383258670568,
+ 1.5241285562515259
+ ],
+ "finger_dofs": [
+ 1.1464099884033203,
+ -0.008017128333449364,
+ -0.001315596979111433,
+ 1.323405146598816,
+ -0.0008047242881730199,
+ -6.338551611406729e-05,
+ 1.15467369556427,
+ 0.0003411990765016526,
+ -3.0278666599770077e-05,
+ 1.207608699798584,
+ -0.002680369419977069,
+ 0.0412314273416996,
+ 1.2448070049285889,
+ -0.0036364144179970026,
+ -0.0021314097102731466,
+ 1.174765944480896,
+ 0.0021099450532346964,
+ 0.0021560348104685545,
+ 1.1502302885055542,
+ -0.0017325045773759484,
+ 0.05006011202931404,
+ 1.3353163003921509,
+ -0.0027357530780136585,
+ -0.0020062539260834455,
+ 1.161696434020996,
+ 0.0020068250596523285,
+ 0.0015434704255312681,
+ 1.426695466041565,
+ -0.024517299607396126,
+ 0.020568571984767914,
+ 1.2810931205749512,
+ -0.0022389860823750496,
+ -0.002209169790148735,
+ 1.1686891317367554,
+ 0.001959027023985982,
+ 0.002018569502979517,
+ 0.39736491441726685,
+ 1.1958357095718384,
+ -0.28829464316368103,
+ 0.0020797038450837135,
+ 0.0014123680302873254,
+ -0.5255269408226013,
+ -0.0020119063556194305,
+ -0.0019228827441111207,
+ -0.596915602684021
+ ],
+ "wrist_pos": [
+ -0.06875814497470856,
+ 0.0014686426147818565,
+ 0.8397939801216125
+ ],
+ "wrist_rot": [
+ -0.01030662003904581,
+ 0.010409412905573845,
+ 0.690337598323822,
+ 0.7233389616012573
+ ],
+ "joint_positions": [
+ 0.24250535666942596,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 156,
+ "virtual_xyz": [
+ -0.07035426795482635,
+ 0.0014609091449528933,
+ 0.8397778868675232
+ ],
+ "wrist_rpy": [
+ -0.029191570356488228,
+ 0.00021539325825870037,
+ 1.5243544578552246
+ ],
+ "finger_dofs": [
+ 1.1450148820877075,
+ -0.007801016326993704,
+ -0.002381932456046343,
+ 1.3237931728363037,
+ -0.0020770267583429813,
+ -2.0754168872372247e-05,
+ 1.1546812057495117,
+ 0.0003743284323718399,
+ -3.459427898633294e-05,
+ 1.2072999477386475,
+ -0.0027909395284950733,
+ 0.0417151153087616,
+ 1.2443443536758423,
+ -0.003680970286950469,
+ -0.0020647477358579636,
+ 1.1735750436782837,
+ 0.0021087180357426405,
+ 0.002135827671736479,
+ 1.1504416465759277,
+ -0.0020673873368650675,
+ 0.050761375576257706,
+ 1.3360389471054077,
+ -0.002768478589132428,
+ -0.001907962840050459,
+ 1.1613616943359375,
+ 0.0019895180594176054,
+ 0.0012466012267395854,
+ 1.4402581453323364,
+ -0.02449277974665165,
+ 0.025240542367100716,
+ 1.2858927249908447,
+ -0.002306230366230011,
+ -0.002160021336749196,
+ 1.1695047616958618,
+ 0.001964576542377472,
+ 0.001978800632059574,
+ 0.39898958802223206,
+ 1.195547103881836,
+ -0.28799256682395935,
+ 0.0021119171287864447,
+ 0.0018071298254653811,
+ -0.527258038520813,
+ -0.0020523315761238337,
+ -0.0018725604750216007,
+ -0.5964943170547485
+ ],
+ "wrist_pos": [
+ -0.07035414129495621,
+ 0.0014609084464609623,
+ 0.8397778272628784
+ ],
+ "wrist_rot": [
+ -0.010482685640454292,
+ 0.010155764408409595,
+ 0.6904230713844299,
+ 0.7232584357261658
+ ],
+ "joint_positions": [
+ 0.24413540959358215,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 157,
+ "virtual_xyz": [
+ -0.07195963710546494,
+ 0.0014439882943406701,
+ 0.8398782014846802
+ ],
+ "wrist_rpy": [
+ -0.029801055788993835,
+ 0.0007127065910026431,
+ 1.52445650100708
+ ],
+ "finger_dofs": [
+ 1.151192545890808,
+ -0.007005893159657717,
+ -0.0020406299736350775,
+ 1.3233859539031982,
+ -0.0011704630451276898,
+ 0.00033864087890833616,
+ 1.1547017097473145,
+ 0.0006162918289192021,
+ -2.680835677892901e-05,
+ 1.2079535722732544,
+ -0.002799835056066513,
+ 0.042344193905591965,
+ 1.2414131164550781,
+ -0.0037357690744102,
+ -0.0020561167038977146,
+ 1.1722733974456787,
+ 0.0021266986150294542,
+ 0.002143727382645011,
+ 1.1506271362304688,
+ -0.0010185395367443562,
+ 0.05188770592212677,
+ 1.336715817451477,
+ -0.00270940107293427,
+ -0.0019805964548140764,
+ 1.1617419719696045,
+ 0.00200260104611516,
+ 0.0017448951257392764,
+ 1.4516136646270752,
+ -0.024565422907471657,
+ 0.027894791215658188,
+ 1.2848355770111084,
+ -0.0023606596514582634,
+ -0.0021331803873181343,
+ 1.1692763566970825,
+ 0.0019793317187577486,
+ 0.0020150290802121162,
+ 0.39826691150665283,
+ 1.1955970525741577,
+ -0.287996381521225,
+ 0.0020862382370978594,
+ 0.0013377339346334338,
+ -0.5257396101951599,
+ -0.0020129147451370955,
+ -0.0019567643757909536,
+ -0.5968285202980042
+ ],
+ "wrist_pos": [
+ -0.07195951044559479,
+ 0.001443987712264061,
+ 0.8398781418800354
+ ],
+ "wrist_rot": [
+ -0.010530930943787098,
+ 0.01054663397371769,
+ 0.6904541850090027,
+ 0.7232224941253662
+ ],
+ "joint_positions": [
+ 0.2457668036222458,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 158,
+ "virtual_xyz": [
+ -0.07356877624988556,
+ 0.0014612242812290788,
+ 0.8399003744125366
+ ],
+ "wrist_rpy": [
+ -0.029703905805945396,
+ 0.0007975077605806291,
+ 1.5247085094451904
+ ],
+ "finger_dofs": [
+ 1.1495847702026367,
+ -0.007747892756015062,
+ -0.002985418774187565,
+ 1.3239609003067017,
+ 0.00021586836373899132,
+ -2.1878329789615236e-05,
+ 1.154667854309082,
+ 0.0003591483982745558,
+ -2.715973459999077e-05,
+ 1.2084640264511108,
+ -0.002513742074370384,
+ 0.04200943559408188,
+ 1.2413252592086792,
+ -0.0031750493217259645,
+ -0.0021452438086271286,
+ 1.171075463294983,
+ 0.002025952795520425,
+ 0.0021450286731123924,
+ 1.1501716375350952,
+ -0.001613962696865201,
+ 0.05247607082128525,
+ 1.337632656097412,
+ -0.0027888454496860504,
+ -0.001969356555491686,
+ 1.1617783308029175,
+ 0.0020103268325328827,
+ 0.0015078745782375336,
+ 1.4721485376358032,
+ -0.02469075843691826,
+ 0.032060813158750534,
+ 1.28703773021698,
+ -0.0022728554904460907,
+ -0.002196380402892828,
+ 1.1690783500671387,
+ 0.001971952384337783,
+ 0.002002807566896081,
+ 0.40192335844039917,
+ 1.1949455738067627,
+ -0.291448712348938,
+ 0.0020771652925759554,
+ 0.0014494555070996284,
+ -0.5253225564956665,
+ -0.00202539237216115,
+ -0.0019035771256312728,
+ -0.59720778465271
+ ],
+ "wrist_pos": [
+ -0.07356864959001541,
+ 0.0014612236991524696,
+ 0.8399003148078918
+ ],
+ "wrist_rot": [
+ -0.010465170256793499,
+ 0.010544944554567337,
+ 0.690545380115509,
+ 0.7231364250183105
+ ],
+ "joint_positions": [
+ 0.2474008947610855,
+ 1.5356921290177183e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 159,
+ "virtual_xyz": [
+ -0.07519479840993881,
+ 0.0014361049979925156,
+ 0.8398826718330383
+ ],
+ "wrist_rpy": [
+ -0.028655145317316055,
+ 0.0012574035208672285,
+ 1.5248781442642212
+ ],
+ "finger_dofs": [
+ 1.150754690170288,
+ -0.0080232759937644,
+ -0.0044608027674257755,
+ 1.3246040344238281,
+ 0.00046826753532513976,
+ -0.0003184124652761966,
+ 1.1546190977096558,
+ 0.00017481081886216998,
+ -2.7271604267298244e-05,
+ 1.2101470232009888,
+ -0.0025214524939656258,
+ 0.04109179601073265,
+ 1.2412559986114502,
+ -0.0032318723388016224,
+ -0.002129338914528489,
+ 1.1715878248214722,
+ 0.0020848719868808985,
+ 0.0021622239146381617,
+ 1.1504888534545898,
+ -0.0003343364514876157,
+ 0.05235125869512558,
+ 1.334425449371338,
+ -0.0026970303151756525,
+ -0.0020480393432080746,
+ 1.1609880924224854,
+ 0.0020188193302601576,
+ 0.0017844748217612505,
+ 1.476868748664856,
+ -0.025125956162810326,
+ 0.034977756440639496,
+ 1.2877357006072998,
+ -0.0023965132422745228,
+ -0.002158206654712558,
+ 1.1703745126724243,
+ 0.002003264147788286,
+ 0.002038916340097785,
+ 0.4037482738494873,
+ 1.1970878839492798,
+ -0.29532378911972046,
+ 0.0019959977362304926,
+ 0.0010689927730709314,
+ -0.5230355858802795,
+ -0.001983064692467451,
+ -0.0019058020552620292,
+ -0.5984983444213867
+ ],
+ "wrist_pos": [
+ -0.07519467175006866,
+ 0.0014361045323312283,
+ 0.8398826122283936
+ ],
+ "wrist_rot": [
+ -0.00992635078728199,
+ 0.010350018739700317,
+ 0.6906096935272217,
+ 0.7230854034423828
+ ],
+ "joint_positions": [
+ 0.24902351200580597,
+ 1.5356921290177183e-09
+ ]
+ }
+]
\ No newline at end of file
diff --git a/StorageFurniture/45168/hoi_trajectories/handle_3/trajectory.json b/StorageFurniture/45168/hoi_trajectories/handle_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d575eec83e9a708b63e3851430e1e1a1e0d2413
--- /dev/null
+++ b/StorageFurniture/45168/hoi_trajectories/handle_3/trajectory.json
@@ -0,0 +1,21282 @@
+[
+ {
+ "phase": "approach",
+ "step": 0,
+ "virtual_xyz": [
+ 0.03514853119850159,
+ -0.07517682760953903,
+ 0.6464799046516418
+ ],
+ "wrist_rpy": [
+ -1.5723029375076294,
+ 0.008070281706750393,
+ 1.5668426752090454
+ ],
+ "finger_dofs": [
+ -0.0031713279895484447,
+ 0.0018891073996201158,
+ 0.03873695060610771,
+ 0.00023093241907190531,
+ -0.0019538726191967726,
+ 0.0021777276415377855,
+ 0.0002200708695454523,
+ -0.0018252861918881536,
+ 2.662301812961232e-05,
+ -0.002605749759823084,
+ -0.0010174870258197188,
+ 0.03464721515774727,
+ 0.005908341147005558,
+ -0.002022427972406149,
+ 0.002242747228592634,
+ 0.0010971209267154336,
+ -0.0018100651213899255,
+ -0.0007514868048019707,
+ -0.0014701929176226258,
+ -0.0022345229517668486,
+ 0.055053990334272385,
+ 0.027965549379587173,
+ -0.0019929034169763327,
+ 0.0023214726243168116,
+ 0.016710950061678886,
+ 0.00025225794524885714,
+ -0.0014809513231739402,
+ -0.006449009291827679,
+ 0.0019135886104777455,
+ 0.04067063331604004,
+ 0.0026228888891637325,
+ 0.0004582458350341767,
+ 0.002267432864755392,
+ 0.0016174884513020515,
+ 0.0005615994450636208,
+ -0.0007817207369953394,
+ -0.007543899584561586,
+ -0.010586936958134174,
+ 0.018418975174427032,
+ -0.0019133191090077162,
+ -0.002198989037424326,
+ 0.041389476507902145,
+ -3.4345579479122534e-05,
+ -0.0018635584274306893,
+ -0.0020365784876048565
+ ],
+ "wrist_pos": [
+ 0.03514861315488815,
+ -0.07517680525779724,
+ 0.6464798450469971
+ ],
+ "wrist_rot": [
+ -0.49934837222099304,
+ 0.5014021992683411,
+ 0.49660733342170715,
+ 0.5026211142539978
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.5868703018284691e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 1,
+ "virtual_xyz": [
+ 0.03543651103973389,
+ -0.07517250627279282,
+ 0.6452836394309998
+ ],
+ "wrist_rpy": [
+ -1.5714713335037231,
+ 0.003519701538607478,
+ 1.5693156719207764
+ ],
+ "finger_dofs": [
+ -0.00045092112850397825,
+ 0.0008775093010626733,
+ 0.011334940791130066,
+ 0.00012031431106152013,
+ -0.000879171653650701,
+ 0.0007920259376987815,
+ 0.00018104272021446377,
+ -0.0006870824145153165,
+ 5.794433491246309e-06,
+ -0.00029475963674485683,
+ -0.00027863492141477764,
+ 0.010091894306242466,
+ 0.0014613913372159004,
+ -0.0009451934602111578,
+ 0.0009209716808982193,
+ 0.00040946988156065345,
+ -0.0006906440830789506,
+ -0.00029228918720036745,
+ -0.0009863782906904817,
+ -0.000928917492274195,
+ 0.01591416634619236,
+ 0.006990199442952871,
+ -0.0006674716132692993,
+ 0.0008813299937173724,
+ 0.004311783239245415,
+ 0.00011041973630199209,
+ -0.0005387375713326037,
+ -0.0012876802356913686,
+ 0.0009927272330969572,
+ 0.011749831959605217,
+ 0.0008079169783741236,
+ 0.00014763596118427813,
+ 0.000871930387802422,
+ 0.00042383294203318655,
+ 0.00020993292855564505,
+ -0.0002966259198728949,
+ -0.0016030691331252456,
+ -0.0021547020878642797,
+ 0.004829184152185917,
+ -0.0007399761234410107,
+ -0.0003241992089897394,
+ 0.011316217482089996,
+ -7.020922203082591e-05,
+ -0.0004455354646779597,
+ -0.0010632346384227276
+ ],
+ "wrist_pos": [
+ 0.03543659672141075,
+ -0.07517248392105103,
+ 0.645283579826355
+ ],
+ "wrist_rot": [
+ -0.49965900182724,
+ 0.500677764415741,
+ 0.4985794126987457,
+ 0.5010800361633301
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.6426550120129946e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 2,
+ "virtual_xyz": [
+ 0.03597324714064598,
+ -0.0751737505197525,
+ 0.6452556252479553
+ ],
+ "wrist_rpy": [
+ -1.5711069107055664,
+ 0.0015107241924852133,
+ 1.5701225996017456
+ ],
+ "finger_dofs": [
+ 0.0011401555966585875,
+ 0.0002321975480299443,
+ 0.0028262606356292963,
+ 0.0008539362461306155,
+ -0.00014075088256504387,
+ -0.00011934575013583526,
+ 0.0005180358421057463,
+ -0.00012189223343739286,
+ 1.5426296613441082e-06,
+ 0.0011713426792994142,
+ -2.7597357984632254e-05,
+ 0.0025719141121953726,
+ 0.0010680716950446367,
+ -0.00013366182975005358,
+ -3.521705002640374e-05,
+ 0.0005745603120885789,
+ -0.00014631559315603226,
+ -6.677436613244936e-05,
+ -0.0005217529833316803,
+ -5.834922376379836e-06,
+ 0.004049097653478384,
+ 0.0014893815387040377,
+ 0.00012876804976258427,
+ -4.160585012868978e-05,
+ 0.0012753581395372748,
+ 2.1273199308780022e-05,
+ -0.0001335715060122311,
+ 0.0009445325704291463,
+ 0.0002934854128398001,
+ 0.0029634113889187574,
+ 0.0009280202793888748,
+ 5.494973447639495e-05,
+ -6.803652649978176e-05,
+ 0.0005840320372954011,
+ 4.274540697224438e-05,
+ -6.548197416123003e-05,
+ 0.0003707531141117215,
+ 0.0013372852699831128,
+ 8.408937719650567e-05,
+ 9.444212992093526e-06,
+ 0.000522661313880235,
+ 0.0018128794617950916,
+ 1.837476884247735e-05,
+ 8.988349145511165e-05,
+ -0.0011737190652638674
+ ],
+ "wrist_pos": [
+ 0.035973332822322845,
+ -0.07517372816801071,
+ 0.6452555656433105
+ ],
+ "wrist_rot": [
+ -0.49986839294433594,
+ 0.5002865791320801,
+ 0.4993759095668793,
+ 0.5004681944847107
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.69843972219752e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 3,
+ "virtual_xyz": [
+ 0.036717794835567474,
+ -0.07517428696155548,
+ 0.6452547311782837
+ ],
+ "wrist_rpy": [
+ -1.5709341764450073,
+ 0.0006474538240581751,
+ 1.5704941749572754
+ ],
+ "finger_dofs": [
+ 0.002649991773068905,
+ 5.989150668028742e-05,
+ 0.0007046633982099593,
+ 0.0017828198615461588,
+ -1.9392497051740065e-05,
+ -0.0001285937469219789,
+ 0.0009415469830855727,
+ -1.4741157428943552e-05,
+ 4.107805580133572e-07,
+ 0.002659064019098878,
+ 6.936840236448916e-06,
+ 0.0006837462424300611,
+ 0.0017987811006605625,
+ -3.080651003983803e-05,
+ -5.7023822591872886e-05,
+ 0.000952850969042629,
+ -3.35559161612764e-05,
+ -1.374530893372139e-05,
+ 0.0018064462346956134,
+ -6.8157103669364e-05,
+ 0.0012307338183745742,
+ 0.001679961453191936,
+ 1.5178401554294396e-05,
+ 7.927424303488806e-05,
+ 0.001073925057426095,
+ 5.1463957788655534e-06,
+ -3.3608073863433674e-05,
+ 0.0026044591795653105,
+ 0.00011123315198346972,
+ 0.0008023739792406559,
+ 0.0017640787409618497,
+ 1.942351445904933e-05,
+ -3.2708074286347255e-05,
+ 0.0009507830836810172,
+ 1.0073785233544186e-05,
+ -1.479865750297904e-05,
+ 0.0011814002646133304,
+ 0.003602168755605817,
+ -0.001765909604728222,
+ -9.382729331264272e-05,
+ 0.0004319516592659056,
+ -0.0009926490020006895,
+ -3.36973462253809e-05,
+ 0.0001412844139849767,
+ -0.0019083174411207438
+ ],
+ "wrist_pos": [
+ 0.03671787679195404,
+ -0.07517426460981369,
+ 0.6452546715736389
+ ],
+ "wrist_rot": [
+ -0.4999479651451111,
+ 0.5001206398010254,
+ 0.4997282922267914,
+ 0.5002029538154602
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.7542244323820455e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 4,
+ "virtual_xyz": [
+ 0.03766194358468056,
+ -0.07517439872026443,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5708563327789307,
+ 0.0002763744560070336,
+ 1.5706608295440674
+ ],
+ "finger_dofs": [
+ 0.004381844308227301,
+ 1.1241502761549782e-05,
+ 0.00017775727610569447,
+ 0.002927035791799426,
+ -3.3360017823724775e-06,
+ -7.467230898328125e-05,
+ 0.001488413312472403,
+ 3.4448441965651e-06,
+ 1.0908042469282009e-07,
+ 0.004386637359857559,
+ 5.669048277923139e-06,
+ 0.00021774730703327805,
+ 0.002923249965533614,
+ -3.831375943263993e-05,
+ 3.0467867873085197e-06,
+ 0.0014863768592476845,
+ -1.2477841664804146e-05,
+ -1.321403374276997e-06,
+ 0.003996612504124641,
+ -0.00018754276970867068,
+ 0.0006116194999776781,
+ 0.002821432426571846,
+ -0.00011475549399619922,
+ 0.0002377798082306981,
+ 0.0015153135173022747,
+ 3.641185003289138e-06,
+ -8.989086381916422e-06,
+ 0.004376234952360392,
+ 5.7714994909474626e-05,
+ 0.0002862588153220713,
+ 0.002914596814662218,
+ 4.4850976337329485e-06,
+ 6.385679444065318e-05,
+ 0.0014805709943175316,
+ 5.301307737681782e-06,
+ -4.88117302666069e-06,
+ 0.0020326953381299973,
+ 0.0059518455527722836,
+ -0.0031336573883891106,
+ -0.00015280536899808794,
+ 0.0003851027286145836,
+ -0.0023663353640586138,
+ -5.0082362577086315e-05,
+ 0.00014980242121964693,
+ -0.0029820946510881186
+ ],
+ "wrist_pos": [
+ 0.03766203299164772,
+ -0.07517437636852264,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.4999796450138092,
+ 0.5000501275062561,
+ 0.49988222122192383,
+ 0.5000879168510437
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.810009142566571e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 5,
+ "virtual_xyz": [
+ 0.038798604160547256,
+ -0.0751742571592331,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.570822834968567,
+ 0.00011647802602965385,
+ 1.5707342624664307
+ ],
+ "finger_dofs": [
+ 0.006423983722925186,
+ -5.518135822057957e-06,
+ 4.3403051677159965e-05,
+ 0.004293253179639578,
+ 9.456499014959263e-07,
+ -5.5403168516932055e-05,
+ 0.0021586648654192686,
+ 7.449215900123818e-06,
+ 2.8943535568259904e-08,
+ 0.00642720703035593,
+ 1.7845811726147076e-06,
+ 0.00010641019616741687,
+ 0.004295275546610355,
+ -5.087711906526238e-05,
+ 3.435572580201551e-05,
+ 0.002151627093553543,
+ -8.919326319301035e-06,
+ 2.088229393848451e-06,
+ 0.006135072559118271,
+ -0.000262812856817618,
+ 0.0005196160054765642,
+ 0.004169453866779804,
+ -0.0001823553175199777,
+ 0.00033923727460205555,
+ 0.0021569530945271254,
+ 4.533985247689998e-06,
+ -2.46873173637141e-06,
+ 0.006431881338357925,
+ 3.8745623896829784e-05,
+ 0.00017299184401053935,
+ 0.004295011982321739,
+ -1.7441429918108042e-06,
+ 0.00011847013956867158,
+ 0.0021456896793097258,
+ 5.492771833814913e-06,
+ -3.2529103464185027e-06,
+ 0.003054112195968628,
+ 0.00868815928697586,
+ -0.0045760273933410645,
+ -0.00015469131176359951,
+ 0.00042041437700390816,
+ -0.003548535518348217,
+ -4.773328691953793e-05,
+ 0.00016834815323818475,
+ -0.004319006111472845
+ ],
+ "wrist_pos": [
+ 0.03879868611693382,
+ -0.0751742348074913,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.49999281764030457,
+ 0.5000202059745789,
+ 0.4999488294124603,
+ 0.5000380873680115
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.865793963773399e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 6,
+ "virtual_xyz": [
+ 0.04012080281972885,
+ -0.07517406344413757,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5708091259002686,
+ 4.7318208089563996e-05,
+ 1.5707647800445557
+ ],
+ "finger_dofs": [
+ 0.00879750493913889,
+ -1.2813743524020538e-05,
+ 7.566659860458458e-06,
+ 0.005881470162421465,
+ 3.8013340599718504e-06,
+ -5.4976298997644335e-05,
+ 0.0029470378067344427,
+ 9.390477316628676e-06,
+ 7.535022383819978e-09,
+ 0.008799972012639046,
+ -8.232430559473869e-07,
+ 8.499252726323903e-05,
+ 0.005889527034014463,
+ -6.055234189261682e-05,
+ 4.87303695990704e-05,
+ 0.0029373711440712214,
+ -8.80217703524977e-06,
+ 3.40448718816333e-06,
+ 0.008501395583152771,
+ -0.0003195625904481858,
+ 0.0005555502139031887,
+ 0.005732155870646238,
+ -0.00022442752378992736,
+ 0.00041246600449085236,
+ 0.00293499487452209,
+ 5.6952162594825495e-06,
+ -5.539816925193009e-07,
+ 0.008810990490019321,
+ 3.2070976885734126e-05,
+ 0.00015987514052540064,
+ 0.0058923871256411076,
+ -3.961311904276954e-06,
+ 0.00015081239689607173,
+ 0.0029315620195120573,
+ 6.501540610770462e-06,
+ -3.30513125845755e-06,
+ 0.004230760969221592,
+ 0.011869593523442745,
+ -0.006212892010807991,
+ -0.0001545923005323857,
+ 0.0004842032794840634,
+ -0.004819122143089771,
+ -4.631880801753141e-05,
+ 0.00019333204545546323,
+ -0.0058949957601726055
+ ],
+ "wrist_pos": [
+ 0.040120892226696014,
+ -0.07517404109239578,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.49999916553497314,
+ 0.5000070929527283,
+ 0.49997711181640625,
+ 0.5000165700912476
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.9215804503147638e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 7,
+ "virtual_xyz": [
+ 0.041621532291173935,
+ -0.07517381012439728,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.570803165435791,
+ 1.7109927284764126e-05,
+ 1.5707769393920898
+ ],
+ "finger_dofs": [
+ 0.011501451022922993,
+ -1.6725200111977756e-05,
+ -2.973952177853789e-06,
+ 0.0076882969588041306,
+ 5.759768100688234e-06,
+ -6.0962847783230245e-05,
+ 0.0038485813420265913,
+ 1.0985855624312535e-05,
+ 1.837869412213422e-09,
+ 0.011503580957651138,
+ -2.424902277198271e-06,
+ 8.667973452247679e-05,
+ 0.007699770387262106,
+ -6.88244472257793e-05,
+ 5.715210136258975e-05,
+ 0.003837043885141611,
+ -9.419546586286742e-06,
+ 4.191723292024108e-06,
+ 0.011171551421284676,
+ -0.00037053876440040767,
+ 0.0006218499038368464,
+ 0.007514516357332468,
+ -0.00025682657724246383,
+ 0.0004752001550514251,
+ 0.003831199835985899,
+ 6.825545824540313e-06,
+ 7.737538254559695e-08,
+ 0.011517385952174664,
+ 3.067965735681355e-05,
+ 0.00017176000983454287,
+ 0.007703255396336317,
+ -3.932856543542584e-06,
+ 0.00017504076822660863,
+ 0.0038307674694806337,
+ 7.614574769831961e-06,
+ -3.658780997284339e-06,
+ 0.005560325924307108,
+ 0.01549767330288887,
+ -0.008064345456659794,
+ -0.00016165085253305733,
+ 0.0005533068324439228,
+ -0.006236886605620384,
+ -4.819115565624088e-05,
+ 0.0002198485453845933,
+ -0.0076978495344519615
+ ],
+ "wrist_pos": [
+ 0.0416216142475605,
+ -0.07517378777265549,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.5000020861625671,
+ 0.500001072883606,
+ 0.4999893307685852,
+ 0.5000073909759521
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 1.9773669368561286e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 8,
+ "virtual_xyz": [
+ 0.04329381138086319,
+ -0.07517354935407639,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5708014965057373,
+ 3.597538352551055e-06,
+ 1.5707826614379883
+ ],
+ "finger_dofs": [
+ 0.014527491293847561,
+ -1.9158271243213676e-05,
+ -6.792891326767858e-06,
+ 0.009708146564662457,
+ 6.886401024530642e-06,
+ -6.855092942714691e-05,
+ 0.004858736414462328,
+ 1.2427708497853018e-05,
+ 3.1051067272969135e-10,
+ 0.014529455453157425,
+ -3.542001877576695e-06,
+ 9.42986662266776e-05,
+ 0.009721009060740471,
+ -7.660911069251597e-05,
+ 6.386165478033945e-05,
+ 0.004845601040869951,
+ -1.020391755446326e-05,
+ 4.8184720071731135e-06,
+ 0.014151335693895817,
+ -0.00041888965643011034,
+ 0.0006941546453163028,
+ 0.009507146663963795,
+ -0.00028395422850735486,
+ 0.0005337980110198259,
+ 0.004835949745029211,
+ 7.934817404020578e-06,
+ 3.0471653644781327e-07,
+ 0.0145442308858037,
+ 3.161903441650793e-05,
+ 0.0001896569738164544,
+ 0.009723527356982231,
+ -2.390804411334102e-06,
+ 0.00019647223234642297,
+ 0.004838250111788511,
+ 8.73495991982054e-06,
+ -4.037788585264934e-06,
+ 0.007036598864942789,
+ 0.019559279084205627,
+ -0.010126848705112934,
+ -0.00018159554747398943,
+ 0.0006511003011837602,
+ -0.00780845619738102,
+ -5.4821786761749536e-05,
+ 0.00024490064242854714,
+ -0.009718084707856178
+ ],
+ "wrist_pos": [
+ 0.043293893337249756,
+ -0.0751735270023346,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.5000036358833313,
+ 0.49999865889549255,
+ 0.49999457597732544,
+ 0.5000030398368835
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.0331534233974935e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 9,
+ "virtual_xyz": [
+ 0.045130643993616104,
+ -0.07517330348491669,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5708001852035522,
+ -2.755328068815288e-06,
+ 1.5707839727401733
+ ],
+ "finger_dofs": [
+ 0.017864273861050606,
+ -2.063150350295473e-05,
+ -8.565371899749152e-06,
+ 0.011933771893382072,
+ 7.209624072856968e-06,
+ -7.612961053382605e-05,
+ 0.005973087158054113,
+ 1.3712335203308612e-05,
+ 4.439249315368876e-12,
+ 0.01786622777581215,
+ -4.4601365516427904e-06,
+ 0.00010343430039938539,
+ 0.011946632526814938,
+ -8.428291039308533e-05,
+ 7.029603875707835e-05,
+ 0.0059584989212453365,
+ -1.1030393579858355e-05,
+ 5.358568614610704e-06,
+ 0.017439819872379303,
+ -0.0005004940903745592,
+ 0.0007553898612968624,
+ 0.011708824895322323,
+ -0.00030263946973718703,
+ 0.0006333518540486693,
+ 0.0059452601708471775,
+ 8.921882908907719e-06,
+ 3.4818779681700107e-07,
+ 0.01788082905113697,
+ 3.360842674737796e-05,
+ 0.00020887900609523058,
+ 0.011947039514780045,
+ 3.591773634070705e-07,
+ 0.00021655439923051745,
+ 0.005949648097157478,
+ 9.844419764704071e-06,
+ -4.359620106697548e-06,
+ 0.008670484647154808,
+ 0.02403920702636242,
+ -0.01239478774368763,
+ -0.0001946363045135513,
+ 0.0007817676523700356,
+ -0.009533046744763851,
+ -5.957405301160179e-05,
+ 0.000269079115241766,
+ -0.011946788989007473
+ ],
+ "wrist_pos": [
+ 0.04513072967529297,
+ -0.0751732811331749,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.5000045299530029,
+ 0.49999716877937317,
+ 0.4999966621398926,
+ 0.5000015497207642
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.0889399099388584e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 10,
+ "virtual_xyz": [
+ 0.047125037759542465,
+ -0.07517305761575699,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.570801019668579,
+ -6.158466021588538e-06,
+ 1.5707834959030151
+ ],
+ "finger_dofs": [
+ 0.021499402821063995,
+ -2.1548461518250406e-05,
+ -9.894670256471727e-06,
+ 0.014357135631144047,
+ 7.013160484348191e-06,
+ -8.364225504919887e-05,
+ 0.0071872747503221035,
+ 1.490722661401378e-05,
+ -2.740568327830317e-10,
+ 0.021501384675502777,
+ -5.2995069381722715e-06,
+ 0.00011260795872658491,
+ 0.014368780888617039,
+ -9.160401532426476e-05,
+ 7.630881009390578e-05,
+ 0.007171327248215675,
+ -1.1796230865002144e-05,
+ 5.869381311640609e-06,
+ 0.02102159895002842,
+ -0.0006121128099039197,
+ 0.0008203423931263387,
+ 0.014109710231423378,
+ -0.00031871808459982276,
+ 0.0007522656815126538,
+ 0.007153608370572329,
+ 9.980991308111697e-06,
+ 3.293787074198917e-07,
+ 0.021514788269996643,
+ 3.608895349316299e-05,
+ 0.0002276083396282047,
+ 0.014365853741765022,
+ 4.257557975506643e-06,
+ 0.0002356204786337912,
+ 0.007160529028624296,
+ 1.0952050615742337e-05,
+ -4.636850007955218e-06,
+ 0.010451148264110088,
+ 0.028918545693159103,
+ -0.014859586954116821,
+ -0.00020956384832970798,
+ 0.000902920903172344,
+ -0.011404969729483128,
+ -6.69888177071698e-05,
+ 0.0002918472746387124,
+ -0.014375218190252781
+ ],
+ "wrist_pos": [
+ 0.04712512344121933,
+ -0.0751730352640152,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.5000057220458984,
+ 0.4999963939189911,
+ 0.4999971389770508,
+ 0.5000006556510925
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.1447263964802232e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 11,
+ "virtual_xyz": [
+ 0.04926997795701027,
+ -0.0751727893948555,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5708016157150269,
+ -8.357555088878144e-06,
+ 1.5707828998565674
+ ],
+ "finger_dofs": [
+ 0.02542002871632576,
+ -2.191898602177389e-05,
+ -1.0934819329122547e-05,
+ 0.016969718039035797,
+ 6.252445018617436e-06,
+ -9.0702815214172e-05,
+ 0.008496918715536594,
+ 1.596465335751418e-05,
+ -3.380603019742523e-10,
+ 0.025422047823667526,
+ -6.126912467152579e-06,
+ 0.00012164103100076318,
+ 0.0169791579246521,
+ -9.871560905594379e-05,
+ 8.22839283500798e-05,
+ 0.008479687385261059,
+ -1.2525134479801636e-05,
+ 6.344018856907496e-06,
+ 0.02488362044095993,
+ -0.0007273921510204673,
+ 0.0008840017835609615,
+ 0.016695264726877213,
+ -0.0003328051243443042,
+ 0.0008642676402814686,
+ 0.008455735631287098,
+ 1.1072573215642478e-05,
+ 2.4857700964275864e-07,
+ 0.02543330192565918,
+ 3.891498636221513e-05,
+ 0.00024570434470660985,
+ 0.016971901059150696,
+ 9.250529728888068e-06,
+ 0.0002540476561989635,
+ 0.008466508239507675,
+ 1.2081886779924389e-05,
+ -4.8924543989414815e-06,
+ 0.012369499541819096,
+ 0.03418130800127983,
+ -0.017512336373329163,
+ -0.00022650406754110008,
+ 0.0010162836406379938,
+ -0.013417163863778114,
+ -7.578895019832999e-05,
+ 0.00031301239505410194,
+ -0.01699460670351982
+ ],
+ "wrist_pos": [
+ 0.049270063638687134,
+ -0.07517276704311371,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.5000064969062805,
+ 0.49999576807022095,
+ 0.49999746680259705,
+ 0.5000001788139343
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.200512883021588e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 12,
+ "virtual_xyz": [
+ 0.05155850946903229,
+ -0.07517257332801819,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5708014965057373,
+ -1.0080962056235876e-05,
+ 1.5707823038101196
+ ],
+ "finger_dofs": [
+ 0.029613256454467773,
+ -2.191023486375343e-05,
+ -1.2055892511853017e-05,
+ 0.01976311393082142,
+ 5.1685551625269e-06,
+ -9.765163122210652e-05,
+ 0.00989767536520958,
+ 1.6952966689132154e-05,
+ -1.408650002199252e-10,
+ 0.029615294188261032,
+ -6.968505658733193e-06,
+ 0.00013022520579397678,
+ 0.019769469276070595,
+ -0.00010536223999224603,
+ 8.780763891991228e-05,
+ 0.00987923052161932,
+ -1.3156623936083633e-05,
+ 6.81135497870855e-06,
+ 0.029011668637394905,
+ -0.0008415025658905506,
+ 0.0009449823410250247,
+ 0.01945715770125389,
+ -0.0003436707775108516,
+ 0.0009712216560728848,
+ 0.009847207926213741,
+ 1.2168906323495321e-05,
+ 1.5962280031089904e-07,
+ 0.029623594135046005,
+ 4.175435606157407e-05,
+ 0.0002628405927680433,
+ 0.019756950438022614,
+ 1.52891589095816e-05,
+ 0.000271435099421069,
+ 0.009863317012786865,
+ 1.3218849744589534e-05,
+ -5.0991325224458706e-06,
+ 0.01441986858844757,
+ 0.039810389280319214,
+ -0.020344369113445282,
+ -0.00024435314116999507,
+ 0.0011222850298509002,
+ -0.015563290566205978,
+ -8.564194286009297e-05,
+ 0.00033264848752878606,
+ -0.01979619637131691
+ ],
+ "wrist_pos": [
+ 0.05155859887599945,
+ -0.0751725509762764,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.5000070333480835,
+ 0.49999529123306274,
+ 0.4999977648258209,
+ 0.49999988079071045
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.256299369562953e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 13,
+ "virtual_xyz": [
+ 0.053983625024557114,
+ -0.07517233490943909,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.5708017349243164,
+ -1.1690856808854733e-05,
+ 1.5707820653915405
+ ],
+ "finger_dofs": [
+ 0.03406595066189766,
+ -2.1432864741655067e-05,
+ -1.3086631952319294e-05,
+ 0.02272847853600979,
+ 3.6230105706636095e-06,
+ -0.00010422719060443342,
+ 0.011385153979063034,
+ 1.7826510884333402e-05,
+ -1.190727655364654e-10,
+ 0.03406795114278793,
+ -7.82463303039549e-06,
+ 0.00013848880189470947,
+ 0.02273077704012394,
+ -0.00011170966899953783,
+ 9.317493095295504e-05,
+ 0.011365565471351147,
+ -1.3724868040299043e-05,
+ 7.252313935168786e-06,
+ 0.033390652388334274,
+ -0.0009549513342790306,
+ 0.0010031946003437042,
+ 0.02238568663597107,
+ -0.0003510366368573159,
+ 0.0010726600885391235,
+ 0.011323385871946812,
+ 1.3255877092888113e-05,
+ 3.4828449457791066e-08,
+ 0.03407235071063042,
+ 4.482031363295391e-05,
+ 0.0002791137667372823,
+ 0.02271191217005253,
+ 2.241957190562971e-05,
+ 0.0002880902320612222,
+ 0.01134650968015194,
+ 1.4373546036949847e-05,
+ -5.279865490592783e-06,
+ 0.016594719141721725,
+ 0.04578859359025955,
+ -0.023346932604908943,
+ -0.0002632520336192101,
+ 0.0012208247790113091,
+ -0.017836501821875572,
+ -9.599309851182625e-05,
+ 0.000350692484062165,
+ -0.022771267220377922
+ ],
+ "wrist_pos": [
+ 0.05398371443152428,
+ -0.0751723125576973,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.500007688999176,
+ 0.49999481439590454,
+ 0.4999980330467224,
+ 0.49999943375587463
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.312085856104318e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 14,
+ "virtual_xyz": [
+ 0.056538328528404236,
+ -0.07517209649085999,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.570801854133606,
+ -1.3311228030943312e-05,
+ 1.5707812309265137
+ ],
+ "finger_dofs": [
+ 0.038765113800764084,
+ -2.0565361410262994e-05,
+ -1.4228147847461514e-05,
+ 0.02585725113749504,
+ 1.7614107719055028e-06,
+ -0.00011068543244618922,
+ 0.012955010868608952,
+ 1.8632339561008848e-05,
+ -1.4780478230225214e-10,
+ 0.03876702859997749,
+ -8.689141395734623e-06,
+ 0.00014625473704654723,
+ 0.025854583829641342,
+ -0.00011758472101064399,
+ 9.806467278394848e-05,
+ 0.012934337370097637,
+ -1.4189731700753327e-05,
+ 7.680972885282245e-06,
+ 0.03800981119275093,
+ -0.001067236065864563,
+ 0.0010581668466329575,
+ 0.02547335997223854,
+ -0.0003547490923665464,
+ 0.0011687468504533172,
+ 0.01288020983338356,
+ 1.4348644072015304e-05,
+ -9.962941760477406e-08,
+ 0.03876670449972153,
+ 4.792037361767143e-05,
+ 0.00029436382465064526,
+ 0.025828376412391663,
+ 3.058066431549378e-05,
+ 0.00030361456447280943,
+ 0.012911796569824219,
+ 1.5527741197729483e-05,
+ -5.4115635066409595e-06,
+ 0.018887851387262344,
+ 0.0520985908806324,
+ -0.02651134878396988,
+ -0.00028264711727388203,
+ 0.0013118532951921225,
+ -0.02023039199411869,
+ -0.00010655177902663127,
+ 0.0003672078892122954,
+ -0.025911061093211174
+ ],
+ "wrist_pos": [
+ 0.0565384104847908,
+ -0.0751720741391182,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.500008225440979,
+ 0.4999942481517792,
+ 0.49999821186065674,
+ 0.4999992251396179
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.3678723426456827e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 15,
+ "virtual_xyz": [
+ 0.05921563506126404,
+ -0.07517191022634506,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.570802092552185,
+ -1.499183963460382e-05,
+ 1.5707802772521973
+ ],
+ "finger_dofs": [
+ 0.043697718530893326,
+ -1.933612657012418e-05,
+ -1.5434710803674534e-05,
+ 0.029140803962945938,
+ -4.247506808496837e-07,
+ -0.00011695289140334353,
+ 0.014602864161133766,
+ 1.9357968994881958e-05,
+ -2.869960935569793e-10,
+ 0.0436994805932045,
+ -9.58757573243929e-06,
+ 0.00015357481606770307,
+ 0.029132315889000893,
+ -0.00012303190305829048,
+ 0.0001025645833578892,
+ 0.01458117738366127,
+ -1.4561264833901078e-05,
+ 8.096411875158083e-06,
+ 0.042857009917497635,
+ -0.0011830127332359552,
+ 0.0011100104311481118,
+ 0.028713369742035866,
+ -0.0003541985643096268,
+ 0.001259702374227345,
+ 0.014514045789837837,
+ 1.545693703519646e-05,
+ -2.413924562461034e-07,
+ 0.04369360953569412,
+ 5.1027243898715824e-05,
+ 0.00030865936423651874,
+ 0.029097726568579674,
+ 3.973524508182891e-05,
+ 0.0003180826606694609,
+ 0.014554810710251331,
+ 1.6683954527252354e-05,
+ -5.49861806575791e-06,
+ 0.021292731165885925,
+ 0.05872289463877678,
+ -0.029828939586877823,
+ -0.00030275608878582716,
+ 0.001395374070852995,
+ -0.022738410159945488,
+ -0.00011734224972315133,
+ 0.0003822161233983934,
+ -0.029206842184066772
+ ],
+ "wrist_pos": [
+ 0.059215717017650604,
+ -0.07517188787460327,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.5000090599060059,
+ 0.49999356269836426,
+ 0.4999982714653015,
+ 0.49999892711639404
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.4236588291870476e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 16,
+ "virtual_xyz": [
+ 0.0620085671544075,
+ -0.07517170161008835,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5708025693893433,
+ -1.6768275600043125e-05,
+ 1.5707793235778809
+ ],
+ "finger_dofs": [
+ 0.04885059967637062,
+ -1.7676073184702545e-05,
+ -1.6590109225944616e-05,
+ 0.03257026523351669,
+ -3.020484427906922e-06,
+ -0.00012288613652344793,
+ 0.016324350610375404,
+ 1.9980147044407204e-05,
+ -4.915364226754093e-10,
+ 0.048852141946554184,
+ -1.0500221833353862e-05,
+ 0.000160530922585167,
+ 0.03255506977438927,
+ -0.00012814608635380864,
+ 0.00010684274457162246,
+ 0.016301708295941353,
+ -1.4862948773952667e-05,
+ 8.486220394843258e-06,
+ 0.047916702926158905,
+ -0.0012969431700184941,
+ 0.0011587472399696708,
+ 0.03209604695439339,
+ -0.00035008974373340607,
+ 0.0013453499414026737,
+ 0.016220564022660255,
+ 1.6578718714299612e-05,
+ -4.111261091566121e-07,
+ 0.04883993789553642,
+ 5.425621202448383e-05,
+ 0.0003220939834136516,
+ 0.032511092722415924,
+ 4.9894089897861704e-05,
+ 0.0003316492948215455,
+ 0.016271183267235756,
+ 1.784146297723055e-05,
+ -5.544845862459624e-06,
+ 0.023802710697054863,
+ 0.06564407050609589,
+ -0.03329085186123848,
+ -0.0003235723706893623,
+ 0.0014709667302668095,
+ -0.025353815406560898,
+ -0.00012813883950002491,
+ 0.00039566901978105307,
+ -0.032649874687194824
+ ],
+ "wrist_pos": [
+ 0.062008652836084366,
+ -0.07517167925834656,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.5000097155570984,
+ 0.49999314546585083,
+ 0.49999842047691345,
+ 0.49999868869781494
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.4794453157284124e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 17,
+ "virtual_xyz": [
+ 0.06491011381149292,
+ -0.07517150044441223,
+ 0.6452542543411255
+ ],
+ "wrist_rpy": [
+ -1.570803165435791,
+ -1.8620468836161308e-05,
+ 1.5707789659500122
+ ],
+ "finger_dofs": [
+ 0.05421074479818344,
+ -1.5593675925629213e-05,
+ -1.758295729814563e-05,
+ 0.03613705933094025,
+ -6.055285666661803e-06,
+ -0.00012834214430768043,
+ 0.018115080893039703,
+ 2.047752059297636e-05,
+ -1.6115286882723012e-10,
+ 0.05421201512217522,
+ -1.146298563980963e-05,
+ 0.0001672033395152539,
+ 0.03611433506011963,
+ -0.00013300779392011464,
+ 0.00011105219891760498,
+ 0.018091553822159767,
+ -1.5109319974726532e-05,
+ 8.840955160849262e-06,
+ 0.0531807616353035,
+ -0.0014082188718020916,
+ 0.0012046059127897024,
+ 0.03561186045408249,
+ -0.0003481351013761014,
+ 0.0014257115544751287,
+ 0.017994172871112823,
+ 1.771434472175315e-05,
+ -6.173626161398715e-07,
+ 0.0541926771402359,
+ 5.75674457650166e-05,
+ 0.00033475656528025866,
+ 0.036060117185115814,
+ 6.1004404415143654e-05,
+ 0.0003444688627496362,
+ 0.01805654540657997,
+ 1.9011231415788643e-05,
+ -5.572644568019314e-06,
+ 0.026411844417452812,
+ 0.07284439355134964,
+ -0.03688836097717285,
+ -0.0003451145312283188,
+ 0.00153882778249681,
+ -0.028069984167814255,
+ -0.0001390026736771688,
+ 0.000407557119615376,
+ -0.03623140975832939
+ ],
+ "wrist_pos": [
+ 0.06491019576787949,
+ -0.07517147809267044,
+ 0.6452541947364807
+ ],
+ "wrist_rot": [
+ -0.5000104904174805,
+ 0.4999927580356598,
+ 0.4999985992908478,
+ 0.4999980926513672
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.5352318022697773e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 18,
+ "virtual_xyz": [
+ 0.06791328638792038,
+ -0.07517131417989731,
+ 0.6452542543411255
+ ],
+ "wrist_rpy": [
+ -1.5708038806915283,
+ -2.056940138572827e-05,
+ 1.570778727531433
+ ],
+ "finger_dofs": [
+ 0.059765107929706573,
+ -1.3199663953855634e-05,
+ -1.889607301563956e-05,
+ 0.03983258828520775,
+ -9.245778528566007e-06,
+ -0.0001339433656539768,
+ 0.019970716908574104,
+ 2.0955070795025676e-05,
+ -4.925693741775206e-10,
+ 0.059766046702861786,
+ -1.238069398823427e-05,
+ 0.00017321201448794454,
+ 0.039801470935344696,
+ -0.0001372316328343004,
+ 0.00011445834388723597,
+ 0.019946394488215446,
+ -1.5224047274386976e-05,
+ 9.19927242648555e-06,
+ 0.05863407999277115,
+ -0.0015152969863265753,
+ 0.0012467250926420093,
+ 0.039252109825611115,
+ -0.0003423687885515392,
+ 0.0014996709069237113,
+ 0.019830776378512383,
+ 1.8840302800526842e-05,
+ -7.981355452102434e-07,
+ 0.05973880738019943,
+ 6.0883052356075495e-05,
+ 0.00034618479548953474,
+ 0.039736077189445496,
+ 7.29292441974394e-05,
+ 0.00035578905954025686,
+ 0.019906608387827873,
+ 2.0149123884039e-05,
+ -5.539746325666783e-06,
+ 0.029114026576280594,
+ 0.08030649274587631,
+ -0.04061306640505791,
+ -0.00036693012225441635,
+ 0.0015997395385056734,
+ -0.030880969017744064,
+ -0.00014991237549111247,
+ 0.00041808714740909636,
+ -0.039942700415849686
+ ],
+ "wrist_pos": [
+ 0.06791336834430695,
+ -0.07517129182815552,
+ 0.6452541947364807
+ ],
+ "wrist_rot": [
+ -0.5000112056732178,
+ 0.49999237060546875,
+ 0.4999988079071045,
+ 0.4999975562095642
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.591018288811142e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 19,
+ "virtual_xyz": [
+ 0.07101108133792877,
+ -0.07517113536596298,
+ 0.6452542543411255
+ ],
+ "wrist_rpy": [
+ -1.5708041191101074,
+ -2.2593018002226017e-05,
+ 1.5707783699035645
+ ],
+ "finger_dofs": [
+ 0.06550063192844391,
+ -1.0448863577039447e-05,
+ -2.0213359675835818e-05,
+ 0.04364819824695587,
+ -1.2739080375467893e-05,
+ -0.00013928052794653922,
+ 0.02188689261674881,
+ 2.1347790607251227e-05,
+ -6.283446540855664e-10,
+ 0.06550120562314987,
+ -1.3311313523445278e-05,
+ 0.00017879022925626487,
+ 0.04360795393586159,
+ -0.0001410595141351223,
+ 0.00011752503633033484,
+ 0.021861834451556206,
+ -1.525953302916605e-05,
+ 9.53527069214033e-06,
+ 0.06426511704921722,
+ -0.0016187583096325397,
+ 0.0012856069952249527,
+ 0.04300922900438309,
+ -0.0003321659751236439,
+ 0.0015681743388995528,
+ 0.021726373583078384,
+ 1.996577157115098e-05,
+ -9.918701380229322e-07,
+ 0.06546545773744583,
+ 6.419597775675356e-05,
+ 0.0003566615341696888,
+ 0.043530624359846115,
+ 8.563083247281611e-05,
+ 0.00036608168738894165,
+ 0.021817028522491455,
+ 2.1275585822877474e-05,
+ -5.476835212903097e-06,
+ 0.03190324828028679,
+ 0.08801248669624329,
+ -0.04445607215166092,
+ -0.00038901367224752903,
+ 0.0016531695146113634,
+ -0.033779844641685486,
+ -0.00016075812163762748,
+ 0.00042716896859928966,
+ -0.043775029480457306
+ ],
+ "wrist_pos": [
+ 0.07101115584373474,
+ -0.07517111301422119,
+ 0.6452541947364807
+ ],
+ "wrist_rot": [
+ -0.5000118613243103,
+ 0.49999168515205383,
+ 0.4999992251396179,
+ 0.4999971389770508
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.646804775352507e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 20,
+ "virtual_xyz": [
+ 0.07419652491807938,
+ -0.07517094910144806,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.570804476737976,
+ -2.4685821699677035e-05,
+ 1.570778250694275
+ ],
+ "finger_dofs": [
+ 0.0714043527841568,
+ -7.351182375714416e-06,
+ -2.1356801880756393e-05,
+ 0.047575123608112335,
+ -1.6622512703179382e-05,
+ -0.000144095130963251,
+ 0.023859208449721336,
+ 2.1616720914607868e-05,
+ -5.712122441714484e-10,
+ 0.07140439748764038,
+ -1.4291328625404276e-05,
+ 0.0001840921031543985,
+ 0.047525063157081604,
+ -0.0001446576206944883,
+ 0.00012054742546752095,
+ 0.023833483457565308,
+ -1.5249812349793501e-05,
+ 9.835919627221301e-06,
+ 0.07006513327360153,
+ -0.0017011035233736038,
+ 0.0013217192608863115,
+ 0.04687858745455742,
+ -0.00031845064950175583,
+ 0.0016335028922185302,
+ 0.023677969351410866,
+ 2.1063249732833356e-05,
+ -1.2125502735216287e-06,
+ 0.07135942578315735,
+ 6.762119301129133e-05,
+ 0.00036632028059102595,
+ 0.047435056418180466,
+ 9.909726213663816e-05,
+ 0.0003757296362891793,
+ 0.023783354088664055,
+ 2.2412112230085768e-05,
+ -5.418097316578496e-06,
+ 0.034773360937833786,
+ 0.09594476222991943,
+ -0.04840869456529617,
+ -0.0004115246410947293,
+ 0.0016989067662507296,
+ -0.03675994277000427,
+ -0.00017153681255877018,
+ 0.00043477080180309713,
+ -0.04771966487169266
+ ],
+ "wrist_pos": [
+ 0.07419661432504654,
+ -0.07517092674970627,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000124573707581,
+ 0.49999135732650757,
+ 0.4999995827674866,
+ 0.499996542930603
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.702591261893872e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 21,
+ "virtual_xyz": [
+ 0.07746262103319168,
+ -0.07517079263925552,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708045959472656,
+ -2.6813258955371566e-05,
+ 1.5707780122756958
+ ],
+ "finger_dofs": [
+ 0.07746317237615585,
+ -3.991259291069582e-06,
+ -2.270070581289474e-05,
+ 0.0516049824655056,
+ -2.062661042145919e-05,
+ -0.00014886089775245637,
+ 0.025883326306939125,
+ 2.1842151909368113e-05,
+ -4.806026132619934e-10,
+ 0.07746274024248123,
+ -1.5243026609823573e-05,
+ 0.0001888114638859406,
+ 0.05154446139931679,
+ -0.00014769974222872406,
+ 0.00012296259228605777,
+ 0.02585701458156109,
+ -1.5140195500862319e-05,
+ 1.0131840099347755e-05,
+ 0.0760275274515152,
+ -0.001706449780613184,
+ 0.0013542934320867062,
+ 0.05085345730185509,
+ -0.00030308248824439943,
+ 0.001693681231699884,
+ 0.025682182982563972,
+ 2.2114587409305386e-05,
+ -1.4123112350716838e-06,
+ 0.07740780711174011,
+ 7.10570820956491e-05,
+ 0.0003748007584363222,
+ 0.05144127458333969,
+ 0.00011310738045722246,
+ 0.00038417434552684426,
+ 0.02580130845308304,
+ 2.3532609702670015e-05,
+ -5.348719696485205e-06,
+ 0.0377185121178627,
+ 0.10408592969179153,
+ -0.05246245488524437,
+ -0.00043403496965765953,
+ 0.0017377855256199837,
+ -0.03981512784957886,
+ -0.0001821619225665927,
+ 0.00044106770656071603,
+ -0.05176784470677376
+ ],
+ "wrist_pos": [
+ 0.07746270298957825,
+ -0.07517077028751373,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000130534172058,
+ 0.49999070167541504,
+ 0.5000000596046448,
+ 0.49999603629112244
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.7583777484352368e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 22,
+ "virtual_xyz": [
+ 0.08080240339040756,
+ -0.07517064362764359,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708048343658447,
+ -2.901316292991396e-05,
+ 1.5707778930664062
+ ],
+ "finger_dofs": [
+ 0.08366403728723526,
+ -3.763468328088493e-07,
+ -2.4078573915176094e-05,
+ 0.05572894960641861,
+ -2.4872635549400002e-05,
+ -0.00015335979696828872,
+ 0.027954863384366035,
+ 2.1990761524648406e-05,
+ -4.453468982479336e-10,
+ 0.08366304636001587,
+ -1.6197978766285814e-05,
+ 0.00019308946502860636,
+ 0.055657342076301575,
+ -0.00015037207049317658,
+ 0.00012502561730798334,
+ 0.027928048744797707,
+ -1.496250661148224e-05,
+ 1.041101131704636e-05,
+ 0.0821269154548645,
+ -0.0017101014964282513,
+ 0.001386467949487269,
+ 0.05492086336016655,
+ -0.00028355358517728746,
+ 0.0017258605221286416,
+ 0.027732249349355698,
+ 2.3218110072775744e-05,
+ -1.603222926860326e-06,
+ 0.08359773457050323,
+ 7.450108387274668e-05,
+ 0.0003823262522928417,
+ 0.05554025247693062,
+ 0.00012767151929438114,
+ 0.00039154995465651155,
+ 0.027866603806614876,
+ 2.46164472628152e-05,
+ -5.239884103502845e-06,
+ 0.04073222354054451,
+ 0.11241813749074936,
+ -0.05660856515169144,
+ -0.0004567493451759219,
+ 0.0017697304720059037,
+ -0.04293878749012947,
+ -0.0001926542172441259,
+ 0.00044604623690247536,
+ -0.055910833179950714
+ ],
+ "wrist_pos": [
+ 0.08080248534679413,
+ -0.0751706212759018,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000137686729431,
+ 0.49999022483825684,
+ 0.500000536441803,
+ 0.4999954104423523
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.8141642349766016e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 23,
+ "virtual_xyz": [
+ 0.08420884609222412,
+ -0.07517050951719284,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708049535751343,
+ -3.123070564470254e-05,
+ 1.5707778930664062
+ ],
+ "finger_dofs": [
+ 0.08999399840831757,
+ 3.4896961551567074e-06,
+ -2.547929216234479e-05,
+ 0.05993850901722908,
+ -2.9292739782249555e-05,
+ -0.00015760198584757745,
+ 0.030069472268223763,
+ 2.2067846657591872e-05,
+ -5.092583577059884e-10,
+ 0.08999239653348923,
+ -1.7136941096396185e-05,
+ 0.0001969107979675755,
+ 0.05985533073544502,
+ -0.0001526303676655516,
+ 0.00012670263822656125,
+ 0.030042216181755066,
+ -1.4714662029291503e-05,
+ 1.067010725819273e-05,
+ 0.08835282921791077,
+ -0.0017080926336348057,
+ 0.0014152071671560407,
+ 0.05907304957509041,
+ -0.0002611552190501243,
+ 0.0017221238231286407,
+ 0.029825035482645035,
+ 2.425385537208058e-05,
+ -1.792051534721395e-06,
+ 0.08991622924804688,
+ 7.792805990902707e-05,
+ 0.0003888169885613024,
+ 0.05972383916378021,
+ 0.00014266002108342946,
+ 0.0003979360044468194,
+ 0.029974861070513725,
+ 2.5672548872535117e-05,
+ -5.12222686666064e-06,
+ 0.04381052404642105,
+ 0.12092359364032745,
+ -0.060838282108306885,
+ -0.0004782495670951903,
+ 0.0017837772611528635,
+ -0.046124231070280075,
+ -0.00020263285841792822,
+ 0.0004497020854614675,
+ -0.06013992801308632
+ ],
+ "wrist_pos": [
+ 0.08420892804861069,
+ -0.07517048716545105,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000143051147461,
+ 0.49998965859413147,
+ 0.5000011324882507,
+ 0.49999484419822693
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.8699507215179665e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 24,
+ "virtual_xyz": [
+ 0.08767497539520264,
+ -0.0751703679561615,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708045959472656,
+ -3.3466058084741235e-05,
+ 1.5707776546478271
+ ],
+ "finger_dofs": [
+ 0.09644006192684174,
+ 7.611201453983085e-06,
+ -2.678386590559967e-05,
+ 0.06422501057386398,
+ -3.391431528143585e-05,
+ -0.00016143078391905874,
+ 0.03222275897860527,
+ 2.2054740838939324e-05,
+ -2.7498175958484694e-10,
+ 0.09643767029047012,
+ -1.8083808754454367e-05,
+ 0.00020037798094563186,
+ 0.06412984430789948,
+ -0.00015457918925676495,
+ 0.00012820379924960434,
+ 0.03219513222575188,
+ -1.4419228136830498e-05,
+ 1.0897678293986246e-05,
+ 0.0946878045797348,
+ -0.0017074341885745525,
+ 0.0014391146833077073,
+ 0.06329278647899628,
+ -0.0002360091602895409,
+ 0.001720604719594121,
+ 0.03195401281118393,
+ 2.5351966542075388e-05,
+ -1.988124495255761e-06,
+ 0.09635044634342194,
+ 8.136334508890286e-05,
+ 0.0003946014912799001,
+ 0.0639834925532341,
+ 0.0001579909585416317,
+ 0.0004032434953842312,
+ 0.03212181478738785,
+ 2.6679819711716846e-05,
+ -4.964104846294504e-06,
+ 0.046944987028837204,
+ 0.1295861154794693,
+ -0.0651431754231453,
+ -0.0004970578011125326,
+ 0.0017838472267612815,
+ -0.049365147948265076,
+ -0.00021010574710089713,
+ 0.0004523055686149746,
+ -0.06444631516933441
+ ],
+ "wrist_pos": [
+ 0.0876750499010086,
+ -0.07517034560441971,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000149011611938,
+ 0.49998894333839417,
+ 0.5000016689300537,
+ 0.4999944269657135
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.9257372080593314e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 25,
+ "virtual_xyz": [
+ 0.09119375795125961,
+ -0.07517025619745255,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.570804476737976,
+ -3.5712826502276585e-05,
+ 1.5707775354385376
+ ],
+ "finger_dofs": [
+ 0.10298921167850494,
+ 1.1919248208869249e-05,
+ -2.8147311240900308e-05,
+ 0.0685800313949585,
+ -3.861713776132092e-05,
+ -0.000165033241501078,
+ 0.03441037982702255,
+ 2.1984042177791707e-05,
+ -5.379227618895754e-10,
+ 0.10298601537942886,
+ -1.9012335542356595e-05,
+ 0.00020334018336143345,
+ 0.06847243756055832,
+ -0.0001561100361868739,
+ 0.00012927662464790046,
+ 0.03438248485326767,
+ -1.4058949091122486e-05,
+ 1.110652920033317e-05,
+ 0.10112451761960983,
+ -0.001708797994069755,
+ 0.001460690051317215,
+ 0.06757979840040207,
+ -0.00020908341684844345,
+ 0.0017206883057951927,
+ 0.034116387367248535,
+ 2.643240623001475e-05,
+ -2.16677790376707e-06,
+ 0.1028873473405838,
+ 8.475121285300702e-05,
+ 0.0003993729769717902,
+ 0.06831095367670059,
+ 0.00017349667905364186,
+ 0.0004074452444911003,
+ 0.034303124994039536,
+ 2.7635946025839075e-05,
+ -4.790679668076336e-06,
+ 0.05013085901737213,
+ 0.13838574290275574,
+ -0.0695144459605217,
+ -0.0005166621413081884,
+ 0.00178393698297441,
+ -0.05265515670180321,
+ -0.00021828955505043268,
+ 0.00045366372796706855,
+ -0.06882138550281525
+ ],
+ "wrist_pos": [
+ 0.09119384735822678,
+ -0.07517023384571075,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000154376029968,
+ 0.4999883770942688,
+ 0.5000022649765015,
+ 0.49999386072158813
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 2.9815236946006962e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 26,
+ "virtual_xyz": [
+ 0.09475825726985931,
+ -0.0751701295375824,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708043575286865,
+ -3.797736280830577e-05,
+ 1.5707776546478271
+ ],
+ "finger_dofs": [
+ 0.10962832719087601,
+ 1.6347037671948783e-05,
+ -2.945068627013825e-05,
+ 0.07299473136663437,
+ -4.346200876170769e-05,
+ -0.00016822207544464618,
+ 0.03662795200943947,
+ 2.183223477913998e-05,
+ -7.091693343674876e-10,
+ 0.10962435603141785,
+ -1.995817365241237e-05,
+ 0.0002059274702332914,
+ 0.07287450134754181,
+ -0.0001573480840306729,
+ 0.00013013470743317157,
+ 0.03659985959529877,
+ -1.3658287571161054e-05,
+ 1.1293423995084595e-05,
+ 0.10765278339385986,
+ -0.0017108850879594684,
+ 0.0014796762261539698,
+ 0.07192850857973099,
+ -0.000182583142304793,
+ 0.0017213716637343168,
+ 0.036308903247117996,
+ 2.7446756575955078e-05,
+ -2.33668811233656e-06,
+ 0.10951407998800278,
+ 8.805899415165186e-05,
+ 0.00040326567250303924,
+ 0.07269761711359024,
+ 0.00018916308181360364,
+ 0.0004108553403057158,
+ 0.03651442751288414,
+ 2.8552381991175935e-05,
+ -4.6123982428980526e-06,
+ 0.05336129665374756,
+ 0.14730508625507355,
+ -0.07394342124462128,
+ -0.0005372609593905509,
+ 0.0017840052023530006,
+ -0.05598760023713112,
+ -0.00022693167557008564,
+ 0.00045379827497527003,
+ -0.07325632870197296
+ ],
+ "wrist_pos": [
+ 0.09475833922624588,
+ -0.0751701071858406,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000160336494446,
+ 0.49998781085014343,
+ 0.5000028014183044,
+ 0.49999329447746277
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 3.037310181142061e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 27,
+ "virtual_xyz": [
+ 0.09836146980524063,
+ -0.07517003268003464,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708038806915283,
+ -4.0220624214271083e-05,
+ 1.5707781314849854
+ ],
+ "finger_dofs": [
+ 0.11634451150894165,
+ 2.0886596757918596e-05,
+ -3.078781082876958e-05,
+ 0.07746072858572006,
+ -4.833831553696655e-05,
+ -0.0001711512595647946,
+ 0.03887113556265831,
+ 2.1626347006531432e-05,
+ -6.634593430199232e-10,
+ 0.11633969098329544,
+ -2.0867362763965502e-05,
+ 0.0002080361737171188,
+ 0.07732763141393661,
+ -0.00015819387044757605,
+ 0.00013059686170890927,
+ 0.03884288668632507,
+ -1.3205160030338448e-05,
+ 1.1460916539363097e-05,
+ 0.11425935477018356,
+ -0.0017130705527961254,
+ 0.0014952300116419792,
+ 0.07633069902658463,
+ -0.00015422989963553846,
+ 0.0017220707377418876,
+ 0.038527581840753555,
+ 2.8387568818288855e-05,
+ -2.489050757503719e-06,
+ 0.11621774733066559,
+ 9.125846554525197e-05,
+ 0.00040616688784211874,
+ 0.07713524997234344,
+ 0.00020478418446145952,
+ 0.0004132231406401843,
+ 0.038751427084207535,
+ 2.9405777240754105e-05,
+ -4.418991920829285e-06,
+ 0.05663048475980759,
+ 0.15632671117782593,
+ -0.07842142879962921,
+ -0.0005581218865700066,
+ 0.0017840515356510878,
+ -0.05935598537325859,
+ -0.0002354917669435963,
+ 0.0004527846467681229,
+ -0.07774240523576736
+ ],
+ "wrist_pos": [
+ 0.0983615517616272,
+ -0.07517001032829285,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000162720680237,
+ 0.49998730421066284,
+ 0.5000036358833313,
+ 0.4999927282333374
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 3.093096667683426e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 28,
+ "virtual_xyz": [
+ 0.10199640691280365,
+ -0.07516995072364807,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708034038543701,
+ -4.243908915668726e-05,
+ 1.5707783699035645
+ ],
+ "finger_dofs": [
+ 0.12312468886375427,
+ 2.5544228265061975e-05,
+ -3.209248461644165e-05,
+ 0.08196928352117538,
+ -5.3251795179676265e-05,
+ -0.00017375886091031134,
+ 0.04113553836941719,
+ 2.1361631297622807e-05,
+ -5.83131321008068e-10,
+ 0.12311902642250061,
+ -2.1741807358921506e-05,
+ 0.00020972007769159973,
+ 0.08182325959205627,
+ -0.00015869615890551358,
+ 0.00013074916205368936,
+ 0.041107241064310074,
+ -1.271000746783102e-05,
+ 1.1603405255300459e-05,
+ 0.12092962861061096,
+ -0.0017152894288301468,
+ 0.001507243257947266,
+ 0.08077520877122879,
+ -0.000123981197248213,
+ 0.0017227462958544493,
+ 0.04076746851205826,
+ 2.926406705228146e-05,
+ -2.629325308589614e-06,
+ 0.1229853704571724,
+ 9.440365101909265e-05,
+ 0.0004081654187757522,
+ 0.08161529898643494,
+ 0.00022029534738976508,
+ 0.00041462594526819885,
+ 0.04100978747010231,
+ 3.0193979910109192e-05,
+ -4.218936737743206e-06,
+ 0.059932075440883636,
+ 0.16543304920196533,
+ -0.08293983340263367,
+ -0.000579482177272439,
+ 0.0017840868094936013,
+ -0.06275381147861481,
+ -0.0002439609233988449,
+ 0.0004506687691900879,
+ -0.08227093517780304
+ ],
+ "wrist_pos": [
+ 0.10199648886919022,
+ -0.07516992837190628,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000166296958923,
+ 0.49998655915260315,
+ 0.5000043511390686,
+ 0.49999234080314636
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 3.148883154224791e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 29,
+ "virtual_xyz": [
+ 0.10565605759620667,
+ -0.0751698762178421,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.570802927017212,
+ -4.461803109734319e-05,
+ 1.5707786083221436
+ ],
+ "finger_dofs": [
+ 0.12995590269565582,
+ 3.0256320314947516e-05,
+ -3.343436401337385e-05,
+ 0.08651193976402283,
+ -5.8106979849981144e-05,
+ -0.000176112080225721,
+ 0.043416790664196014,
+ 2.105208477587439e-05,
+ -5.354771070997799e-10,
+ 0.12994925677776337,
+ -2.2553665985469706e-05,
+ 0.00021091503731440753,
+ 0.08635292947292328,
+ -0.00015880860155448318,
+ 0.00013049672998022288,
+ 0.04338853806257248,
+ -1.2172536116850097e-05,
+ 1.1728880053851753e-05,
+ 0.12765176594257355,
+ -0.0017173751257359982,
+ 0.0015156915178522468,
+ 0.08525359630584717,
+ -9.242047235602513e-05,
+ 0.0017231842502951622,
+ 0.0430242121219635,
+ 3.0072109439061023e-05,
+ -2.7398687052482273e-06,
+ 0.12980403006076813,
+ 9.746497380547225e-05,
+ 0.0004092102753929794,
+ 0.08612944930791855,
+ 0.00023552031780127436,
+ 0.00041494800825603306,
+ 0.043285198509693146,
+ 3.090179598075338e-05,
+ -4.002321929874597e-06,
+ 0.06326085329055786,
+ 0.17460589110851288,
+ -0.0874900221824646,
+ -0.0006010514334775507,
+ 0.0017841116059571505,
+ -0.06617477536201477,
+ -0.0002525880408938974,
+ 0.00044752421672455966,
+ -0.08683312684297562
+ ],
+ "wrist_pos": [
+ 0.10565613955259323,
+ -0.07516985386610031,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000170469284058,
+ 0.49998602271080017,
+ 0.5000051259994507,
+ 0.4999917149543762
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 3.2046696407661557e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 30,
+ "virtual_xyz": [
+ 0.10933344811201096,
+ -0.07516981661319733,
+ 0.6452541947364807
+ ],
+ "wrist_rpy": [
+ -1.5708023309707642,
+ -4.6733402996324e-05,
+ 1.570778727531433
+ ],
+ "finger_dofs": [
+ 0.13682527840137482,
+ 3.493506301310845e-05,
+ -3.458029459579848e-05,
+ 0.09108011424541473,
+ -6.295357161434367e-05,
+ -0.00017788293189369142,
+ 0.045710545033216476,
+ 2.066015986201819e-05,
+ -4.661876995548653e-10,
+ 0.13681766390800476,
+ -2.342581319680903e-05,
+ 0.00021181130432523787,
+ 0.09090828150510788,
+ -0.0001587157166795805,
+ 0.00013021753693465143,
+ 0.0456823855638504,
+ -1.1621083103818819e-05,
+ 1.1819470273621846e-05,
+ 0.13441430032253265,
+ -0.0017195326508954167,
+ 0.0015211356803774834,
+ 0.08975804597139359,
+ -6.012447556713596e-05,
+ 0.0017235694685950875,
+ 0.045293621718883514,
+ 3.0831048206891865e-05,
+ -2.846855750249233e-06,
+ 0.13666103780269623,
+ 0.00010028669203165919,
+ 0.00040953708230517805,
+ 0.09066955000162125,
+ 0.0002504281292203814,
+ 0.0004145880229771137,
+ 0.04557333514094353,
+ 3.155422382405959e-05,
+ -3.796312284976011e-06,
+ 0.06661149859428406,
+ 0.1838270127773285,
+ -0.09206338971853256,
+ -0.0006225805263966322,
+ 0.0017841546796262264,
+ -0.06961211562156677,
+ -0.00026148578035645187,
+ 0.00044327802606858313,
+ -0.09142031520605087
+ ],
+ "wrist_pos": [
+ 0.10933353006839752,
+ -0.07516979426145554,
+ 0.6452541351318359
+ ],
+ "wrist_rot": [
+ -0.5000172853469849,
+ 0.49998533725738525,
+ 0.5000057816505432,
+ 0.49999144673347473
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 3.2604561273075205e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 31,
+ "virtual_xyz": [
+ 0.11300089955329895,
+ -0.07516481727361679,
+ 0.6452476382255554
+ ],
+ "wrist_rpy": [
+ -1.5709097385406494,
+ -0.0008813775493763387,
+ 1.5706992149353027
+ ],
+ "finger_dofs": [
+ 0.14412866532802582,
+ -0.0001140496096923016,
+ -0.00012892931408714503,
+ 0.0960238054394722,
+ 4.7593581257387996e-05,
+ -0.00030293865711428225,
+ 0.04802638292312622,
+ 3.799872865783982e-05,
+ 2.3547084282427022e-09,
+ 0.16460895538330078,
+ 0.0019638249650597572,
+ -0.018111377954483032,
+ 0.11984632164239883,
+ 0.002264056820422411,
+ -0.0006424901657737792,
+ 0.04887980967760086,
+ 7.044483936624601e-05,
+ 2.61069908447098e-05,
+ 0.1441577821969986,
+ -0.0018160117324441671,
+ 0.001814096700400114,
+ 0.09227682650089264,
+ 0.0015270205913111567,
+ 0.0015372995985671878,
+ 0.04824471101164818,
+ -0.0004479220078792423,
+ 0.00015231671568471938,
+ 0.1461968868970871,
+ -0.00036816453211940825,
+ 0.0006523201591335237,
+ 0.09264645725488663,
+ 0.0008171374211087823,
+ 0.00012401692220009863,
+ 0.04889778420329094,
+ -0.00026736233849078417,
+ 0.00011400234507163987,
+ 0.07069937884807587,
+ 0.19293281435966492,
+ -0.09620706737041473,
+ -0.0004096941265743226,
+ 0.0017963690916076303,
+ -0.07375119626522064,
+ -0.0004898502957075834,
+ 0.0002163883182220161,
+ -0.09561394900083542
+ ],
+ "wrist_pos": [
+ 0.11300097405910492,
+ -0.075164794921875,
+ 0.6452475786209106
+ ],
+ "wrist_rot": [
+ -0.5002726316452026,
+ 0.4997836649417877,
+ 0.5001677870750427,
+ 0.4997756779193878
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.29054389397254e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 32,
+ "virtual_xyz": [
+ 0.11667703092098236,
+ -0.07515363395214081,
+ 0.6452416181564331
+ ],
+ "wrist_rpy": [
+ -1.5711696147918701,
+ -0.0021977864671498537,
+ 1.5704350471496582
+ ],
+ "finger_dofs": [
+ 0.152089461684227,
+ -0.0003228809218853712,
+ -0.00012423255247995257,
+ 0.10167045891284943,
+ 0.0002994947717525065,
+ -0.00013150213635526597,
+ 0.050349507480859756,
+ 2.2230744434637018e-05,
+ 3.799729952902453e-08,
+ 0.21092833578586578,
+ 0.0027851220220327377,
+ -0.05285538733005524,
+ 0.22723113000392914,
+ 0.002107815118506551,
+ -0.00403986033052206,
+ 0.06030474603176117,
+ 0.0018492302624508739,
+ 1.3480618690664414e-05,
+ 0.1592107117176056,
+ -0.0018334586638957262,
+ 0.0004040604690089822,
+ 0.09568245708942413,
+ 0.0017685466445982456,
+ -0.0013029430992901325,
+ 0.05201356112957001,
+ -0.0012971095275133848,
+ 0.0006774290814064443,
+ 0.15760016441345215,
+ -0.001144561218097806,
+ 0.0007842305931262672,
+ 0.09423638880252838,
+ 0.0011985995806753635,
+ -0.001347472658380866,
+ 0.0531078539788723,
+ -0.0008324770606122911,
+ 0.00036326958797872066,
+ 0.07799641042947769,
+ 0.19997328519821167,
+ -0.09877641499042511,
+ 0.0004040205094497651,
+ 0.00015860081475693733,
+ -0.07657042145729065,
+ -0.0006126762018539011,
+ -0.0009102736366912723,
+ -0.09955579787492752
+ ],
+ "wrist_pos": [
+ 0.11667710542678833,
+ -0.07515361160039902,
+ 0.6452415585517883
+ ],
+ "wrist_rot": [
+ -0.5007323622703552,
+ 0.49945321679115295,
+ 0.5003657937049866,
+ 0.4994473457336426
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.3528901332549026e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 33,
+ "virtual_xyz": [
+ 0.12035638093948364,
+ -0.07514793425798416,
+ 0.645240306854248
+ ],
+ "wrist_rpy": [
+ -1.571199655532837,
+ -0.0033676368184387684,
+ 1.5703545808792114
+ ],
+ "finger_dofs": [
+ 0.16844360530376434,
+ 4.5560234696040425e-08,
+ -0.0023578491527587175,
+ 0.11622340977191925,
+ 0.0019425016362220049,
+ 0.0022545524407178164,
+ 0.05250571295619011,
+ -0.0010548874270170927,
+ 2.1626794932672055e-07,
+ 0.23463495075702667,
+ 0.0036452307831496,
+ -0.06754124164581299,
+ 0.3280395567417145,
+ 0.0008188466890715063,
+ -0.0049038780853152275,
+ 0.07212641835212708,
+ 0.0018094551051035523,
+ -0.00022778233687859029,
+ 0.1692207008600235,
+ -0.0018598198657855392,
+ 0.00038092315662652254,
+ 0.09824163466691971,
+ 0.001816453062929213,
+ -0.0009481895249336958,
+ 0.05503813177347183,
+ -0.0017514608334749937,
+ 0.0008069312898442149,
+ 0.16725768148899078,
+ -0.001432026270776987,
+ 0.0007372499094344676,
+ 0.09592877328395844,
+ 0.0017800240311771631,
+ -0.0009237704798579216,
+ 0.05663177743554115,
+ -0.001196683500893414,
+ 0.0002956195385195315,
+ 0.08238538354635239,
+ 0.2092837542295456,
+ -0.1031852588057518,
+ 0.000265497830696404,
+ 0.0006602233625017107,
+ -0.08046599477529526,
+ -0.000804706709459424,
+ -0.0007994952611625195,
+ -0.10390200465917587
+ ],
+ "wrist_pos": [
+ 0.12035645544528961,
+ -0.07514791190624237,
+ 0.6452402472496033
+ ],
+ "wrist_rot": [
+ -0.5010518431663513,
+ 0.49914759397506714,
+ 0.5006303787231445,
+ 0.4991670548915863
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.2884654171662078e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 34,
+ "virtual_xyz": [
+ 0.12398716062307358,
+ -0.07508690655231476,
+ 0.6452167630195618
+ ],
+ "wrist_rpy": [
+ -1.5703381299972534,
+ -0.007712492719292641,
+ 1.5711679458618164
+ ],
+ "finger_dofs": [
+ 0.22507254779338837,
+ -0.0007844025967642665,
+ -0.011008881963789463,
+ 0.21813715994358063,
+ 0.002504946431145072,
+ 0.002491171471774578,
+ 0.05514534190297127,
+ -0.0018135583959519863,
+ 3.340130660944851e-06,
+ 0.2564570903778076,
+ 0.004456266760826111,
+ -0.08078353852033615,
+ 0.3936116695404053,
+ 0.002377663506194949,
+ -0.003319913987070322,
+ 0.0790182575583458,
+ 0.0003082619223278016,
+ -0.0010661877458915114,
+ 0.19128727912902832,
+ -0.002021282445639372,
+ -0.004066174849867821,
+ 0.09690341353416443,
+ 0.00201013614423573,
+ 0.0007523835520260036,
+ 0.06018749997019768,
+ -0.0018392199417576194,
+ 3.35819750034716e-05,
+ 0.18655358254909515,
+ -0.0018259939970448613,
+ -0.0020085179712623358,
+ 0.090824194252491,
+ 0.0018554249545559287,
+ 0.0004678723344113678,
+ 0.06331294775009155,
+ -0.0018083503236994147,
+ -0.0004011389100924134,
+ 0.09288112819194794,
+ 0.21872578561306,
+ -0.10768093168735504,
+ 0.00101004377938807,
+ -0.0004912170115858316,
+ -0.08420569449663162,
+ -0.0007269580964930356,
+ -0.0014803344383835793,
+ -0.10771327465772629
+ ],
+ "wrist_pos": [
+ 0.12398724257946014,
+ -0.07508688420057297,
+ 0.645216703414917
+ ],
+ "wrist_rot": [
+ -0.501717746257782,
+ 0.4980463981628418,
+ 0.502130925655365,
+ 0.4980899393558502
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -4.40379777089106e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 35,
+ "virtual_xyz": [
+ 0.1276160478591919,
+ -0.07500114291906357,
+ 0.6452122330665588
+ ],
+ "wrist_rpy": [
+ -1.568927526473999,
+ -0.014048258773982525,
+ 1.5716805458068848
+ ],
+ "finger_dofs": [
+ 0.24239999055862427,
+ 0.0026719141751527786,
+ -0.042447529733181,
+ 0.2956271171569824,
+ 0.0006334588397294283,
+ 0.0038332664407789707,
+ 0.0546836256980896,
+ -0.0019609772134572268,
+ 8.17549334897194e-06,
+ 0.29196175932884216,
+ 0.00686220545321703,
+ -0.09501758217811584,
+ 0.4826865792274475,
+ 0.0005781965446658432,
+ -0.005207134876400232,
+ 0.09239037334918976,
+ -0.0018492082599550486,
+ -0.0005295334267430007,
+ 0.22395214438438416,
+ -0.002107858657836914,
+ -0.011139550246298313,
+ 0.0978938564658165,
+ 0.0021659352350980043,
+ -0.0009073638939298689,
+ 0.0670042634010315,
+ -0.0018864644225686789,
+ -0.0001253071241080761,
+ 0.21111071109771729,
+ -0.0018534609116613865,
+ -0.004429762717336416,
+ 0.08435167372226715,
+ 0.0019328983034938574,
+ -0.0006895396509207785,
+ 0.07205495238304138,
+ -0.001849996391683817,
+ -0.0006342812557704747,
+ 0.11007959395647049,
+ 0.2252846211194992,
+ -0.10886716097593307,
+ 0.001734612975269556,
+ -0.0017183967866003513,
+ -0.08802063018083572,
+ -0.0005657218280248344,
+ -0.0017994269728660583,
+ -0.109870545566082
+ ],
+ "wrist_pos": [
+ 0.12761612236499786,
+ -0.07500112056732178,
+ 0.6452121734619141
+ ],
+ "wrist_rot": [
+ -0.5028162598609924,
+ 0.49622711539268494,
+ 0.5041829347610474,
+ 0.4967232346534729
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.7213589421678535e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 36,
+ "virtual_xyz": [
+ 0.13119374215602875,
+ -0.07481936365365982,
+ 0.6451821327209473
+ ],
+ "wrist_rpy": [
+ -1.5662580728530884,
+ -0.025478145107626915,
+ 1.5724823474884033
+ ],
+ "finger_dofs": [
+ 0.2986404001712799,
+ 0.0024984413757920265,
+ -0.09678798913955688,
+ 0.36653098464012146,
+ -0.013101689517498016,
+ 0.00446686428040266,
+ 0.039273764938116074,
+ -0.0021461520809680223,
+ 2.5421955797355622e-05,
+ 0.314701110124588,
+ 0.008862086571753025,
+ -0.10277334600687027,
+ 0.5693360567092896,
+ 0.0020671121310442686,
+ -0.005311781540513039,
+ 0.11173276603221893,
+ -0.002025588881224394,
+ 0.0009781261906027794,
+ 0.26661035418510437,
+ -0.0023162018042057753,
+ -0.016955111175775528,
+ 0.09494601935148239,
+ 0.0024064388126134872,
+ -0.0008950891206040978,
+ 0.075996533036232,
+ -0.001978654647246003,
+ -0.0006467362982220948,
+ 0.2668413519859314,
+ 0.0017795291496440768,
+ -0.04089587926864624,
+ 0.12276478856801987,
+ -0.0022360580042004585,
+ -0.0029090901371091604,
+ 0.09925888478755951,
+ -0.0020725347567349672,
+ -0.0014312482671812177,
+ 0.1311100423336029,
+ 0.23555241525173187,
+ -0.1106531172990799,
+ 0.001997339306399226,
+ -0.0017081666737794876,
+ -0.09628289192914963,
+ -0.00012416770914569497,
+ -0.001853305846452713,
+ -0.11024492233991623
+ ],
+ "wrist_pos": [
+ 0.13119381666183472,
+ -0.07481934130191803,
+ 0.6451820731163025
+ ],
+ "wrist_rot": [
+ -0.5047920942306519,
+ 0.4928654730319977,
+ 0.5078642964363098,
+ 0.4943099915981293
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -8.69664873448528e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 37,
+ "virtual_xyz": [
+ 0.13481807708740234,
+ -0.07477305829524994,
+ 0.645193874835968
+ ],
+ "wrist_rpy": [
+ -1.5663999319076538,
+ -0.028283754363656044,
+ 1.5720280408859253
+ ],
+ "finger_dofs": [
+ 0.3312966227531433,
+ 0.005654503125697374,
+ -0.12483125180006027,
+ 0.473501980304718,
+ -0.018360449001193047,
+ -0.0032584478612989187,
+ 0.03676479309797287,
+ 0.001913824351504445,
+ 2.6724033887148835e-05,
+ 0.3303550183773041,
+ 0.010624089278280735,
+ -0.1074376106262207,
+ 0.6521004438400269,
+ 0.0023504490964114666,
+ -0.005256805568933487,
+ 0.11239854246377945,
+ -0.0019979379139840603,
+ 0.0018311083549633622,
+ 0.2790718972682953,
+ -0.002141998615115881,
+ -0.016599487513303757,
+ 0.10269886255264282,
+ 0.0022965082898736,
+ -0.0020376660395413637,
+ 0.08073493838310242,
+ -0.0019523805240169168,
+ 0.0006283964612521231,
+ 0.29546618461608887,
+ 0.002633341122418642,
+ -0.0682772845029831,
+ 0.20554116368293762,
+ -0.0034714394714683294,
+ -0.0040892502292990685,
+ 0.1271616816520691,
+ -0.0022517668548971415,
+ -0.000829865806736052,
+ 0.1363111436367035,
+ 0.2411222606897354,
+ -0.11287625133991241,
+ 0.0018816766096279025,
+ -0.0017810194985941052,
+ -0.0986146405339241,
+ 0.0001914914755616337,
+ -0.0018450942588970065,
+ -0.11444760113954544
+ ],
+ "wrist_pos": [
+ 0.1348181515932083,
+ -0.07477303594350815,
+ 0.6451938152313232
+ ],
+ "wrist_rot": [
+ -0.5056329965591431,
+ 0.49207502603530884,
+ 0.5084068775177002,
+ 0.493679940700531
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -6.800161767017698e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 38,
+ "virtual_xyz": [
+ 0.1383959949016571,
+ -0.07476874440908432,
+ 0.6452071070671082
+ ],
+ "wrist_rpy": [
+ -1.5686225891113281,
+ -0.02894105762243271,
+ 1.571394920349121
+ ],
+ "finger_dofs": [
+ 0.31806278228759766,
+ 0.007615402806550264,
+ -0.13357670605182648,
+ 0.6243836879730225,
+ -0.013889230787754059,
+ 0.0005342098302207887,
+ 0.04334663972258568,
+ -0.0011155841639265418,
+ 1.415990300301928e-05,
+ 0.33336934447288513,
+ 0.01307348720729351,
+ -0.10916897654533386,
+ 0.7472245097160339,
+ 0.001745908404700458,
+ -0.005498366430401802,
+ 0.11571020632982254,
+ -0.002004198729991913,
+ 0.0018352305050939322,
+ 0.28282642364501953,
+ -0.002304771449416876,
+ -0.011933180503547192,
+ 0.1110614538192749,
+ 0.0022783135063946247,
+ -0.0018820307450369,
+ 0.08283374458551407,
+ -0.001947331358678639,
+ 0.0018101281020790339,
+ 0.29804104566574097,
+ 0.004921795800328255,
+ -0.09813475608825684,
+ 0.2845970094203949,
+ -0.008191635832190514,
+ -0.004099459387362003,
+ 0.12895092368125916,
+ -0.0022221626713871956,
+ 0.0007776765851303935,
+ 0.13528050482273102,
+ 0.24672266840934753,
+ -0.11582469940185547,
+ 0.0019023694330826402,
+ -0.0013189823366701603,
+ -0.10259008407592773,
+ -0.0006438627606257796,
+ -0.001857081544585526,
+ -0.11902962625026703
+ ],
+ "wrist_pos": [
+ 0.13839606940746307,
+ -0.07476872205734253,
+ 0.6452070474624634
+ ],
+ "wrist_rot": [
+ -0.5064993500709534,
+ 0.4923127591609955,
+ 0.507865309715271,
+ 0.493111789226532
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -6.645771044588855e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 39,
+ "virtual_xyz": [
+ 0.14194068312644958,
+ -0.07481572777032852,
+ 0.6452332735061646
+ ],
+ "wrist_rpy": [
+ -1.5701829195022583,
+ -0.027401234954595566,
+ 1.5705277919769287
+ ],
+ "finger_dofs": [
+ 0.30448800325393677,
+ 0.01338595524430275,
+ -0.13304565846920013,
+ 0.7354669570922852,
+ -0.0037796294782310724,
+ 0.0016605048440396786,
+ 0.0612691231071949,
+ -0.0002200490707764402,
+ 2.1310260933660174e-07,
+ 0.33377936482429504,
+ 0.01556158997118473,
+ -0.10834944993257523,
+ 0.8320441246032715,
+ -0.002330785384401679,
+ -0.005683004390448332,
+ 0.12071438878774643,
+ -0.002017522929236293,
+ 0.0018445189343765378,
+ 0.27950817346572876,
+ -0.002233722945675254,
+ -0.008824916556477547,
+ 0.1153826117515564,
+ 0.0022922679781913757,
+ -0.0019563166424632072,
+ 0.08371543884277344,
+ -0.0019441170152276754,
+ 0.0018211930291727185,
+ 0.309718519449234,
+ 0.007271380163729191,
+ -0.1205267459154129,
+ 0.37915441393852234,
+ -0.012178339995443821,
+ -0.008181772194802761,
+ 0.17860090732574463,
+ -0.0027647733222693205,
+ 0.0018241864163428545,
+ 0.13198477029800415,
+ 0.2547387182712555,
+ -0.11993761360645294,
+ 0.0018340960377827287,
+ -0.0015537072904407978,
+ -0.1056252270936966,
+ -0.0014435232151299715,
+ -0.0018442057771608233,
+ -0.12423667311668396
+ ],
+ "wrist_pos": [
+ 0.14194075763225555,
+ -0.07481570541858673,
+ 0.6452332139015198
+ ],
+ "wrist_rot": [
+ -0.5067179799079895,
+ 0.4928794801235199,
+ 0.5068880319595337,
+ 0.4933265447616577
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.463343111244967e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 40,
+ "virtual_xyz": [
+ 0.145423024892807,
+ -0.07484523206949234,
+ 0.645243763923645
+ ],
+ "wrist_rpy": [
+ -1.571136236190796,
+ -0.02476627565920353,
+ 1.5699183940887451
+ ],
+ "finger_dofs": [
+ 0.2972554862499237,
+ 0.018567949533462524,
+ -0.13053983449935913,
+ 0.8315310478210449,
+ 0.0036173283588141203,
+ -0.0023600233253091574,
+ 0.07552710175514221,
+ 0.001747520174831152,
+ -6.698824563500239e-06,
+ 0.3412960171699524,
+ 0.022685227915644646,
+ -0.09907694905996323,
+ 0.9125288724899292,
+ 0.0036683143116533756,
+ -0.010661769658327103,
+ 0.11228986829519272,
+ -0.00206953939050436,
+ 0.0018466712208464742,
+ 0.27521947026252747,
+ -0.002248205943033099,
+ -0.006990067660808563,
+ 0.12061356753110886,
+ 0.0022922458592802286,
+ -0.0020294147543609142,
+ 0.08418504148721695,
+ -0.0019439876778051257,
+ 0.0018404334550723433,
+ 0.3129032850265503,
+ 0.014580991119146347,
+ -0.12168543040752411,
+ 0.4862273931503296,
+ -0.011469355784356594,
+ -0.0089949369430542,
+ 0.20869682729244232,
+ -0.002976090181618929,
+ 0.0018633226864039898,
+ 0.12992249429225922,
+ 0.26321175694465637,
+ -0.12495888024568558,
+ 0.0014592768857255578,
+ -0.0017027209978550673,
+ -0.10769442468881607,
+ -0.0015439002308994532,
+ -0.0018415652448311448,
+ -0.12983137369155884
+ ],
+ "wrist_pos": [
+ 0.14542309939861298,
+ -0.07484520971775055,
+ 0.6452437043190002
+ ],
+ "wrist_rot": [
+ -0.5064535737037659,
+ 0.4936339855194092,
+ 0.5058524012565613,
+ 0.4939064383506775
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -4.883456306004064e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 41,
+ "virtual_xyz": [
+ 0.14882633090019226,
+ -0.07482478022575378,
+ 0.6452317237854004
+ ],
+ "wrist_rpy": [
+ -1.5734119415283203,
+ -0.023417018353939056,
+ 1.5695910453796387
+ ],
+ "finger_dofs": [
+ 0.2894864082336426,
+ 0.02079363726079464,
+ -0.13861721754074097,
+ 0.9484305381774902,
+ 0.004399670287966728,
+ 0.002129187574610114,
+ 0.08550649136304855,
+ -0.00023863055685069412,
+ -7.687612196605187e-06,
+ 0.3653719425201416,
+ 0.018720822408795357,
+ -0.09674835205078125,
+ 0.9782441258430481,
+ -0.0019364525796845555,
+ -0.00466714333742857,
+ 0.1199057400226593,
+ -0.0019310135394334793,
+ 0.0018501508748158813,
+ 0.2780688405036926,
+ -0.002117849886417389,
+ -0.004395713564008474,
+ 0.1299942582845688,
+ 0.0021095778793096542,
+ -0.0021234953310340643,
+ 0.0851750448346138,
+ -0.0018998257583007216,
+ 0.0018642492359504104,
+ 0.2820664644241333,
+ 0.02385842613875866,
+ -0.13423395156860352,
+ 0.6074119210243225,
+ -0.004811350721865892,
+ -0.008106023073196411,
+ 0.13068804144859314,
+ -0.0026211077347397804,
+ 0.0018803882412612438,
+ 0.1314345747232437,
+ 0.2689420282840729,
+ -0.12909169495105743,
+ 0.0018598255701363087,
+ -0.0008589525241404772,
+ -0.11042610555887222,
+ -0.001803580904379487,
+ -0.0018425235757604241,
+ -0.13480409979820251
+ ],
+ "wrist_pos": [
+ 0.14882640540599823,
+ -0.074824757874012,
+ 0.6452316641807556
+ ],
+ "wrist_rot": [
+ -0.5067634582519531,
+ 0.4944673180580139,
+ 0.5048757195472717,
+ 0.49375417828559875
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.247337675484687e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 42,
+ "virtual_xyz": [
+ 0.1521560102701187,
+ -0.07478715479373932,
+ 0.6452195644378662
+ ],
+ "wrist_rpy": [
+ -1.5751889944076538,
+ -0.022488396614789963,
+ 1.569361925125122
+ ],
+ "finger_dofs": [
+ 0.29646527767181396,
+ 0.024997899308800697,
+ -0.13375771045684814,
+ 1.018298864364624,
+ 0.006176609080284834,
+ -0.0037627259735018015,
+ 0.09548310935497284,
+ 0.0019369371002539992,
+ -5.356139354262268e-06,
+ 0.3954615890979767,
+ 0.014511775225400925,
+ -0.09315511584281921,
+ 1.0426044464111328,
+ 0.003022031160071492,
+ -0.0026662671007215977,
+ 0.11587134003639221,
+ -0.0018046729965135455,
+ 0.0018241718644276261,
+ 0.2839337885379791,
+ -0.0023252731189131737,
+ -0.002524928655475378,
+ 0.13174410164356232,
+ 0.0023196290712803602,
+ -0.002114801900461316,
+ 0.08827199786901474,
+ -0.0019680308178067207,
+ 0.0018758764490485191,
+ 0.2989670932292938,
+ 0.02498611807823181,
+ -0.15483710169792175,
+ 0.6817148923873901,
+ -0.017623433843255043,
+ -0.010544810444116592,
+ 0.1711069643497467,
+ -0.0028360518626868725,
+ 0.0019187332363799214,
+ 0.13336358964443207,
+ 0.27604377269744873,
+ -0.13390769064426422,
+ 0.0019217979861423373,
+ -0.0011212009703740478,
+ -0.11220606416463852,
+ -0.0015759916277602315,
+ -0.0018409634940326214,
+ -0.14012552797794342
+ ],
+ "wrist_pos": [
+ 0.15215608477592468,
+ -0.07478713244199753,
+ 0.6452195048332214
+ ],
+ "wrist_rot": [
+ -0.5070300102233887,
+ 0.4950922429561615,
+ 0.504149317741394,
+ 0.493596613407135
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.916551248930091e-09
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 43,
+ "virtual_xyz": [
+ 0.15525676310062408,
+ -0.0740942433476448,
+ 0.6450271606445312
+ ],
+ "wrist_rpy": [
+ -1.5768626928329468,
+ -0.026659611612558365,
+ 1.5681260824203491
+ ],
+ "finger_dofs": [
+ 0.3441999554634094,
+ 0.024519436061382294,
+ -0.13295221328735352,
+ 1.053922176361084,
+ 0.005388559307903051,
+ -0.0042319027706980705,
+ 0.09798430651426315,
+ 0.001949709258042276,
+ 2.3891236196504906e-05,
+ 0.5280898809432983,
+ 0.011485201306641102,
+ -0.09199966490268707,
+ 0.9657400846481323,
+ 0.0035800933837890625,
+ 0.0024460763670504093,
+ 0.1019667312502861,
+ -0.0008855038322508335,
+ 0.0013369665248319507,
+ 0.3198894262313843,
+ -0.002556746592745185,
+ 0.006216492969542742,
+ 0.12332090735435486,
+ 0.0025975981261581182,
+ -0.002338677877560258,
+ 0.09786998480558395,
+ -0.0020876838825643063,
+ 0.001961364410817623,
+ 0.35115182399749756,
+ 0.02714504301548004,
+ -0.16798493266105652,
+ 0.6902875304222107,
+ -0.019119299948215485,
+ -0.013546514324843884,
+ 0.22531196475028992,
+ -0.0034154716413468122,
+ 0.0020078259985893965,
+ 0.14756663143634796,
+ 0.284593790769577,
+ -0.1372472494840622,
+ 0.0020033179316669703,
+ -0.0007515338365919888,
+ -0.1162140890955925,
+ -0.00044885999523103237,
+ -0.0018134050769731402,
+ -0.14435279369354248
+ ],
+ "wrist_pos": [
+ 0.15525683760643005,
+ -0.07409422099590302,
+ 0.6450271010398865
+ ],
+ "wrist_rot": [
+ -0.5087742805480957,
+ 0.49414652585983276,
+ 0.5044645071029663,
+ 0.4924260675907135
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.761205759009954e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 44,
+ "virtual_xyz": [
+ 0.15829984843730927,
+ -0.07303357124328613,
+ 0.6447789669036865
+ ],
+ "wrist_rpy": [
+ -1.5755386352539062,
+ -0.030187666416168213,
+ 1.568937063217163
+ ],
+ "finger_dofs": [
+ 0.44336679577827454,
+ 0.0214481633156538,
+ -0.14472441375255585,
+ 1.031495213508606,
+ 0.005356545094400644,
+ -0.0016898419708013535,
+ 0.09671170264482498,
+ 0.0017808224074542522,
+ 0.00011020872625522316,
+ 0.685093879699707,
+ 0.009451397694647312,
+ -0.09713497012853622,
+ 0.8296448588371277,
+ 0.003368968376889825,
+ 0.0026613441295921803,
+ 0.10932689160108566,
+ -0.0012591916602104902,
+ 0.00184426992200315,
+ 0.34817981719970703,
+ -0.00199120887555182,
+ 0.003668932244181633,
+ 0.12408247590065002,
+ 0.0024036564864218235,
+ -0.0020879143849015236,
+ 0.10532138496637344,
+ -0.0020253420807421207,
+ 0.0018637444591149688,
+ 0.42799580097198486,
+ 0.027623483911156654,
+ -0.1681014597415924,
+ 0.6702452898025513,
+ -0.018078533932566643,
+ -0.012026923708617687,
+ 0.2830924093723297,
+ -0.003585298778489232,
+ 0.001879615825600922,
+ 0.16351529955863953,
+ 0.2975313365459442,
+ -0.1455133855342865,
+ 0.0008297519525513053,
+ -0.0020109452307224274,
+ -0.11589430272579193,
+ 0.0017820335924625397,
+ -0.001326253404840827,
+ -0.1502341777086258
+ ],
+ "wrist_pos": [
+ 0.15829992294311523,
+ -0.07303354889154434,
+ 0.6447789072990417
+ ],
+ "wrist_rot": [
+ -0.5091142654418945,
+ 0.4931253492832184,
+ 0.5058637857437134,
+ 0.49166232347488403
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.629735540438105e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 45,
+ "virtual_xyz": [
+ 0.1613258719444275,
+ -0.07251545041799545,
+ 0.6446614861488342
+ ],
+ "wrist_rpy": [
+ -1.5739521980285645,
+ -0.018592584878206253,
+ 1.5683737993240356
+ ],
+ "finger_dofs": [
+ 0.6130983233451843,
+ 0.012209159322082996,
+ -0.14198608696460724,
+ 0.8361225128173828,
+ 0.004002836998552084,
+ 0.004764924291521311,
+ 0.09474457800388336,
+ -0.001912726555019617,
+ 0.00017492228653281927,
+ 0.838366687297821,
+ 0.003105951240286231,
+ -0.12339673936367035,
+ 0.6649469137191772,
+ 0.0021145299542695284,
+ 0.00353816500864923,
+ 0.11245932430028915,
+ -0.0017726580845192075,
+ 0.00017964106518775225,
+ 0.3057233393192291,
+ 0.002108868909999728,
+ 0.006013480946421623,
+ 0.15756995975971222,
+ 0.00012321560643613338,
+ -0.0026587212923914194,
+ 0.09947823733091354,
+ -0.0018686699913814664,
+ 0.002002114662900567,
+ 0.3996710479259491,
+ 0.028091318905353546,
+ -0.19285030663013458,
+ 0.7711024284362793,
+ -0.0065223840065300465,
+ -0.0026048438157886267,
+ 0.1967129111289978,
+ -0.0020294494461268187,
+ 0.0019376137061044574,
+ 0.1529494673013687,
+ 0.30934688448905945,
+ -0.15785327553749084,
+ -0.00232182745821774,
+ -0.002198323840275407,
+ -0.1020304262638092,
+ 0.0017621814040467143,
+ 0.0018176946323364973,
+ -0.16330745816230774
+ ],
+ "wrist_pos": [
+ 0.16132594645023346,
+ -0.07251542806625366,
+ 0.6446614265441895
+ ],
+ "wrist_rot": [
+ -0.5060078501701355,
+ 0.4955134093761444,
+ 0.5032448172569275,
+ 0.49514344334602356
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.823072264845905e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 46,
+ "virtual_xyz": [
+ 0.16438980400562286,
+ -0.07178323715925217,
+ 0.6445916295051575
+ ],
+ "wrist_rpy": [
+ -1.5733487606048584,
+ -0.01029906701296568,
+ 1.5643775463104248
+ ],
+ "finger_dofs": [
+ 0.7439731955528259,
+ 0.022719351574778557,
+ -0.12942402064800262,
+ 0.7378120422363281,
+ 0.004476666916161776,
+ 0.0006470103398896754,
+ 0.0936063602566719,
+ -0.0015197740867733955,
+ 0.00016466158558614552,
+ 0.9093165993690491,
+ 0.0011537454556673765,
+ -0.13267888128757477,
+ 0.6264792084693909,
+ -0.0031100772321224213,
+ 0.0002434448106214404,
+ 0.12190533429384232,
+ -0.001361857750453055,
+ 0.001806387328542769,
+ 0.2950661778450012,
+ 0.0018047693884000182,
+ 0.017767829820513725,
+ 0.17885608971118927,
+ -0.0020074599888175726,
+ -0.0032466002739965916,
+ 0.09656712412834167,
+ -0.0017995791276916862,
+ 0.0021956483833491802,
+ 0.4125133156776428,
+ 0.03156165033578873,
+ -0.20166653394699097,
+ 0.8392300009727478,
+ -0.017222236841917038,
+ -0.00699591264128685,
+ 0.17361754179000854,
+ -0.002456293674185872,
+ 0.0020469839219003916,
+ 0.1558036357164383,
+ 0.31369441747665405,
+ -0.15570181608200073,
+ -3.713596743182279e-05,
+ -0.0018909634090960026,
+ -0.10497009009122849,
+ 0.0017751101404428482,
+ 0.0004054892633575946,
+ -0.1662285029888153
+ ],
+ "wrist_pos": [
+ 0.16438987851142883,
+ -0.07178321480751038,
+ 0.6445915699005127
+ ],
+ "wrist_rot": [
+ -0.504798412322998,
+ 0.49644196033477783,
+ 0.5003359317779541,
+ 0.4983852803707123
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -3.1103361664008844e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 47,
+ "virtual_xyz": [
+ 0.1672496348619461,
+ -0.07178004831075668,
+ 0.6446815133094788
+ ],
+ "wrist_rpy": [
+ -1.5789804458618164,
+ 0.01613624580204487,
+ 1.5592938661575317
+ ],
+ "finger_dofs": [
+ 0.7893475294113159,
+ 0.0057619051076471806,
+ -0.11047672480344772,
+ 0.6988537311553955,
+ -0.002749993233010173,
+ 0.004172526299953461,
+ 0.08952753245830536,
+ -0.001898975227959454,
+ 1.4562219803337939e-05,
+ 0.9901956915855408,
+ 0.00412859208881855,
+ -0.0727090984582901,
+ 0.5452877879142761,
+ -0.002735715126618743,
+ -0.0039060686249285936,
+ 0.09819357842206955,
+ 0.0006889829528518021,
+ 0.001967762364074588,
+ 0.2225901186466217,
+ 0.001954874489456415,
+ 0.04411358758807182,
+ 0.20484469830989838,
+ -0.0023049565497785807,
+ -0.003134708385914564,
+ 0.0891164019703865,
+ -0.0008438823278993368,
+ 0.0022152618039399385,
+ 0.32668450474739075,
+ 0.03165886178612709,
+ -0.20274390280246735,
+ 0.9894211292266846,
+ -0.012233071960508823,
+ -0.00577136455103755,
+ 0.18211521208286285,
+ -0.0024192682467401028,
+ 0.0019855585414916277,
+ 0.11990045756101608,
+ 0.3196486830711365,
+ -0.1659717857837677,
+ -0.0019476141314953566,
+ -0.0020557863172143698,
+ -0.08676476776599884,
+ 0.0018309314036741853,
+ 0.0019219705136492848,
+ -0.18305136263370514
+ ],
+ "wrist_pos": [
+ 0.16724970936775208,
+ -0.07178002595901489,
+ 0.644681453704834
+ ],
+ "wrist_rot": [
+ -0.5009101033210754,
+ 0.5031703114509583,
+ 0.4909878671169281,
+ 0.5048163533210754
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -3.5866520420313464e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 48,
+ "virtual_xyz": [
+ 0.1698625087738037,
+ -0.07022923231124878,
+ 0.6445658206939697
+ ],
+ "wrist_rpy": [
+ -1.582780361175537,
+ 0.030959604308009148,
+ 1.5552500486373901
+ ],
+ "finger_dofs": [
+ 0.8953331112861633,
+ -0.0041129011660814285,
+ -0.10620854794979095,
+ 0.565714955329895,
+ 0.00302042905241251,
+ 0.01224543433636427,
+ 0.08627641201019287,
+ -0.002195297507569194,
+ -0.00012638236512430012,
+ 1.04058039188385,
+ -0.003375097643584013,
+ -0.04584028944373131,
+ 0.48216480016708374,
+ -0.022893615067005157,
+ -0.01210877951234579,
+ 0.08285386115312576,
+ 0.0020085619762539864,
+ 0.0019372926326468587,
+ 0.21738435328006744,
+ 0.0022126093972474337,
+ 0.054298050701618195,
+ 0.21983274817466736,
+ -0.003045495133846998,
+ -0.0032036693301051855,
+ 0.08791384845972061,
+ -0.0011583971790969372,
+ 0.0022413923870772123,
+ 0.4069567620754242,
+ 0.02277834340929985,
+ -0.2144341915845871,
+ 0.9735754132270813,
+ -0.006495339795947075,
+ 0.0008590290672145784,
+ 0.12354464083909988,
+ -0.0004625681322067976,
+ 0.0004468488332349807,
+ 0.12204013019800186,
+ 0.3289949595928192,
+ -0.17478011548519135,
+ -0.0009586719679646194,
+ -0.002191872103139758,
+ -0.07973487675189972,
+ 0.0023319607134908438,
+ 0.002109870547428727,
+ -0.19330951571464539
+ ],
+ "wrist_pos": [
+ 0.16986258327960968,
+ -0.07022921741008759,
+ 0.644565761089325
+ ],
+ "wrist_rot": [
+ -0.4991879463195801,
+ 0.5067547559738159,
+ 0.4852115511894226,
+ 0.5085082650184631
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.860794871637154e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 49,
+ "virtual_xyz": [
+ 0.172495037317276,
+ -0.0694083645939827,
+ 0.6447445154190063
+ ],
+ "wrist_rpy": [
+ -1.5874276161193848,
+ 0.04254986345767975,
+ 1.5486736297607422
+ ],
+ "finger_dofs": [
+ 0.9740366339683533,
+ -0.029830966144800186,
+ -0.07617675513029099,
+ 0.5084297060966492,
+ -0.004950833972543478,
+ -0.003718416206538677,
+ 0.08850786089897156,
+ -0.0010102863889187574,
+ 1.8380502297077328e-05,
+ 1.0982716083526611,
+ -0.0023001935333013535,
+ 0.011437407694756985,
+ 0.4842621088027954,
+ -0.002677465323358774,
+ -0.003642530180513859,
+ 0.08729149401187897,
+ 0.0017592735821381211,
+ 0.002450506901368499,
+ 0.2141432762145996,
+ 0.0035014336463063955,
+ 0.06435765326023102,
+ 0.25104469060897827,
+ -0.0033070568460971117,
+ -0.006559251807630062,
+ 0.10004978626966476,
+ -0.0019195352215319872,
+ 0.0026504024863243103,
+ 0.4867999851703644,
+ 0.0458693727850914,
+ -0.22217810153961182,
+ 0.8795512914657593,
+ -0.005766438320279121,
+ 0.0023237543646246195,
+ 0.07898115366697311,
+ 0.0019255266524851322,
+ 0.0020781117491424084,
+ 0.11789623647928238,
+ 0.3267422616481781,
+ -0.16978900134563446,
+ -0.0029092293698340654,
+ -0.002191342180594802,
+ -0.07936866581439972,
+ 0.0016401935135945678,
+ 0.001955422107130289,
+ -0.19778820872306824
+ ],
+ "wrist_pos": [
+ 0.17249509692192078,
+ -0.0694083422422409,
+ 0.6447444558143616
+ ],
+ "wrist_rot": [
+ -0.49914026260375977,
+ 0.5090842247009277,
+ 0.4793564975261688,
+ 0.511771023273468
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.250687351576744e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 50,
+ "virtual_xyz": [
+ 0.17506054043769836,
+ -0.06923644989728928,
+ 0.6445867419242859
+ ],
+ "wrist_rpy": [
+ -1.5924004316329956,
+ 0.06623034179210663,
+ 1.5432988405227661
+ ],
+ "finger_dofs": [
+ 1.0178049802780151,
+ -0.004496307112276554,
+ -0.055922262370586395,
+ 0.43171149492263794,
+ -0.004430167842656374,
+ -0.00017367071995977312,
+ 0.08483383804559708,
+ -0.0014295567525550723,
+ -1.570640415593516e-05,
+ 1.089099407196045,
+ -0.004494999069720507,
+ 0.007570226211100817,
+ 0.5458983182907104,
+ -0.00297271809540689,
+ -0.0022614712361246347,
+ 0.020025059580802917,
+ 0.002008452545851469,
+ 0.0020986387971788645,
+ 0.19467902183532715,
+ 0.004050060175359249,
+ 0.056701403111219406,
+ 0.3022478222846985,
+ -0.004110392183065414,
+ -0.006859678775072098,
+ 0.1280260682106018,
+ -0.001967953983694315,
+ 0.002573774429038167,
+ 0.5781289339065552,
+ 0.030578073114156723,
+ -0.26252374053001404,
+ 0.8029004335403442,
+ -0.01924869418144226,
+ -0.002787355799227953,
+ 0.08494865894317627,
+ 0.0017921457765623927,
+ -0.0012799374526366591,
+ 0.0922446921467781,
+ 0.3328839838504791,
+ -0.1794617474079132,
+ -0.0022541030775755644,
+ -0.0023783566430211067,
+ -0.06387164443731308,
+ 0.0021975345443934202,
+ 0.002241085283458233,
+ -0.21142569184303284
+ ],
+ "wrist_pos": [
+ 0.17506061494350433,
+ -0.06923642754554749,
+ 0.6445866823196411
+ ],
+ "wrist_rot": [
+ -0.49584299325942993,
+ 0.5147010087966919,
+ 0.4704953134059906,
+ 0.517548680305481
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -5.815141079779096e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 51,
+ "virtual_xyz": [
+ 0.17748703062534332,
+ -0.0683290883898735,
+ 0.6445643305778503
+ ],
+ "wrist_rpy": [
+ -1.5938695669174194,
+ 0.09328779578208923,
+ 1.5400950908660889
+ ],
+ "finger_dofs": [
+ 1.0377516746520996,
+ 0.0058050877414643764,
+ -0.02505693957209587,
+ 0.3799514174461365,
+ 0.001826812163926661,
+ -0.002344320761039853,
+ 0.08577008545398712,
+ -0.0008223046315833926,
+ 8.882507245289162e-05,
+ 1.1002781391143799,
+ -0.005041689146310091,
+ 0.02165992371737957,
+ 0.565774142742157,
+ -0.002471436047926545,
+ -0.002445416059345007,
+ -0.0036744324024766684,
+ 0.0022459235042333603,
+ 0.00223403493873775,
+ 0.1471344232559204,
+ 0.007760259788483381,
+ 0.053322963416576385,
+ 0.35661473870277405,
+ -0.005997110158205032,
+ -0.008506344631314278,
+ 0.1480097621679306,
+ -0.002075144089758396,
+ 0.0027879788540303707,
+ 0.6442772150039673,
+ 0.008727431297302246,
+ -0.28242623805999756,
+ 0.7843044400215149,
+ -0.019016779959201813,
+ -0.0017849199939519167,
+ 0.056934576481580734,
+ 0.002189305378124118,
+ -0.001885024132207036,
+ 0.0747029185295105,
+ 0.34160569310188293,
+ -0.19408978521823883,
+ -0.0029809933621436357,
+ -0.0027808526065200567,
+ -0.04286631569266319,
+ 0.0023122751154005527,
+ 0.0024558654986321926,
+ -0.22553543746471405
+ ],
+ "wrist_pos": [
+ 0.1774871051311493,
+ -0.06832906603813171,
+ 0.6445642709732056
+ ],
+ "wrist_rot": [
+ -0.49019333720207214,
+ 0.5207645893096924,
+ 0.46208518743515015,
+ 0.5243966579437256
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -6.337178604098881e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 52,
+ "virtual_xyz": [
+ 0.17975834012031555,
+ -0.06800293922424316,
+ 0.6444689631462097
+ ],
+ "wrist_rpy": [
+ -1.5974959135055542,
+ 0.11176805198192596,
+ 1.5375484228134155
+ ],
+ "finger_dofs": [
+ 1.1020689010620117,
+ -0.015675583854317665,
+ -0.040838878601789474,
+ 0.3237091302871704,
+ 0.003119309898465872,
+ 0.0031786460895091295,
+ 0.09527793526649475,
+ -0.0018174381693825126,
+ 5.407508433563635e-05,
+ 1.1312004327774048,
+ -0.003912018146365881,
+ -0.023355213925242424,
+ 0.6598447561264038,
+ -0.002514521824195981,
+ -0.0020547795575112104,
+ -0.0027878296095877886,
+ 0.0021052248775959015,
+ 0.002109190681949258,
+ 0.10417839139699936,
+ 0.010472354479134083,
+ 0.028163030743598938,
+ 0.40728524327278137,
+ -0.007362400181591511,
+ -0.011509171687066555,
+ 0.18333303928375244,
+ -0.0022846257779747248,
+ 0.002982184523716569,
+ 0.7158489227294922,
+ 0.008489063009619713,
+ -0.2791042625904083,
+ 0.7126479148864746,
+ -0.023077664896845818,
+ 0.0007104750839062035,
+ 0.009305845946073532,
+ 0.002273552818223834,
+ -0.0013134096516296268,
+ 0.06600067019462585,
+ 0.3464340567588806,
+ -0.20045073330402374,
+ -0.0025599184446036816,
+ -0.0026014430914074183,
+ -0.03618162125349045,
+ 0.0022805118933320045,
+ 0.002306483220309019,
+ -0.23219138383865356
+ ],
+ "wrist_pos": [
+ 0.17975839972496033,
+ -0.06800291687250137,
+ 0.6444689035415649
+ ],
+ "wrist_rot": [
+ -0.48708757758140564,
+ 0.5253669619560242,
+ 0.45549124479293823,
+ 0.5284532308578491
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -6.82436791521468e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 53,
+ "virtual_xyz": [
+ 0.18172281980514526,
+ -0.06690135598182678,
+ 0.6448619365692139
+ ],
+ "wrist_rpy": [
+ -1.6032882928848267,
+ 0.1382792741060257,
+ 1.5338433980941772
+ ],
+ "finger_dofs": [
+ 1.0805128812789917,
+ -0.005152801051735878,
+ -0.03163177892565727,
+ 0.3600510060787201,
+ 0.005239876918494701,
+ 0.002144177909940481,
+ 0.08917737007141113,
+ -0.0017375682946294546,
+ 0.0018131994875147939,
+ 1.1422221660614014,
+ -0.0032274355180561543,
+ 0.010542896576225758,
+ 0.6494722962379456,
+ -0.0024070905055850744,
+ -0.0004308678035158664,
+ -0.007337972521781921,
+ 0.0024831793271005154,
+ 0.0014805871760472655,
+ 0.07942607253789902,
+ 0.01256198063492775,
+ 0.040266890078783035,
+ 0.4665031135082245,
+ -0.009470023214817047,
+ -0.008997252210974693,
+ 0.22711528837680817,
+ -0.002504696836695075,
+ 0.0027575260028243065,
+ 0.7951579689979553,
+ 0.008472259156405926,
+ -0.26429346203804016,
+ 0.6390402913093567,
+ -0.016192283481359482,
+ 0.0027458276599645615,
+ -0.005993356928229332,
+ 0.002890991512686014,
+ -0.002338436897844076,
+ 0.05183561518788338,
+ 0.3538255989551544,
+ -0.21522746980190277,
+ -0.003060538088902831,
+ -0.0033142471220344305,
+ -0.011732940562069416,
+ 0.0030089535284787416,
+ 0.003037709277123213,
+ -0.2456674724817276
+ ],
+ "wrist_pos": [
+ 0.18172289431095123,
+ -0.06690133363008499,
+ 0.6448618769645691
+ ],
+ "wrist_rot": [
+ -0.48277747631073,
+ 0.5319905281066895,
+ 0.4457465410232544,
+ 0.5340617895126343
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -9.273277612464881e-08
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 54,
+ "virtual_xyz": [
+ 0.1832713782787323,
+ -0.06564927101135254,
+ 0.6445932984352112
+ ],
+ "wrist_rpy": [
+ -1.6022093296051025,
+ 0.17375175654888153,
+ 1.542931318283081
+ ],
+ "finger_dofs": [
+ 1.0252420902252197,
+ -0.0039506410248577595,
+ -0.09413405507802963,
+ 0.4182051420211792,
+ -0.0024564391933381557,
+ 0.0025035215076059103,
+ 0.09230902045965195,
+ -0.00178847077768296,
+ 0.0015242246445268393,
+ 1.1471261978149414,
+ -0.0006557800807058811,
+ -0.01054411567747593,
+ 0.6927145719528198,
+ -0.0022004302591085434,
+ 0.002602102467790246,
+ -0.008672531694173813,
+ 0.0025356439873576164,
+ -0.0020233842078596354,
+ 3.3946689654840156e-05,
+ 0.017576728016138077,
+ 0.016292763873934746,
+ 0.4942108690738678,
+ -0.01121561136096716,
+ -0.01180298812687397,
+ 0.2882026433944702,
+ -0.0026210336945950985,
+ 0.0029362705536186695,
+ 0.8177235722541809,
+ 0.0029353557620197535,
+ -0.26328936219215393,
+ 0.7490867376327515,
+ -0.013015980832278728,
+ 0.002844216302037239,
+ -0.006490729283541441,
+ 0.0029215607792139053,
+ -0.002483338350430131,
+ 0.031051628291606903,
+ 0.37880295515060425,
+ -0.257521390914917,
+ -0.005005879793316126,
+ -0.0035758819431066513,
+ 0.033715344965457916,
+ 0.0027389624156057835,
+ 0.0031104034278541803,
+ -0.2587987184524536
+ ],
+ "wrist_pos": [
+ 0.18327145278453827,
+ -0.06564924865961075,
+ 0.6445932388305664
+ ],
+ "wrist_rot": [
+ -0.47077736258506775,
+ 0.5420663952827454,
+ 0.4386832118034363,
+ 0.5404531359672546
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.2023288320506254e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 55,
+ "virtual_xyz": [
+ 0.18440791964530945,
+ -0.06736739724874496,
+ 0.645029604434967
+ ],
+ "wrist_rpy": [
+ -1.6054023504257202,
+ 0.19260075688362122,
+ 1.5431894063949585
+ ],
+ "finger_dofs": [
+ 1.0189344882965088,
+ -0.004604788962751627,
+ -0.040514808148145676,
+ 0.3728889524936676,
+ -0.0024607828818261623,
+ -0.0013896941673010588,
+ 0.08604858815670013,
+ 0.00026285069179721177,
+ 0.001834088354371488,
+ 1.1066268682479858,
+ 0.003856764640659094,
+ 0.001810880028642714,
+ 0.7224559187889099,
+ -0.0027735759504139423,
+ 0.0009439682471565902,
+ -0.007374718319624662,
+ 0.0025738414842635393,
+ 0.000533152197021991,
+ -0.09756366163492203,
+ 0.020587880164384842,
+ 0.025861743837594986,
+ 0.5758444666862488,
+ -0.011112792417407036,
+ -0.010930091142654419,
+ 0.38102278113365173,
+ -0.002721443772315979,
+ 0.003393173450604081,
+ 0.86734539270401,
+ 0.002842152025550604,
+ -0.20355090498924255,
+ 0.8112809658050537,
+ -0.01129696425050497,
+ 0.003595787100493908,
+ -0.009260687045753002,
+ 0.00326979486271739,
+ -0.0028297591488808393,
+ 0.0018984087510034442,
+ 0.39123469591140747,
+ -0.26459190249443054,
+ -0.005015587899833918,
+ -0.004143745172768831,
+ 0.05145852267742157,
+ 0.0034087346866726875,
+ 0.0035395093727856874,
+ -0.2593732476234436
+ ],
+ "wrist_pos": [
+ 0.18440799415111542,
+ -0.06736737489700317,
+ 0.6450295448303223
+ ],
+ "wrist_rot": [
+ -0.46657875180244446,
+ 0.5470684766769409,
+ 0.43263083696365356,
+ 0.5439217686653137
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.537826932462849e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 56,
+ "virtual_xyz": [
+ 0.1852760910987854,
+ -0.06897099316120148,
+ 0.6457340717315674
+ ],
+ "wrist_rpy": [
+ -1.6186845302581787,
+ 0.22057873010635376,
+ 1.5405865907669067
+ ],
+ "finger_dofs": [
+ 1.0549546480178833,
+ -0.004498605150729418,
+ 0.008435359224677086,
+ 0.23890420794487,
+ -0.0018622626084834337,
+ -0.0023070769384503365,
+ 0.07121534645557404,
+ -0.0015145568177103996,
+ 0.002146506682038307,
+ 1.005545973777771,
+ -0.025639234110713005,
+ 0.07657598704099655,
+ 0.8690956234931946,
+ -0.0023228158243000507,
+ -4.758354407385923e-05,
+ -0.005969817750155926,
+ 0.002359395381063223,
+ -0.0018451833166182041,
+ -0.23943789303302765,
+ 0.015736257657408714,
+ 0.05807020142674446,
+ 0.6396189332008362,
+ -0.011208678595721722,
+ -0.012424228712916374,
+ 0.5165947675704956,
+ -0.0021312222816050053,
+ 0.004577580373734236,
+ 0.7938304543495178,
+ -0.006311762612313032,
+ -0.14424178004264832,
+ 0.8850024938583374,
+ -0.008998071774840355,
+ 0.004450786393135786,
+ -0.008332527242600918,
+ 0.003220866434276104,
+ -0.002945927670225501,
+ -0.04136509448289871,
+ 0.3984200060367584,
+ -0.27194684743881226,
+ -0.006455195136368275,
+ -0.005113791208714247,
+ 0.07822971791028976,
+ 0.0037969346158206463,
+ 0.0036561840679496527,
+ -0.26184093952178955
+ ],
+ "wrist_pos": [
+ 0.18527616560459137,
+ -0.06897097826004028,
+ 0.6457340121269226
+ ],
+ "wrist_rot": [
+ -0.463461309671402,
+ 0.555480420589447,
+ 0.4203626215457916,
+ 0.5476680994033813
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.8164455184432882e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 57,
+ "virtual_xyz": [
+ 0.1861327588558197,
+ -0.06983373314142227,
+ 0.646486222743988
+ ],
+ "wrist_rpy": [
+ -1.638291597366333,
+ 0.26740849018096924,
+ 1.5353575944900513
+ ],
+ "finger_dofs": [
+ 0.9864600300788879,
+ 0.011207105591893196,
+ 0.06510467082262039,
+ 0.22109626233577728,
+ -0.0019441874464973807,
+ -0.002907294314354658,
+ 0.05089389532804489,
+ -0.0018207759130746126,
+ 0.0026139006949961185,
+ 0.8582841157913208,
+ -0.046644531190395355,
+ 0.14048142731189728,
+ 1.1010164022445679,
+ -0.0029685688205063343,
+ 0.003833207068964839,
+ -0.0012210817076265812,
+ 0.0018704148242250085,
+ -0.002408280735835433,
+ -0.3783456087112427,
+ 0.015954503789544106,
+ 0.09202241152524948,
+ 0.6071084141731262,
+ -0.010744542814791203,
+ -0.01850840449333191,
+ 0.6914734840393066,
+ 0.0026763156056404114,
+ 0.006785439793020487,
+ 0.7262410521507263,
+ -0.021444205194711685,
+ -0.06445445120334625,
+ 0.9472945332527161,
+ -0.003686613403260708,
+ 0.0037658605724573135,
+ -0.007589635439217091,
+ 0.0031810300424695015,
+ -0.0030868209432810545,
+ -0.1027880311012268,
+ 0.41316214203834534,
+ -0.28532108664512634,
+ -0.01229467149823904,
+ -0.009179849177598953,
+ 0.11383549124002457,
+ 0.004148183856159449,
+ 0.0040430170483887196,
+ -0.26197826862335205
+ ],
+ "wrist_pos": [
+ 0.18613283336162567,
+ -0.06983371078968048,
+ 0.6464861631393433
+ ],
+ "wrist_rot": [
+ -0.4577507972717285,
+ 0.568320095539093,
+ 0.39990779757499695,
+ 0.5545721650123596
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.8749513230886805e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 58,
+ "virtual_xyz": [
+ 0.18714192509651184,
+ -0.06908037513494492,
+ 0.6467376351356506
+ ],
+ "wrist_rpy": [
+ -1.6539552211761475,
+ 0.30133986473083496,
+ 1.53290855884552
+ ],
+ "finger_dofs": [
+ 0.9245378971099854,
+ 0.013261038810014725,
+ 0.11070191860198975,
+ 0.23227666318416595,
+ -0.0019761761650443077,
+ -0.002980310469865799,
+ 0.031018465757369995,
+ -0.0018852839712053537,
+ 0.002775137545540929,
+ 0.7965818047523499,
+ -0.04943631961941719,
+ 0.1801203489303589,
+ 1.2164132595062256,
+ -0.006073916330933571,
+ 0.0034912358969449997,
+ 0.01830875501036644,
+ 0.0017743328353390098,
+ -0.002278544008731842,
+ -0.3767549395561218,
+ 0.007282058242708445,
+ 0.12017986923456192,
+ 0.5768411755561829,
+ -0.009527568705379963,
+ -0.015789952129125595,
+ 0.7246670126914978,
+ 0.0037501174956560135,
+ 0.006367843132466078,
+ 0.6469892263412476,
+ -0.026809101924300194,
+ -0.01330947782844305,
+ 1.021557331085205,
+ -0.0034425524063408375,
+ 0.003613344393670559,
+ -0.005068276543170214,
+ 0.0028392935637384653,
+ -0.0028686539735645056,
+ -0.11301209777593613,
+ 0.4378698468208313,
+ -0.299802303314209,
+ -0.012903627939522266,
+ -0.0099757956340909,
+ 0.12770749628543854,
+ 0.004322405904531479,
+ 0.004225588869303465,
+ -0.25760218501091003
+ ],
+ "wrist_pos": [
+ 0.1871419996023178,
+ -0.06908035278320312,
+ 0.6467375755310059
+ ],
+ "wrist_rot": [
+ -0.45361775159835815,
+ 0.5778328776359558,
+ 0.3847377598285675,
+ 0.558853268623352
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.9602209988534014e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 59,
+ "virtual_xyz": [
+ 0.18780411779880524,
+ -0.06806934624910355,
+ 0.6466866135597229
+ ],
+ "wrist_rpy": [
+ -1.661531686782837,
+ 0.3178422749042511,
+ 1.5345097780227661
+ ],
+ "finger_dofs": [
+ 0.9019335508346558,
+ 0.012368561699986458,
+ 0.12277881056070328,
+ 0.24176853895187378,
+ -0.0019051398849114776,
+ -0.003232926595956087,
+ 0.020706037059426308,
+ -0.0018646613461896777,
+ 0.002775868633762002,
+ 0.7511212825775146,
+ -0.040901992470026016,
+ 0.15879322588443756,
+ 1.2860932350158691,
+ -0.009897278621792793,
+ 0.0025927501264959574,
+ 0.032692600041627884,
+ 0.0019221672555431724,
+ -0.002249073702841997,
+ -0.37727415561676025,
+ 0.006793695501983166,
+ 0.10325230658054352,
+ 0.5540647506713867,
+ -0.008371628820896149,
+ -0.013284698128700256,
+ 0.7303888201713562,
+ 0.003631114261224866,
+ 0.0049334196373820305,
+ 0.6240319013595581,
+ -0.024179479107260704,
+ -0.005060137249529362,
+ 1.049160361289978,
+ -0.0028962998185306787,
+ 0.004288260824978352,
+ -0.004910963587462902,
+ 0.002820491325110197,
+ -0.003264734288677573,
+ -0.09010528773069382,
+ 0.4600478708744049,
+ -0.3186552822589874,
+ -0.012396608479321003,
+ -0.010769359767436981,
+ 0.1340135633945465,
+ 0.005109747406095266,
+ 0.004567288793623447,
+ -0.25784802436828613
+ ],
+ "wrist_pos": [
+ 0.1878041923046112,
+ -0.06806932389736176,
+ 0.6466865539550781
+ ],
+ "wrist_rot": [
+ -0.4507753252983093,
+ 0.5829558968544006,
+ 0.3780628740787506,
+ 0.5603858828544617
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.204950675377404e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 60,
+ "virtual_xyz": [
+ 0.18849040567874908,
+ -0.06796211749315262,
+ 0.6462754011154175
+ ],
+ "wrist_rpy": [
+ -1.665049433708191,
+ 0.3310922086238861,
+ 1.5245790481567383
+ ],
+ "finger_dofs": [
+ 0.9590628743171692,
+ -0.019664891064167023,
+ 0.13261592388153076,
+ 0.2304452508687973,
+ -0.0018744680564850569,
+ -0.0027156416326761246,
+ 0.01570831798017025,
+ -0.001938027678988874,
+ 0.002750472165644169,
+ 0.7319291830062866,
+ -0.03910207375884056,
+ 0.14760728180408478,
+ 1.305167317390442,
+ -0.012311865575611591,
+ -0.0017885139677673578,
+ 0.05882054194808006,
+ 0.0009862517472356558,
+ 0.001538947457447648,
+ -0.28850600123405457,
+ 0.02281409315764904,
+ 0.09972041845321655,
+ 0.4673292934894562,
+ -0.007352781482040882,
+ -0.029971063137054443,
+ 0.6695562601089478,
+ 0.0023119670804589987,
+ 0.004879678599536419,
+ 0.6068091988563538,
+ -0.022092165425419807,
+ 0.02451658807694912,
+ 1.0196022987365723,
+ -0.004669382702559233,
+ 0.0019988419953733683,
+ -0.002280977787449956,
+ 0.0024264000821858644,
+ -0.0022097104229032993,
+ -0.08089234679937363,
+ 0.47117212414741516,
+ -0.31221288442611694,
+ -0.01079626102000475,
+ -0.008810318075120449,
+ 0.12510846555233002,
+ 0.004098836798220873,
+ 0.0040366677567362785,
+ -0.25528955459594727
+ ],
+ "wrist_pos": [
+ 0.18849048018455505,
+ -0.06796209514141083,
+ 0.6462753415107727
+ ],
+ "wrist_rot": [
+ -0.45104172825813293,
+ 0.5840054154396057,
+ 0.37025901675224304,
+ 0.5642759203910828
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.245836014935776e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 61,
+ "virtual_xyz": [
+ 0.18877264857292175,
+ -0.06814002990722656,
+ 0.6461355686187744
+ ],
+ "wrist_rpy": [
+ -1.6513789892196655,
+ 0.33126404881477356,
+ 1.516857385635376
+ ],
+ "finger_dofs": [
+ 0.9747888445854187,
+ -0.004876603838056326,
+ 0.10934973508119583,
+ 0.23252727091312408,
+ -0.002021930180490017,
+ -0.0030152162071317434,
+ 0.021891271695494652,
+ -0.0018870155327022076,
+ 0.002749838400632143,
+ 0.7389159202575684,
+ -0.02667367272078991,
+ 0.1289275586605072,
+ 1.2555811405181885,
+ -0.008852614089846611,
+ -0.0020579583942890167,
+ 0.08528056740760803,
+ 0.00012403365690261126,
+ 0.0017843719106167555,
+ -0.21515560150146484,
+ 0.014424334280192852,
+ 0.07944679260253906,
+ 0.43246737122535706,
+ -0.0064071486704051495,
+ -0.015370556153357029,
+ 0.5277485847473145,
+ 0.001996195176616311,
+ 0.0036642933264374733,
+ 0.589483916759491,
+ -0.018015790730714798,
+ 0.005474253091961145,
+ 1.0131449699401855,
+ -0.0033035725355148315,
+ 0.00441786227747798,
+ -0.0043921503238379955,
+ 0.0027164276689291,
+ -0.003247373504564166,
+ -0.049633968621492386,
+ 0.48459842801094055,
+ -0.3171369135379791,
+ -0.010513589717447758,
+ -0.010888634249567986,
+ 0.12129994481801987,
+ 0.005514444783329964,
+ 0.004556993488222361,
+ -0.2602529227733612
+ ],
+ "wrist_pos": [
+ 0.18877272307872772,
+ -0.06814000755548477,
+ 0.6461355090141296
+ ],
+ "wrist_rot": [
+ -0.44936859607696533,
+ 0.5797646641731262,
+ 0.3719971776008606,
+ 0.5688222050666809
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4201236215048993e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 62,
+ "virtual_xyz": [
+ 0.18922513723373413,
+ -0.06785484403371811,
+ 0.645906925201416
+ ],
+ "wrist_rpy": [
+ -1.6472193002700806,
+ 0.3397105932235718,
+ 1.5099352598190308
+ ],
+ "finger_dofs": [
+ 0.9729064106941223,
+ -0.00440203445032239,
+ 0.10247109085321426,
+ 0.23711679875850677,
+ -0.0018893523374572396,
+ -0.0026912980247288942,
+ 0.025283941999077797,
+ -0.0019044651417061687,
+ 0.0026695439592003822,
+ 0.7672028541564941,
+ -0.029694082215428352,
+ 0.13411426544189453,
+ 1.1993932723999023,
+ -0.005945043638348579,
+ -0.001915846369229257,
+ 0.08346738666296005,
+ 0.0012544224737212062,
+ 0.0009620875352993608,
+ -0.19292834401130676,
+ 0.01374091301113367,
+ 0.10145094990730286,
+ 0.4492311179637909,
+ -0.0077050295658409595,
+ -0.01631578989326954,
+ 0.4684857130050659,
+ -0.0015624895459041,
+ 0.004096705466508865,
+ 0.580124020576477,
+ -0.019964398816227913,
+ 0.005243899300694466,
+ 0.9957717657089233,
+ -0.004183539655059576,
+ 0.0041036782786250114,
+ -0.004691061098128557,
+ 0.002742472570389509,
+ -0.003048870712518692,
+ -0.03816423937678337,
+ 0.484311044216156,
+ -0.3168621361255646,
+ -0.009870662353932858,
+ -0.009859330020844936,
+ 0.12167589366436005,
+ 0.005285581573843956,
+ 0.0045161982998251915,
+ -0.2609162926673889
+ ],
+ "wrist_pos": [
+ 0.1892252117395401,
+ -0.06785482168197632,
+ 0.6459068655967712
+ ],
+ "wrist_rot": [
+ -0.4478699564933777,
+ 0.5791415572166443,
+ 0.36867478489875793,
+ 0.5727881789207458
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4730212544454844e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 63,
+ "virtual_xyz": [
+ 0.18937905132770538,
+ -0.06812277436256409,
+ 0.6460925340652466
+ ],
+ "wrist_rpy": [
+ -1.6457239389419556,
+ 0.33750179409980774,
+ 1.508823037147522
+ ],
+ "finger_dofs": [
+ 0.9856511354446411,
+ -0.004007469862699509,
+ 0.10140537470579147,
+ 0.23706625401973724,
+ -0.0019088097615167499,
+ -0.002783961361274123,
+ 0.026396071538329124,
+ -0.0019025909714400768,
+ 0.0027166439685970545,
+ 0.7754859328269958,
+ -0.030495453625917435,
+ 0.13009527325630188,
+ 1.1904808282852173,
+ -0.005858792923390865,
+ -0.0010564744006842375,
+ 0.07693453878164291,
+ 0.0018212181748822331,
+ -0.0017607547342777252,
+ -0.15852314233779907,
+ 0.011399033479392529,
+ 0.10333806276321411,
+ 0.4481484591960907,
+ -0.007641461677849293,
+ -0.014877348206937313,
+ 0.4173499047756195,
+ -0.0021951156668365,
+ 0.003987431991845369,
+ 0.5925773978233337,
+ -0.01798289082944393,
+ 0.007393598090857267,
+ 0.9740813374519348,
+ -0.0038456174079328775,
+ 0.0038624864537268877,
+ -0.004885562229901552,
+ 0.002754439366981387,
+ -0.00305055920034647,
+ -0.024620993062853813,
+ 0.48116013407707214,
+ -0.3178284764289856,
+ -0.010018967092037201,
+ -0.010196306742727757,
+ 0.1242421492934227,
+ 0.005394017323851585,
+ 0.0045337495394051075,
+ -0.2620142698287964
+ ],
+ "wrist_pos": [
+ 0.18937912583351135,
+ -0.0681227520108223,
+ 0.6460924744606018
+ ],
+ "wrist_rot": [
+ -0.4483698904514313,
+ 0.5781707167625427,
+ 0.36945709586143494,
+ 0.5728737115859985
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.5307883788627805e-07
+ ]
+ },
+ {
+ "phase": "approach",
+ "step": 64,
+ "virtual_xyz": [
+ 0.18934570252895355,
+ -0.068365179002285,
+ 0.6460756659507751
+ ],
+ "wrist_rpy": [
+ -1.6440480947494507,
+ 0.33530494570732117,
+ 1.507005214691162
+ ],
+ "finger_dofs": [
+ 0.9935095310211182,
+ -0.003573015797883272,
+ 0.10204851627349854,
+ 0.23754601180553436,
+ -0.001917018205858767,
+ -0.002737727016210556,
+ 0.027564970776438713,
+ -0.00189910177141428,
+ 0.002686460269615054,
+ 0.7929625511169434,
+ -0.02837132290005684,
+ 0.1255016028881073,
+ 1.1719034910202026,
+ -0.004659791477024555,
+ 0.000245143222855404,
+ 0.07990165054798126,
+ 0.0018183172214776278,
+ -0.0016324830939993262,
+ -0.13255351781845093,
+ 0.011576520279049873,
+ 0.11242251843214035,
+ 0.4501458704471588,
+ -0.00728282006457448,
+ -0.01501480769366026,
+ 0.38735565543174744,
+ -0.0023927458096295595,
+ 0.0040650637820363045,
+ 0.5940138697624207,
+ -0.016057046130299568,
+ 0.007771003060042858,
+ 0.9650881886482239,
+ -0.0044212969951331615,
+ 0.003859293879941106,
+ -0.0053974660113453865,
+ 0.0028077082242816687,
+ -0.0029584637377411127,
+ -0.016132177785038948,
+ 0.48128244280815125,
+ -0.3172706961631775,
+ -0.009385645389556885,
+ -0.009952004998922348,
+ 0.12407010048627853,
+ 0.005486860405653715,
+ 0.004546538460999727,
+ -0.2619023621082306
+ ],
+ "wrist_pos": [
+ 0.18934577703475952,
+ -0.06836515665054321,
+ 0.6460756063461304
+ ],
+ "wrist_rot": [
+ -0.44901737570762634,
+ 0.5770081281661987,
+ 0.3700844645500183,
+ 0.5731337666511536
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.5770918909984175e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 0,
+ "virtual_xyz": [
+ 0.18935620784759521,
+ -0.06837426126003265,
+ 0.6460686326026917
+ ],
+ "wrist_rpy": [
+ -1.6418120861053467,
+ 0.3348795771598816,
+ 1.5062556266784668
+ ],
+ "finger_dofs": [
+ 0.9992539882659912,
+ -0.003401950467377901,
+ 0.10264142602682114,
+ 0.23811738193035126,
+ -0.001976333325728774,
+ -0.002738401759415865,
+ 0.02965293638408184,
+ -0.0018962599569931626,
+ 0.002680799923837185,
+ 0.8097703456878662,
+ -0.022966299206018448,
+ 0.11471153795719147,
+ 1.1377332210540771,
+ -0.003778634127229452,
+ 0.0008840506779961288,
+ 0.0855230912566185,
+ 0.0013489860575646162,
+ -0.0014331259299069643,
+ -0.12015680223703384,
+ 0.0097157321870327,
+ 0.12059309333562851,
+ 0.45656055212020874,
+ -0.008727199397981167,
+ -0.014075642451643944,
+ 0.37690529227256775,
+ -0.002494614804163575,
+ 0.004008762072771788,
+ 0.5882717967033386,
+ -0.012596102431416512,
+ -0.0034491491969674826,
+ 0.9913466572761536,
+ -0.004887332208454609,
+ 0.0038159769028425217,
+ -0.005063782446086407,
+ 0.002761049196124077,
+ -0.0030285969842225313,
+ -0.008149782195687294,
+ 0.48320671916007996,
+ -0.3194369375705719,
+ -0.008819585666060448,
+ -0.009746117517352104,
+ 0.12579964101314545,
+ 0.005563081242144108,
+ 0.004527129698544741,
+ -0.26193419098854065
+ ],
+ "wrist_pos": [
+ 0.18935628235340118,
+ -0.06837423890829086,
+ 0.6460685729980469
+ ],
+ "wrist_rot": [
+ -0.44870930910110474,
+ 0.5763394236564636,
+ 0.3706427216529846,
+ 0.5736870169639587
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.5717886842357984e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 1,
+ "virtual_xyz": [
+ 0.1897202432155609,
+ -0.06816573441028595,
+ 0.646011471748352
+ ],
+ "wrist_rpy": [
+ -1.6444854736328125,
+ 0.3403788208961487,
+ 1.5056604146957397
+ ],
+ "finger_dofs": [
+ 0.988993763923645,
+ -0.0032324183266609907,
+ 0.10632310062646866,
+ 0.2462974488735199,
+ -0.0019929108675569296,
+ -0.0026175458915531635,
+ 0.03184407204389572,
+ -0.0019116391194984317,
+ 0.0026688145007938147,
+ 0.8062795400619507,
+ -0.023611286655068398,
+ 0.10355263948440552,
+ 1.0220686197280884,
+ -0.002584203379228711,
+ 0.0018329895101487637,
+ 0.08432658016681671,
+ 0.0018358693923801184,
+ -0.001780983991920948,
+ -0.11913984268903732,
+ 0.006552005652338266,
+ 0.1338970959186554,
+ 0.48034653067588806,
+ -0.007769621908664703,
+ -0.012956513091921806,
+ 0.37910062074661255,
+ -0.002469890983775258,
+ 0.00410886388272047,
+ 0.5929891467094421,
+ -0.019288145005702972,
+ 0.0006073802942410111,
+ 0.999634325504303,
+ -0.004913026001304388,
+ 0.00370265101082623,
+ -0.005271565169095993,
+ 0.002789558842778206,
+ -0.00292278197593987,
+ -0.009229844436049461,
+ 0.48193487524986267,
+ -0.31863653659820557,
+ -0.007026830222457647,
+ -0.008864276111125946,
+ 0.127301424741745,
+ 0.00536919804289937,
+ 0.004347990266978741,
+ -0.2613969147205353
+ ],
+ "wrist_pos": [
+ 0.18972031772136688,
+ -0.06816571205854416,
+ 0.6460114121437073
+ ],
+ "wrist_rot": [
+ -0.448138952255249,
+ 0.5778153538703918,
+ 0.36803722381591797,
+ 0.5743251442909241
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4676890575392463e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 2,
+ "virtual_xyz": [
+ 0.1897740662097931,
+ -0.06806894391775131,
+ 0.6460765600204468
+ ],
+ "wrist_rpy": [
+ -1.6468497514724731,
+ 0.3407222330570221,
+ 1.5071916580200195
+ ],
+ "finger_dofs": [
+ 0.9886967539787292,
+ -0.002894146367907524,
+ 0.10840687900781631,
+ 0.255018025636673,
+ -0.0019870521500706673,
+ -0.002741273958235979,
+ 0.037208106368780136,
+ -0.0019019856117665768,
+ 0.0027217017486691475,
+ 0.8040090203285217,
+ -0.01873054727911949,
+ 0.1186167299747467,
+ 0.8975064754486084,
+ -0.001971730263903737,
+ 0.0009616932948119938,
+ 0.0854024812579155,
+ 0.0018326934659853578,
+ -0.001800465164706111,
+ -0.10441344976425171,
+ 0.003784084226936102,
+ 0.1413084864616394,
+ 0.4894203245639801,
+ -0.00696735130622983,
+ -0.010966606438159943,
+ 0.3699391186237335,
+ -0.0024216528981924057,
+ 0.0040769511833786964,
+ 0.5981306433677673,
+ -0.017019646242260933,
+ -0.0028973885346204042,
+ 1.02012038230896,
+ -0.004617973230779171,
+ 0.003581237280741334,
+ -0.0046975864097476006,
+ 0.0027370816096663475,
+ -0.0029181165155023336,
+ -0.006923608481884003,
+ 0.4838721752166748,
+ -0.31861263513565063,
+ -0.007796384394168854,
+ -0.009117670357227325,
+ 0.1252577006816864,
+ 0.005004943814128637,
+ 0.004257859196513891,
+ -0.26309290528297424
+ ],
+ "wrist_pos": [
+ 0.18977412581443787,
+ -0.06806892156600952,
+ 0.646076500415802
+ ],
+ "wrist_rot": [
+ -0.4482804536819458,
+ 0.5786627531051636,
+ 0.3676891326904297,
+ 0.5735840797424316
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4611813387309667e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 3,
+ "virtual_xyz": [
+ 0.18961605429649353,
+ -0.06832100450992584,
+ 0.6465084552764893
+ ],
+ "wrist_rpy": [
+ -1.6535264253616333,
+ 0.33728882670402527,
+ 1.5090205669403076
+ ],
+ "finger_dofs": [
+ 0.9887215495109558,
+ -0.002131725661456585,
+ 0.11168348044157028,
+ 0.27557265758514404,
+ -0.0021188524551689625,
+ -0.002965502440929413,
+ 0.0404607392847538,
+ -0.001902707270346582,
+ 0.0028319910634309053,
+ 0.8375269770622253,
+ -0.023001311346888542,
+ 0.15734566748142242,
+ 0.8142551183700562,
+ 0.00012590074038598686,
+ 0.00033133779652416706,
+ 0.09048767387866974,
+ 0.0018386230804026127,
+ -0.0015173681313171983,
+ -0.08431819826364517,
+ -0.000504528172314167,
+ 0.14801935851573944,
+ 0.4720374047756195,
+ -0.0046751974150538445,
+ -0.008373310789465904,
+ 0.36494386196136475,
+ -0.0021229127887636423,
+ 0.004096061922609806,
+ 0.5914596319198608,
+ -0.012549502775073051,
+ 0.007837994955480099,
+ 1.0225887298583984,
+ -0.0043661040253937244,
+ 0.003431715304031968,
+ -0.0016542617231607437,
+ 0.0024239199701696634,
+ -0.002544150222092867,
+ -0.008488001301884651,
+ 0.484075129032135,
+ -0.31615790724754333,
+ -0.006101999897509813,
+ -0.008299045264720917,
+ 0.12354456633329391,
+ 0.004663275554776192,
+ 0.003980994690209627,
+ -0.26614663004875183
+ ],
+ "wrist_pos": [
+ 0.1896161288022995,
+ -0.06832097470760345,
+ 0.6465083956718445
+ ],
+ "wrist_rot": [
+ -0.4506025016307831,
+ 0.5796093344688416,
+ 0.3673197627067566,
+ 0.5710398554801941
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.48316723627795e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 4,
+ "virtual_xyz": [
+ 0.1898014396429062,
+ -0.06816568225622177,
+ 0.646462082862854
+ ],
+ "wrist_rpy": [
+ -1.6591596603393555,
+ 0.34151384234428406,
+ 1.5122530460357666
+ ],
+ "finger_dofs": [
+ 0.9788179397583008,
+ -0.0032240678556263447,
+ 0.11417548358440399,
+ 0.29741373658180237,
+ -0.0021116279531270266,
+ -0.0028186365962028503,
+ 0.04907017946243286,
+ -0.0019080440979450941,
+ 0.002797758672386408,
+ 0.8309133648872375,
+ -0.016857197508215904,
+ 0.17572353780269623,
+ 0.7224360704421997,
+ 0.001977026229724288,
+ -0.002085496671497822,
+ 0.09532231092453003,
+ 0.0018977844156324863,
+ -0.001758789410814643,
+ -0.07172103226184845,
+ 0.0021756563801318407,
+ 0.1482977271080017,
+ 0.4820079803466797,
+ -0.00641633989289403,
+ -0.009553512558341026,
+ 0.3553667366504669,
+ -0.00240149162709713,
+ 0.003824878018349409,
+ 0.5962987542152405,
+ -0.01565064676105976,
+ 0.013533285818994045,
+ 1.0354846715927124,
+ -0.004095751792192459,
+ 0.003967080265283585,
+ -0.004881974775344133,
+ 0.002737452043220401,
+ -0.0028958586044609547,
+ -0.009520472027361393,
+ 0.4952584207057953,
+ -0.32524871826171875,
+ -0.0051032863557338715,
+ -0.00869675725698471,
+ 0.1256180703639984,
+ 0.005785903427749872,
+ 0.004254363477230072,
+ -0.2705802321434021
+ ],
+ "wrist_pos": [
+ 0.18980151414871216,
+ -0.06816565990447998,
+ 0.6464620232582092
+ ],
+ "wrist_rot": [
+ -0.450113981962204,
+ 0.5822139978408813,
+ 0.36532339453697205,
+ 0.5700553059577942
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.431671930480661e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 5,
+ "virtual_xyz": [
+ 0.1897522658109665,
+ -0.06888473778963089,
+ 0.6466044783592224
+ ],
+ "wrist_rpy": [
+ -1.6662349700927734,
+ 0.3335737884044647,
+ 1.5165797472000122
+ ],
+ "finger_dofs": [
+ 0.9846071004867554,
+ -0.004245777148753405,
+ 0.11224342882633209,
+ 0.32199811935424805,
+ -0.0020122805144637823,
+ -0.0029385278467088938,
+ 0.06344397366046906,
+ -0.0018690774450078607,
+ 0.002790397498756647,
+ 0.921931803226471,
+ -0.021858708932995796,
+ 0.17835700511932373,
+ 0.6988440155982971,
+ -0.001824083854444325,
+ 0.000346657179761678,
+ 0.09092968702316284,
+ 0.0019772157538682222,
+ -0.0009274251642636955,
+ -0.041230492293834686,
+ 0.0024117722641676664,
+ 0.13894963264465332,
+ 0.47235143184661865,
+ -0.004394994117319584,
+ -0.007102821487933397,
+ 0.33842429518699646,
+ -0.002292599529027939,
+ 0.003671430516988039,
+ 0.6305964589118958,
+ -0.016024434939026833,
+ 0.009955521672964096,
+ 1.0281202793121338,
+ -0.0038713340181857347,
+ 0.0036382414400577545,
+ -0.0006773406639695168,
+ 0.0026953776832669973,
+ -0.00292966072447598,
+ -0.005292320623993874,
+ 0.4982439875602722,
+ -0.32626792788505554,
+ -0.007207437884062529,
+ -0.008442943915724754,
+ 0.11834453046321869,
+ 0.005018317140638828,
+ 0.004222000949084759,
+ -0.2755255699157715
+ ],
+ "wrist_pos": [
+ 0.18975234031677246,
+ -0.0688847154378891,
+ 0.6466044187545776
+ ],
+ "wrist_rot": [
+ -0.4530329704284668,
+ 0.5829077959060669,
+ 0.36690157651901245,
+ 0.5660059452056885
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4064402737167256e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 6,
+ "virtual_xyz": [
+ 0.18969328701496124,
+ -0.06877612322568893,
+ 0.6465945243835449
+ ],
+ "wrist_rpy": [
+ -1.6698529720306396,
+ 0.33242934942245483,
+ 1.5187997817993164
+ ],
+ "finger_dofs": [
+ 0.9788830280303955,
+ -0.003692885395139456,
+ 0.10709992051124573,
+ 0.34142741560935974,
+ -0.0021402325946837664,
+ -0.002911758841946721,
+ 0.08028891682624817,
+ -0.0018489216454327106,
+ 0.0027536735869944096,
+ 0.8885889649391174,
+ -0.018541235476732254,
+ 0.17993101477622986,
+ 0.7445616722106934,
+ -0.0005696523003280163,
+ -0.0016761021688580513,
+ 0.10305262356996536,
+ 0.0020156174432486296,
+ 0.00044109931332059205,
+ -0.02022380568087101,
+ 0.0023055975325405598,
+ 0.14161953330039978,
+ 0.4697134792804718,
+ -0.0062291244976222515,
+ -0.010695552453398705,
+ 0.32966017723083496,
+ -0.0025481136981397867,
+ 0.0037084135692566633,
+ 0.6307770013809204,
+ -0.01706852577626705,
+ 0.014387447386980057,
+ 1.040485143661499,
+ -0.004233460873365402,
+ 0.003876353846862912,
+ -0.005577991716563702,
+ 0.0028212186880409718,
+ -0.002876777434721589,
+ -0.001996483886614442,
+ 0.5114633440971375,
+ -0.3329786956310272,
+ -0.005325428210198879,
+ -0.008380286395549774,
+ 0.11928901821374893,
+ 0.005752421449869871,
+ 0.004269609693437815,
+ -0.28244176506996155
+ ],
+ "wrist_pos": [
+ 0.1896933615207672,
+ -0.06877610087394714,
+ 0.6465944647789001
+ ],
+ "wrist_rot": [
+ -0.45371976494789124,
+ 0.5838479995727539,
+ 0.3668207824230194,
+ 0.5645372867584229
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4493596129104844e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 7,
+ "virtual_xyz": [
+ 0.18975454568862915,
+ -0.06865520775318146,
+ 0.6465594172477722
+ ],
+ "wrist_rpy": [
+ -1.6720720529556274,
+ 0.33355969190597534,
+ 1.5195754766464233
+ ],
+ "finger_dofs": [
+ 0.9783922433853149,
+ -0.004259148146957159,
+ 0.10888364911079407,
+ 0.3637676239013672,
+ -0.0021354020573198795,
+ -0.0027925383765250444,
+ 0.1001923531293869,
+ -0.0018336778739467263,
+ 0.0027629751712083817,
+ 0.8862267136573792,
+ -0.017137140035629272,
+ 0.17605772614479065,
+ 0.7167295813560486,
+ 0.001967760967090726,
+ -0.001817010808736086,
+ 0.11742124706506729,
+ 0.0019704948645085096,
+ -0.001818621065467596,
+ -0.008137931115925312,
+ 0.002192064421251416,
+ 0.13937216997146606,
+ 0.4536952078342438,
+ -0.0055815172381699085,
+ -0.009241613559424877,
+ 0.3348592519760132,
+ -0.002300846390426159,
+ 0.0035819660406559706,
+ 0.638181746006012,
+ -0.02007882110774517,
+ 0.013980504125356674,
+ 1.0484728813171387,
+ -0.003917026333510876,
+ 0.0039186254143714905,
+ -0.005074191838502884,
+ 0.0028183232061564922,
+ -0.0029391953721642494,
+ -0.0002901931293308735,
+ 0.5259191393852234,
+ -0.33716267347335815,
+ -0.0061608608812093735,
+ -0.008444396778941154,
+ 0.11541303992271423,
+ 0.00540374219417572,
+ 0.004202174488455057,
+ -0.28779518604278564
+ ],
+ "wrist_pos": [
+ 0.1897546350955963,
+ -0.06865518540143967,
+ 0.6465593576431274
+ ],
+ "wrist_rot": [
+ -0.453811377286911,
+ 0.584653913974762,
+ 0.36604857444763184,
+ 0.5641307234764099
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.443632638460258e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 8,
+ "virtual_xyz": [
+ 0.18978479504585266,
+ -0.06849642843008041,
+ 0.6464291214942932
+ ],
+ "wrist_rpy": [
+ -1.673996925354004,
+ 0.3356037735939026,
+ 1.5184352397918701
+ ],
+ "finger_dofs": [
+ 0.9718517661094666,
+ -0.0039675128646194935,
+ 0.10879269242286682,
+ 0.39041805267333984,
+ -0.0021006774622946978,
+ -0.0027522502932697535,
+ 0.12324187904596329,
+ -0.001797584816813469,
+ 0.002712813438847661,
+ 0.8835151195526123,
+ -0.01490686647593975,
+ 0.1780371516942978,
+ 0.6947543621063232,
+ 0.0018387004965916276,
+ 0.0013266372261568904,
+ 0.13650377094745636,
+ 0.0020018701907247305,
+ -0.0018143526976928115,
+ -0.005966756492853165,
+ 0.0022787307389080524,
+ 0.1462756097316742,
+ 0.45143407583236694,
+ -0.00590822659432888,
+ -0.010891655460000038,
+ 0.34114620089530945,
+ -0.002333389362320304,
+ 0.0036177884321659803,
+ 0.6285668611526489,
+ -0.018881013616919518,
+ 0.01807534135878086,
+ 1.0659502744674683,
+ -0.004079444799572229,
+ 0.0037106487434357405,
+ 0.00047496749903075397,
+ 0.0027373365592211485,
+ -0.0028228573501110077,
+ -0.0013938226038590074,
+ 0.5407024621963501,
+ -0.33838069438934326,
+ -0.0053210509940981865,
+ -0.007841670885682106,
+ 0.10873661190271378,
+ 0.005221438128501177,
+ 0.004099381156265736,
+ -0.2948046922683716
+ ],
+ "wrist_pos": [
+ 0.18978488445281982,
+ -0.06849640607833862,
+ 0.6464290618896484
+ ],
+ "wrist_rot": [
+ -0.4541313648223877,
+ 0.585149347782135,
+ 0.3645428419113159,
+ 0.5643344521522522
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4471788151458895e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 9,
+ "virtual_xyz": [
+ 0.18977485597133636,
+ -0.06848730146884918,
+ 0.6464211940765381
+ ],
+ "wrist_rpy": [
+ -1.6754969358444214,
+ 0.3355240523815155,
+ 1.5190856456756592
+ ],
+ "finger_dofs": [
+ 0.9688398241996765,
+ -0.00396884698420763,
+ 0.10826083272695541,
+ 0.4212363064289093,
+ -0.00213217712007463,
+ -0.002715375507250428,
+ 0.14853543043136597,
+ -0.0014247021172195673,
+ 0.0026939110830426216,
+ 0.8841044902801514,
+ -0.015799976885318756,
+ 0.17528313398361206,
+ 0.7062228918075562,
+ 0.0018100555753335357,
+ 0.001417325809597969,
+ 0.15460975468158722,
+ 0.0020127659663558006,
+ -0.0018215699819847941,
+ -0.005920186173170805,
+ 0.0023761338088661432,
+ 0.1477866917848587,
+ 0.45257920026779175,
+ -0.005798576399683952,
+ -0.011347727850079536,
+ 0.3541211783885956,
+ -0.0022735875099897385,
+ 0.003656798042356968,
+ 0.6300551295280457,
+ -0.019781380891799927,
+ 0.019343340769410133,
+ 1.0779439210891724,
+ -0.004013520199805498,
+ 0.0037770364433526993,
+ 0.015905292704701424,
+ 0.0027498353738337755,
+ -0.0028426465578377247,
+ 9.378456161357462e-05,
+ 0.5565292239189148,
+ -0.3428666889667511,
+ -0.005245359148830175,
+ -0.0077838837169110775,
+ 0.1029106080532074,
+ 0.005206748843193054,
+ 0.0040682097896933556,
+ -0.30314332246780396
+ ],
+ "wrist_pos": [
+ 0.18977493047714233,
+ -0.06848727911710739,
+ 0.6464211344718933
+ ],
+ "wrist_rot": [
+ -0.45438581705093384,
+ 0.5855546593666077,
+ 0.3643115162849426,
+ 0.5638583898544312
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.444928952627379e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 10,
+ "virtual_xyz": [
+ 0.18980737030506134,
+ -0.06836617738008499,
+ 0.6464259028434753
+ ],
+ "wrist_rpy": [
+ -1.677632451057434,
+ 0.33739912509918213,
+ 1.5197864770889282
+ ],
+ "finger_dofs": [
+ 0.9614460468292236,
+ -0.004015070851892233,
+ 0.10940521955490112,
+ 0.45501428842544556,
+ -0.002107829786837101,
+ -0.0027286603581160307,
+ 0.17478501796722412,
+ -0.0005408142460510135,
+ 0.0027009169571101665,
+ 0.8809012174606323,
+ -0.016774237155914307,
+ 0.175348699092865,
+ 0.7336989045143127,
+ 0.0014166324399411678,
+ 0.001753746997565031,
+ 0.17507973313331604,
+ 0.0020213117823004723,
+ -0.0018376184161752462,
+ -0.009643249213695526,
+ 0.00020120273984503,
+ 0.15820027887821198,
+ 0.47137776017189026,
+ -0.00485397782176733,
+ -0.009400513954460621,
+ 0.3611460328102112,
+ -0.0022286325693130493,
+ 0.003749741241335869,
+ 0.6276905536651611,
+ -0.020365159958600998,
+ 0.02169780619442463,
+ 1.0954736471176147,
+ -0.0038356513250619173,
+ 0.0038762788753956556,
+ 0.03406313434243202,
+ 0.0027352282777428627,
+ -0.002889344235882163,
+ 0.00020254350965842605,
+ 0.5742877721786499,
+ -0.34891676902770996,
+ -0.005972733721137047,
+ -0.008035815320909023,
+ 0.09886409342288971,
+ 0.0051684570498764515,
+ 0.004064587876200676,
+ -0.31211620569229126
+ ],
+ "wrist_pos": [
+ 0.1898074448108673,
+ -0.0683661550283432,
+ 0.6464258432388306
+ ],
+ "wrist_rot": [
+ -0.4542720913887024,
+ 0.5864701867103577,
+ 0.3633127212524414,
+ 0.5636429190635681
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.434975385767757e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 11,
+ "virtual_xyz": [
+ 0.18987074494361877,
+ -0.06811492145061493,
+ 0.6463252902030945
+ ],
+ "wrist_rpy": [
+ -1.680705189704895,
+ 0.34043633937835693,
+ 1.5205634832382202
+ ],
+ "finger_dofs": [
+ 0.9524348378181458,
+ -0.004906500224024057,
+ 0.10942137986421585,
+ 0.49081677198410034,
+ -0.0021037806291133165,
+ -0.0027640587650239468,
+ 0.20264331996440887,
+ 0.0004737887647934258,
+ 0.002661588368937373,
+ 0.8770726323127747,
+ -0.016429103910923004,
+ 0.17827625572681427,
+ 0.7639473080635071,
+ -0.001857088995166123,
+ 0.0008303290815092623,
+ 0.1972418874502182,
+ 0.002028156304731965,
+ -0.0018015007954090834,
+ -0.008832287974655628,
+ -0.001622497569769621,
+ 0.17068040370941162,
+ 0.4845733940601349,
+ -0.004627247806638479,
+ -0.008613349869847298,
+ 0.37336835265159607,
+ -0.002144658239558339,
+ 0.003811043221503496,
+ 0.6155463457107544,
+ -0.01810559816658497,
+ 0.022692129015922546,
+ 1.1216696500778198,
+ -0.003904103534296155,
+ 0.0037466553039848804,
+ 0.05971449241042137,
+ 0.0026814730372279882,
+ -0.002942098304629326,
+ 1.85969693120569e-05,
+ 0.5941323041915894,
+ -0.35579073429107666,
+ -0.005539432168006897,
+ -0.007890057750046253,
+ 0.09410616010427475,
+ 0.005333360750228167,
+ 0.004062830936163664,
+ -0.3212236762046814
+ ],
+ "wrist_pos": [
+ 0.18987081944942474,
+ -0.06811489909887314,
+ 0.6463252305984497
+ ],
+ "wrist_rot": [
+ -0.4540828764438629,
+ 0.587796688079834,
+ 0.3617042303085327,
+ 0.5634481310844421
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.412809294582985e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 12,
+ "virtual_xyz": [
+ 0.1898033171892166,
+ -0.0682888925075531,
+ 0.646477997303009
+ ],
+ "wrist_rpy": [
+ -1.682240605354309,
+ 0.3386232256889343,
+ 1.5245568752288818
+ ],
+ "finger_dofs": [
+ 0.9484708309173584,
+ -0.003641983028501272,
+ 0.104762002825737,
+ 0.5314431190490723,
+ -0.0022272628266364336,
+ -0.002988227875903249,
+ 0.2315470576286316,
+ 0.0014891893370077014,
+ 0.002681613899767399,
+ 0.8917720913887024,
+ -0.0193483829498291,
+ 0.1511480063199997,
+ 0.8808664083480835,
+ -0.002020712709054351,
+ 0.001696129096671939,
+ 0.22387030720710754,
+ 0.0019836369901895523,
+ -0.0019243975402787328,
+ -0.011877167969942093,
+ -0.0029023373499512672,
+ 0.16214072704315186,
+ 0.48708871006965637,
+ -0.0042379493825137615,
+ -0.006110447458922863,
+ 0.3910093903541565,
+ -0.002021194901317358,
+ 0.0036468664184212685,
+ 0.6180047392845154,
+ -0.020134931430220604,
+ 0.014997363090515137,
+ 1.1469216346740723,
+ -0.0032298075966537,
+ 0.004288994707167149,
+ 0.0944453775882721,
+ 0.0027062250301241875,
+ -0.0033236611634492874,
+ 0.006253558211028576,
+ 0.6184354424476624,
+ -0.36969447135925293,
+ -0.007453944068402052,
+ -0.008686413057148457,
+ 0.09147759526968002,
+ 0.005593752488493919,
+ 0.00420657591894269,
+ -0.33159562945365906
+ ],
+ "wrist_pos": [
+ 0.18980339169502258,
+ -0.06828887015581131,
+ 0.6464779376983643
+ ],
+ "wrist_rot": [
+ -0.45383426547050476,
+ 0.5886285305023193,
+ 0.3629287779331207,
+ 0.5619907975196838
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.423006435492425e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 13,
+ "virtual_xyz": [
+ 0.18984834849834442,
+ -0.06761548668146133,
+ 0.6465336680412292
+ ],
+ "wrist_rpy": [
+ -1.6866579055786133,
+ 0.34636786580085754,
+ 1.5249406099319458
+ ],
+ "finger_dofs": [
+ 0.9304112792015076,
+ -0.002108918037265539,
+ 0.1063467487692833,
+ 0.5751309394836426,
+ -0.0023573243524879217,
+ -0.002685114974156022,
+ 0.2580462396144867,
+ 0.0018754751654341817,
+ 0.0027240256313234568,
+ 0.8628425598144531,
+ -0.020599238574504852,
+ 0.1499335914850235,
+ 0.9474723935127258,
+ -0.0024616201408207417,
+ 0.0025597242638468742,
+ 0.26103925704956055,
+ 0.0020989004988223314,
+ -0.001956055173650384,
+ -0.018417267128825188,
+ -0.005628699436783791,
+ 0.1806763857603073,
+ 0.505227267742157,
+ -0.003831867128610611,
+ -0.007019162643700838,
+ 0.40714457631111145,
+ -0.0018617219757288694,
+ 0.0042148311622440815,
+ 0.6044343709945679,
+ -0.02286185882985592,
+ 0.021374845877289772,
+ 1.1804428100585938,
+ -0.0034521527122706175,
+ 0.00447105523198843,
+ 0.11910195648670197,
+ 0.0026980277616530657,
+ -0.003080845344811678,
+ 0.006697364617139101,
+ 0.6454141139984131,
+ -0.3814148008823395,
+ -0.00913393683731556,
+ -0.009528746828436852,
+ 0.09349533915519714,
+ 0.005408975295722485,
+ 0.004161907359957695,
+ -0.34048548340797424
+ ],
+ "wrist_pos": [
+ 0.1898484230041504,
+ -0.06761546432971954,
+ 0.6465336084365845
+ ],
+ "wrist_rot": [
+ -0.452852338552475,
+ 0.5910102725028992,
+ 0.35937151312828064,
+ 0.5625687837600708
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4616497285023797e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 14,
+ "virtual_xyz": [
+ 0.18969424068927765,
+ -0.06795712560415268,
+ 0.6462607979774475
+ ],
+ "wrist_rpy": [
+ -1.6833323240280151,
+ 0.3422642648220062,
+ 1.5191059112548828
+ ],
+ "finger_dofs": [
+ 0.9140236973762512,
+ -0.006876785308122635,
+ 0.1044187918305397,
+ 0.6129255890846252,
+ -0.002505233511328697,
+ -0.002262468682602048,
+ 0.2953508198261261,
+ 0.0019497298635542393,
+ 0.002535708714276552,
+ 0.8773521184921265,
+ -0.01520499400794506,
+ 0.15476559102535248,
+ 0.908713161945343,
+ -0.002324560657143593,
+ -0.0011157997651025653,
+ 0.3169214725494385,
+ 0.0019669216126203537,
+ 0.001772057032212615,
+ 0.003050507977604866,
+ -0.004395802039653063,
+ 0.21201330423355103,
+ 0.5212740898132324,
+ -0.003354460932314396,
+ -0.006884146481752396,
+ 0.4148072302341461,
+ -0.00186248030513525,
+ 0.004188313148915768,
+ 0.6108468174934387,
+ -0.02149297297000885,
+ 0.03397655487060547,
+ 1.1827967166900635,
+ -0.0038527685683220625,
+ 0.003511180868372321,
+ 0.16221466660499573,
+ 0.002526379656046629,
+ -0.0027046401519328356,
+ 0.01006963849067688,
+ 0.6732028126716614,
+ -0.37565702199935913,
+ -0.0055651580914855,
+ -0.007333559915423393,
+ 0.07065004110336304,
+ 0.004694044589996338,
+ 0.0038255632389336824,
+ -0.34961527585983276
+ ],
+ "wrist_pos": [
+ 0.18969431519508362,
+ -0.06795710325241089,
+ 0.6462607383728027
+ ],
+ "wrist_rot": [
+ -0.4547540247440338,
+ 0.5882951021194458,
+ 0.35996317863464355,
+ 0.5635015964508057
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.5037707018782385e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 15,
+ "virtual_xyz": [
+ 0.18954424560070038,
+ -0.06824170798063278,
+ 0.6464011669158936
+ ],
+ "wrist_rpy": [
+ -1.6808056831359863,
+ 0.33820098638534546,
+ 1.5199226140975952
+ ],
+ "finger_dofs": [
+ 0.9299906492233276,
+ -0.005976545624434948,
+ 0.0968700498342514,
+ 0.6522030830383301,
+ -0.002434423193335533,
+ -0.0023877255152910948,
+ 0.3306901156902313,
+ 0.001956550870090723,
+ 0.0025267298333346844,
+ 0.8834399580955505,
+ -0.017616814002394676,
+ 0.14714105427265167,
+ 0.934965968132019,
+ -0.0024342178367078304,
+ 0.0012583306524902582,
+ 0.3465915620326996,
+ 0.001973636681213975,
+ -0.0008416990167461336,
+ 0.026146266609430313,
+ -0.004280158318579197,
+ 0.22058692574501038,
+ 0.5527423024177551,
+ -0.0033675467129796743,
+ -0.005998522974550724,
+ 0.43764591217041016,
+ -0.0018171110423281789,
+ 0.0041188751347362995,
+ 0.6175163984298706,
+ -0.018287671729922295,
+ 0.033658210188150406,
+ 1.2000997066497803,
+ -0.0037635192275047302,
+ 0.003432285273447633,
+ 0.19706249237060547,
+ 0.0025136503390967846,
+ -0.0028758689295500517,
+ 0.01891692355275154,
+ 0.698988676071167,
+ -0.38561853766441345,
+ -0.005833502393215895,
+ -0.007379705086350441,
+ 0.06277640163898468,
+ 0.004880920052528381,
+ 0.003886803053319454,
+ -0.3631912171840668
+ ],
+ "wrist_pos": [
+ 0.18954432010650635,
+ -0.06824168562889099,
+ 0.6464011073112488
+ ],
+ "wrist_rot": [
+ -0.45490774512290955,
+ 0.5872334241867065,
+ 0.36217576265335083,
+ 0.5630669593811035
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.568129389146634e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 16,
+ "virtual_xyz": [
+ 0.18957610428333282,
+ -0.06818055361509323,
+ 0.6463644504547119
+ ],
+ "wrist_rpy": [
+ -1.681179404258728,
+ 0.34093374013900757,
+ 1.5195294618606567
+ ],
+ "finger_dofs": [
+ 0.9358537793159485,
+ -0.005727276671677828,
+ 0.09365000575780869,
+ 0.69437175989151,
+ -0.002359886420890689,
+ -0.0026088343001902103,
+ 0.36572206020355225,
+ 0.0019192396430298686,
+ 0.0025013936683535576,
+ 0.8819772005081177,
+ -0.01579088717699051,
+ 0.15178105235099792,
+ 0.951017439365387,
+ -0.002610566094517708,
+ 0.00020785466767847538,
+ 0.3740200102329254,
+ 0.0020372599828988314,
+ -0.0016626529395580292,
+ 0.037331126630306244,
+ -0.004506463650614023,
+ 0.2289503961801529,
+ 0.5950952172279358,
+ -0.0033623131457716227,
+ -0.005781339015811682,
+ 0.46743956208229065,
+ -0.0017843847163021564,
+ 0.004253255669027567,
+ 0.6147674322128296,
+ -0.02034163475036621,
+ 0.038325194269418716,
+ 1.2333024740219116,
+ -0.0036924267187714577,
+ 0.003549258690327406,
+ 0.2219758927822113,
+ 0.002545422874391079,
+ -0.003025092650204897,
+ 0.020356057211756706,
+ 0.7234154343605042,
+ -0.39428359270095825,
+ -0.0062447721138596535,
+ -0.007422629743814468,
+ 0.05762627720832825,
+ 0.005158481188118458,
+ 0.00397121487185359,
+ -0.37578415870666504
+ ],
+ "wrist_pos": [
+ 0.1895761787891388,
+ -0.06818053126335144,
+ 0.6463643908500671
+ ],
+ "wrist_rot": [
+ -0.454384982585907,
+ 0.587744414806366,
+ 0.3611217439174652,
+ 0.563632607460022
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.517165853532788e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 17,
+ "virtual_xyz": [
+ 0.1895684450864792,
+ -0.06834695488214493,
+ 0.6463054418563843
+ ],
+ "wrist_rpy": [
+ -1.6800158023834229,
+ 0.33715009689331055,
+ 1.5199477672576904
+ ],
+ "finger_dofs": [
+ 0.9391747117042542,
+ -0.006047884002327919,
+ 0.08841229230165482,
+ 0.7401372194290161,
+ -0.0024432975333184004,
+ -0.002523144707083702,
+ 0.4031528830528259,
+ 0.0017970792250707746,
+ 0.0024566063657402992,
+ 0.8994282484054565,
+ -0.010694317519664764,
+ 0.13484640419483185,
+ 1.0010343790054321,
+ -0.002615769626572728,
+ -0.0011763887014240026,
+ 0.4096011519432068,
+ 0.0013408053200691938,
+ -0.0010860547190532088,
+ 0.06015816703438759,
+ -0.004877627361565828,
+ 0.222617968916893,
+ 0.6381705403327942,
+ -0.0031861441675573587,
+ -0.00390705605968833,
+ 0.4986189603805542,
+ -0.0017080471152439713,
+ 0.003968820907175541,
+ 0.632158100605011,
+ -0.021761875599622726,
+ 0.03612156957387924,
+ 1.2464085817337036,
+ -0.003220845479518175,
+ 0.0037256055511534214,
+ 0.25357159972190857,
+ 0.0025041159242391586,
+ -0.003249341854825616,
+ 0.029640156775712967,
+ 0.7488969564437866,
+ -0.4020741283893585,
+ -0.005855145864188671,
+ -0.007306688465178013,
+ 0.047253936529159546,
+ 0.005201611667871475,
+ 0.003940414171665907,
+ -0.3879779875278473
+ ],
+ "wrist_pos": [
+ 0.18956851959228516,
+ -0.06834693253040314,
+ 0.6463053822517395
+ ],
+ "wrist_rot": [
+ -0.4549638330936432,
+ 0.5868908166885376,
+ 0.362734854221344,
+ 0.5630190968513489
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.5358710331602197e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 18,
+ "virtual_xyz": [
+ 0.18958799540996552,
+ -0.06899876147508621,
+ 0.6467182040214539
+ ],
+ "wrist_rpy": [
+ -1.6838369369506836,
+ 0.3286033570766449,
+ 1.5233423709869385
+ ],
+ "finger_dofs": [
+ 0.9718465805053711,
+ -0.005468704737722874,
+ 0.09395456314086914,
+ 0.7875011563301086,
+ -0.00260104238986969,
+ -0.002236482221633196,
+ 0.43436768651008606,
+ 0.0021269386634230614,
+ 0.0025035326834768057,
+ 0.9352754950523376,
+ -0.024066943675279617,
+ 0.1022464707493782,
+ 1.084315538406372,
+ -0.003682344453409314,
+ 0.002598564838990569,
+ 0.4428086280822754,
+ 0.0018870783969759941,
+ -0.0020172784570604563,
+ 0.1001971960067749,
+ -0.0045023574493825436,
+ 0.21334390342235565,
+ 0.6820207238197327,
+ -0.0037139204796403646,
+ -0.006668937858194113,
+ 0.5323925614356995,
+ 3.1829815270612016e-05,
+ 0.004739254713058472,
+ 0.6668218374252319,
+ -0.023020628839731216,
+ 0.03790012747049332,
+ 1.2500970363616943,
+ -0.0039049934130162,
+ 0.0036152165848761797,
+ 0.2881433367729187,
+ 0.0026492958422750235,
+ -0.0028808286879211664,
+ 0.04290764033794403,
+ 0.7734994888305664,
+ -0.4123852849006653,
+ -0.007074085529893637,
+ -0.006759050767868757,
+ 0.04172169789671898,
+ 0.004576327744871378,
+ 0.0037518132012337446,
+ -0.4009208679199219
+ ],
+ "wrist_pos": [
+ 0.18958806991577148,
+ -0.06899873912334442,
+ 0.6467181444168091
+ ],
+ "wrist_rot": [
+ -0.45736005902290344,
+ 0.5866889953613281,
+ 0.3651668131351471,
+ 0.5597060918807983
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4270065068776603e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 19,
+ "virtual_xyz": [
+ 0.18949228525161743,
+ -0.06932547688484192,
+ 0.6466398239135742
+ ],
+ "wrist_rpy": [
+ -1.6842973232269287,
+ 0.3239189684391022,
+ 1.524739384651184
+ ],
+ "finger_dofs": [
+ 0.9903892278671265,
+ -0.003975594881922007,
+ 0.0900987833738327,
+ 0.8343103528022766,
+ -0.0022944770753383636,
+ -0.002726402133703232,
+ 0.47226712107658386,
+ 0.0019087715772911906,
+ 0.002457514638081193,
+ 0.9240355491638184,
+ -0.014428597874939442,
+ 0.09817691892385483,
+ 1.1953400373458862,
+ -0.0036342244129627943,
+ 0.002080000936985016,
+ 0.47382569313049316,
+ 0.002019853563979268,
+ -0.002022812608629465,
+ 0.11889677494764328,
+ -0.0041297441348433495,
+ 0.2036994844675064,
+ 0.7322404384613037,
+ -0.0032873463351279497,
+ -0.003914427477866411,
+ 0.5666856169700623,
+ 0.001916354987770319,
+ 0.0041849929839372635,
+ 0.6903854012489319,
+ -0.024425102397799492,
+ 0.03705546632409096,
+ 1.2871551513671875,
+ -0.003099334193393588,
+ 0.003927530255168676,
+ 0.3073914349079132,
+ 0.0025790005456656218,
+ -0.003474506316706538,
+ 0.0527736134827137,
+ 0.8007818460464478,
+ -0.42339739203453064,
+ -0.007291330024600029,
+ -0.006984877400100231,
+ 0.034770313650369644,
+ 0.005097365938127041,
+ 0.003981395158916712,
+ -0.4140588343143463
+ ],
+ "wrist_pos": [
+ 0.1894923597574234,
+ -0.06932545453310013,
+ 0.6466397643089294
+ ],
+ "wrist_rot": [
+ -0.45834699273109436,
+ 0.5861754417419434,
+ 0.3668445646762848,
+ 0.558337926864624
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4979740942399076e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 20,
+ "virtual_xyz": [
+ 0.18936650454998016,
+ -0.06963108479976654,
+ 0.6467006206512451
+ ],
+ "wrist_rpy": [
+ -1.6854760646820068,
+ 0.32172128558158875,
+ 1.525345802307129
+ ],
+ "finger_dofs": [
+ 0.9885256886482239,
+ -0.0055473437532782555,
+ 0.08936747908592224,
+ 0.8859062790870667,
+ -0.002463490003719926,
+ -0.0025251128245145082,
+ 0.5091960430145264,
+ 0.002009805990383029,
+ 0.0024345910642296076,
+ 0.9191736578941345,
+ -0.016499735414981842,
+ 0.09970294684171677,
+ 1.2793753147125244,
+ -0.004596124868839979,
+ 0.0012092863908037543,
+ 0.511138916015625,
+ 0.0016866587102413177,
+ -0.0018969670636579394,
+ 0.1342947632074356,
+ -0.003160881344228983,
+ 0.20218518376350403,
+ 0.7809105515480042,
+ -0.0034497131127864122,
+ -0.003922451287508011,
+ 0.6024928689002991,
+ 0.00197826256044209,
+ 0.004285110626369715,
+ 0.6922955513000488,
+ -0.0260697640478611,
+ 0.04232505336403847,
+ 1.3370662927627563,
+ -0.0030306337866932154,
+ 0.004062112420797348,
+ 0.3332780599594116,
+ 0.0025626050774008036,
+ -0.0035641018766909838,
+ 0.057207077741622925,
+ 0.8280441164970398,
+ -0.431965708732605,
+ -0.008059050887823105,
+ -0.0071107205003499985,
+ 0.028572021052241325,
+ 0.005150348413735628,
+ 0.0040000081062316895,
+ -0.4268112778663635
+ ],
+ "wrist_pos": [
+ 0.18936657905578613,
+ -0.06963106244802475,
+ 0.6467005610466003
+ ],
+ "wrist_rot": [
+ -0.4590921401977539,
+ 0.5860999226570129,
+ 0.36733460426330566,
+ 0.5574822425842285
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.50895851650057e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 21,
+ "virtual_xyz": [
+ 0.1891510933637619,
+ -0.06994620710611343,
+ 0.6467946767807007
+ ],
+ "wrist_rpy": [
+ -1.6859294176101685,
+ 0.313534677028656,
+ 1.5262424945831299
+ ],
+ "finger_dofs": [
+ 0.9852234125137329,
+ -0.0053587378934025764,
+ 0.0875701755285263,
+ 0.9353408813476562,
+ -0.0025485632941126823,
+ -0.002281425055116415,
+ 0.5465835928916931,
+ 0.0021080549340695143,
+ 0.0023847445845603943,
+ 0.9346672296524048,
+ -0.015809979289770126,
+ 0.0968959704041481,
+ 1.3291945457458496,
+ -0.005224701948463917,
+ 0.0019238983513787389,
+ 0.5564120411872864,
+ 0.0020687030628323555,
+ -0.0018494187388569117,
+ 0.16163937747478485,
+ -0.004975144751369953,
+ 0.195827916264534,
+ 0.8325566649436951,
+ -0.0036445248406380415,
+ -0.003368551144376397,
+ 0.6369276642799377,
+ 0.002254186198115349,
+ 0.004335840232670307,
+ 0.7263079285621643,
+ -0.029703395441174507,
+ 0.045675359666347504,
+ 1.3766041994094849,
+ -0.003058296162635088,
+ 0.003916038200259209,
+ 0.3620101809501648,
+ 0.002520536771044135,
+ -0.00342397578060627,
+ 0.06991776078939438,
+ 0.8538939952850342,
+ -0.4374408423900604,
+ -0.005354789085686207,
+ -0.006185376551002264,
+ 0.0168965645134449,
+ 0.004673883318901062,
+ 0.0036752151791006327,
+ -0.4395594000816345
+ ],
+ "wrist_pos": [
+ 0.18915116786956787,
+ -0.06994618475437164,
+ 0.6467946171760559
+ ],
+ "wrist_rot": [
+ -0.46116310358047485,
+ 0.5847800374031067,
+ 0.36993011832237244,
+ 0.5554390549659729
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.614804941458715e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 22,
+ "virtual_xyz": [
+ 0.18907085061073303,
+ -0.07026137411594391,
+ 0.6468341946601868
+ ],
+ "wrist_rpy": [
+ -1.6871411800384521,
+ 0.31045085191726685,
+ 1.5270038843154907
+ ],
+ "finger_dofs": [
+ 0.9914409518241882,
+ -0.005528819281607866,
+ 0.08589549362659454,
+ 0.9820401668548584,
+ -0.002518736757338047,
+ -0.002372913295403123,
+ 0.5841712951660156,
+ 0.002060309750959277,
+ 0.0023596894461661577,
+ 0.9450981616973877,
+ -0.007097776047885418,
+ 0.08189810067415237,
+ 1.3136281967163086,
+ -0.004180390387773514,
+ 0.0020852871239185333,
+ 0.5923984050750732,
+ 0.002140334341675043,
+ -0.001940481481142342,
+ 0.17969858646392822,
+ -0.003980268724262714,
+ 0.19350607693195343,
+ 0.8840377926826477,
+ -0.0034709421452134848,
+ -0.0031915081199258566,
+ 0.6723629832267761,
+ 0.0022297699470072985,
+ 0.00422428734600544,
+ 0.7460176348686218,
+ -0.0331813246011734,
+ 0.050366997718811035,
+ 1.4291622638702393,
+ -0.0029824250377714634,
+ 0.004042150918394327,
+ 0.3869299590587616,
+ 0.0025123204104602337,
+ -0.003615112043917179,
+ 0.07547354698181152,
+ 0.8794864416122437,
+ -0.4439372718334198,
+ -0.005932390224188566,
+ -0.005622499622404575,
+ 0.00775889353826642,
+ 0.004537175875157118,
+ 0.003656335175037384,
+ -0.45293962955474854
+ ],
+ "wrist_pos": [
+ 0.1890709102153778,
+ -0.07026135176420212,
+ 0.646834135055542
+ ],
+ "wrist_rot": [
+ -0.4621063470840454,
+ 0.584571897983551,
+ 0.3707192540168762,
+ 0.5543469786643982
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.63509321030142e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 23,
+ "virtual_xyz": [
+ 0.1888030767440796,
+ -0.0711408481001854,
+ 0.6472154259681702
+ ],
+ "wrist_rpy": [
+ -1.6848136186599731,
+ 0.29532352089881897,
+ 1.5296493768692017
+ ],
+ "finger_dofs": [
+ 1.038754940032959,
+ -0.001677208230830729,
+ 0.08249551802873611,
+ 1.0264811515808105,
+ -0.0021684160456061363,
+ -0.0026269976515322924,
+ 0.6207574009895325,
+ 0.0019024228677153587,
+ 0.0023585939779877663,
+ 0.9919803738594055,
+ -0.006895262282341719,
+ 0.0733027532696724,
+ 1.2806905508041382,
+ -0.003267854917794466,
+ 0.0020136614330112934,
+ 0.6403979659080505,
+ 0.0015519956359639764,
+ -0.0019714199006557465,
+ 0.21780972182750702,
+ -0.0035629805643111467,
+ 0.172150656580925,
+ 0.9364626407623291,
+ -0.003211346687749028,
+ -0.0025492485146969557,
+ 0.7046861052513123,
+ 0.0021818976383656263,
+ 0.0038702639285475016,
+ 0.7882201671600342,
+ -0.031284719705581665,
+ 0.04496833309531212,
+ 1.4607625007629395,
+ -0.002568569965660572,
+ 0.0040164515376091,
+ 0.4198473393917084,
+ 0.002418413059785962,
+ -0.0037667264696210623,
+ 0.09544555097818375,
+ 0.9083223342895508,
+ -0.4507392644882202,
+ -0.006006668787449598,
+ -0.005460478365421295,
+ -0.007705924101173878,
+ 0.004428796470165253,
+ 0.0035978187806904316,
+ -0.4678468406200409
+ ],
+ "wrist_pos": [
+ 0.18880315124988556,
+ -0.0711408257484436,
+ 0.6472153663635254
+ ],
+ "wrist_rot": [
+ -0.46474868059158325,
+ 0.5817484259605408,
+ 0.37668487429618835,
+ 0.5510770678520203
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.736650799306517e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 24,
+ "virtual_xyz": [
+ 0.1887255758047104,
+ -0.07201933860778809,
+ 0.6473878026008606
+ ],
+ "wrist_rpy": [
+ -1.6855227947235107,
+ 0.2829783856868744,
+ 1.5303515195846558
+ ],
+ "finger_dofs": [
+ 1.0639501810073853,
+ -0.004325945395976305,
+ 0.08047385513782501,
+ 1.072708249092102,
+ -0.002340951468795538,
+ -0.0023745610378682613,
+ 0.658812403678894,
+ 0.0020140898413956165,
+ 0.002309293719008565,
+ 1.016079068183899,
+ -0.007436943706125021,
+ 0.07793888449668884,
+ 1.276955246925354,
+ -0.003650070633739233,
+ 0.0022936107125133276,
+ 0.6650593280792236,
+ 0.0021136817522346973,
+ -0.002224849769845605,
+ 0.2593361735343933,
+ -0.004473838955163956,
+ 0.17222464084625244,
+ 0.9893180727958679,
+ -0.0038412369322031736,
+ -0.002578714629635215,
+ 0.7392569780349731,
+ 0.0024844419676810503,
+ 0.00406651059165597,
+ 0.8190195560455322,
+ -0.031638097018003464,
+ 0.05406232178211212,
+ 1.4963204860687256,
+ -0.0029766594525426626,
+ 0.004017129074782133,
+ 0.44970187544822693,
+ 0.002486647805199027,
+ -0.003779495134949684,
+ 0.10558372735977173,
+ 0.928525984287262,
+ -0.4500124156475067,
+ -0.004506449680775404,
+ -0.004623217973858118,
+ -0.02232895977795124,
+ 0.004357229918241501,
+ 0.0034569252748042345,
+ -0.4850156605243683
+ ],
+ "wrist_pos": [
+ 0.18872565031051636,
+ -0.0720193088054657,
+ 0.6473877429962158
+ ],
+ "wrist_rot": [
+ -0.4680336117744446,
+ 0.5795735120773315,
+ 0.38037046790122986,
+ 0.5480486154556274
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.71766793957795e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 25,
+ "virtual_xyz": [
+ 0.18874438107013702,
+ -0.0723123773932457,
+ 0.6473793387413025
+ ],
+ "wrist_rpy": [
+ -1.687290906906128,
+ 0.2834010124206543,
+ 1.5302938222885132
+ ],
+ "finger_dofs": [
+ 1.0832666158676147,
+ -0.0037763339933007956,
+ 0.0801684781908989,
+ 1.1206892728805542,
+ -0.0023532239720225334,
+ -0.0023911241441965103,
+ 0.6950384378433228,
+ 0.002002165885642171,
+ 0.0022977450862526894,
+ 1.0268733501434326,
+ -0.006995296571403742,
+ 0.07842942327260971,
+ 1.299533486366272,
+ -0.0034992338623851538,
+ 0.0021471912041306496,
+ 0.6953704953193665,
+ 0.0019958794582635164,
+ -0.002124415012076497,
+ 0.2698212265968323,
+ -0.0038353062700480223,
+ 0.17689600586891174,
+ 1.0472662448883057,
+ -0.0036895498633384705,
+ -0.002211874583736062,
+ 0.7766771912574768,
+ 0.0024736353661864996,
+ 0.00404325220733881,
+ 0.8430235385894775,
+ -0.03398725762963295,
+ 0.05828280746936798,
+ 1.555051326751709,
+ -0.0029527279548346996,
+ 0.004171574953943491,
+ 0.46638959646224976,
+ 0.002477887785062194,
+ -0.0040046279318630695,
+ 0.10229537636041641,
+ 0.9531514048576355,
+ -0.4553437829017639,
+ -0.004935653414577246,
+ -0.004539489280432463,
+ -0.026613108813762665,
+ 0.0043257796205580235,
+ 0.00345609406940639,
+ -0.4983481168746948
+ ],
+ "wrist_pos": [
+ 0.188744455575943,
+ -0.0723123550415039,
+ 0.6473792791366577
+ ],
+ "wrist_rot": [
+ -0.46842238306999207,
+ 0.579980731010437,
+ 0.3797156810760498,
+ 0.5477396249771118
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.694275451631256e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 26,
+ "virtual_xyz": [
+ 0.18861328065395355,
+ -0.07273548096418381,
+ 0.6472747921943665
+ ],
+ "wrist_rpy": [
+ -1.6871967315673828,
+ 0.27991002798080444,
+ 1.527150273323059
+ ],
+ "finger_dofs": [
+ 1.0912156105041504,
+ -0.004295815248042345,
+ 0.07881268113851547,
+ 1.166196346282959,
+ -0.002493590349331498,
+ -0.0022088608238846064,
+ 0.7323349714279175,
+ 0.002072938485071063,
+ 0.002245260402560234,
+ 1.049028754234314,
+ -0.005248122848570347,
+ 0.07588610798120499,
+ 1.2820501327514648,
+ -0.0029842625372111797,
+ 0.002044495427981019,
+ 0.7392134666442871,
+ 0.002031876938417554,
+ -0.002015304286032915,
+ 0.28680503368377686,
+ -0.003505636705085635,
+ 0.19241808354854584,
+ 1.0975515842437744,
+ -0.00412459671497345,
+ -0.0024012592621147633,
+ 0.8153859376907349,
+ 0.0026973506901413202,
+ 0.004229501821100712,
+ 0.8494954109191895,
+ -0.034020960330963135,
+ 0.06982468068599701,
+ 1.6158276796340942,
+ -0.0032284834887832403,
+ 0.004017847124487162,
+ 0.49229568243026733,
+ 0.00245459470897913,
+ -0.0038023972883820534,
+ 0.09924843907356262,
+ 0.977246105670929,
+ -0.45095670223236084,
+ -0.00428679957985878,
+ -0.004289208445698023,
+ -0.041446246206760406,
+ 0.004131701309233904,
+ 0.0032785856164991856,
+ -0.5114784240722656
+ ],
+ "wrist_pos": [
+ 0.18861335515975952,
+ -0.07273545861244202,
+ 0.6472747325897217
+ ],
+ "wrist_rot": [
+ -0.470234215259552,
+ 0.5785227417945862,
+ 0.37992677092552185,
+ 0.547582745552063
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.7321715379002853e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 27,
+ "virtual_xyz": [
+ 0.18841911852359772,
+ -0.07359287142753601,
+ 0.6471924781799316
+ ],
+ "wrist_rpy": [
+ -1.6822221279144287,
+ 0.26984527707099915,
+ 1.5222046375274658
+ ],
+ "finger_dofs": [
+ 1.1049426794052124,
+ -0.0042630648240447044,
+ 0.07267499715089798,
+ 1.2052507400512695,
+ -0.0025384158361703157,
+ -0.0021460449788719416,
+ 0.7726370692253113,
+ 0.002064602682366967,
+ 0.0021885368041694164,
+ 1.0981959104537964,
+ -0.00519917719066143,
+ 0.06858031451702118,
+ 1.2621020078659058,
+ -0.0027967302594333887,
+ 0.002074962481856346,
+ 0.7811139225959778,
+ 0.002004991052672267,
+ -0.0020422812085598707,
+ 0.3178042471408844,
+ -0.0012040733126923442,
+ 0.20742473006248474,
+ 1.1416999101638794,
+ -0.004021432250738144,
+ -0.0025928483810275793,
+ 0.8527140021324158,
+ 0.0027141717728227377,
+ 0.004217021632939577,
+ 0.8766043186187744,
+ -0.03453594446182251,
+ 0.07924694567918777,
+ 1.650778889656067,
+ -0.0034381351433694363,
+ 0.003941529430449009,
+ 0.5357524156570435,
+ 0.002421520184725523,
+ -0.003706197254359722,
+ 0.10006306320428848,
+ 0.9991505146026611,
+ -0.4404062330722809,
+ -0.00431149872019887,
+ -0.003829770954325795,
+ -0.06585855036973953,
+ 0.0038020967040210962,
+ 0.00313561107032001,
+ -0.5268306136131287
+ ],
+ "wrist_pos": [
+ 0.1884191930294037,
+ -0.07359284162521362,
+ 0.6471924185752869
+ ],
+ "wrist_rot": [
+ -0.47296178340911865,
+ 0.5743629932403564,
+ 0.38301369547843933,
+ 0.5474620461463928
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.81845245808654e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 28,
+ "virtual_xyz": [
+ 0.18885426223278046,
+ -0.07396066188812256,
+ 0.6472970247268677
+ ],
+ "wrist_rpy": [
+ -1.679932951927185,
+ 0.2583150565624237,
+ 1.5197854042053223
+ ],
+ "finger_dofs": [
+ 1.1543724536895752,
+ -0.0037139307241886854,
+ 0.07092813402414322,
+ 1.245316743850708,
+ -0.0025257673114538193,
+ -0.0021360465325415134,
+ 0.807590126991272,
+ 0.002064500469714403,
+ 0.0021815889049321413,
+ 1.1498123407363892,
+ -0.004731898196041584,
+ 0.06275707483291626,
+ 1.2732738256454468,
+ -0.0026372720021754503,
+ 0.0020919195376336575,
+ 0.8177454471588135,
+ 0.001978822285309434,
+ -0.002031586831435561,
+ 0.37834957242012024,
+ -0.002462581265717745,
+ 0.21535298228263855,
+ 1.1858171224594116,
+ -0.00393037311732769,
+ -0.0024016876704990864,
+ 0.8846405148506165,
+ 0.00277394475415349,
+ 0.00409783935174346,
+ 0.9118098616600037,
+ -0.03547615557909012,
+ 0.08547104150056839,
+ 1.6666603088378906,
+ -0.0033114152029156685,
+ 0.003703491762280464,
+ 0.5861645340919495,
+ 0.002305482979863882,
+ -0.003499609651044011,
+ 0.11806133389472961,
+ 1.0183179378509521,
+ -0.4365929663181305,
+ -0.004039847292006016,
+ -0.0037455924320966005,
+ -0.08277107030153275,
+ 0.0036774484906345606,
+ 0.0030194504652172327,
+ -0.5435138940811157
+ ],
+ "wrist_pos": [
+ 0.18885433673858643,
+ -0.07396063953638077,
+ 0.6472969651222229
+ ],
+ "wrist_rot": [
+ -0.4760659635066986,
+ 0.5709765553474426,
+ 0.3864416480064392,
+ 0.545902669429779
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.64683222894746e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 29,
+ "virtual_xyz": [
+ 0.18861982226371765,
+ -0.07513897120952606,
+ 0.6476287841796875
+ ],
+ "wrist_rpy": [
+ -1.6755926609039307,
+ 0.24190200865268707,
+ 1.519372582435608
+ ],
+ "finger_dofs": [
+ 1.1979166269302368,
+ -0.0031482235062867403,
+ 0.06839034706354141,
+ 1.2856422662734985,
+ -0.002337699756026268,
+ -0.0021768594160676003,
+ 0.8427843451499939,
+ 0.002005054848268628,
+ 0.0021635517477989197,
+ 1.210067629814148,
+ -0.004571867175400257,
+ 0.056318335235118866,
+ 1.2941725254058838,
+ -0.002462052972987294,
+ 0.002105649560689926,
+ 0.8551167249679565,
+ 0.0013887160457670689,
+ -0.002080712467432022,
+ 0.43334391713142395,
+ -0.002411282854154706,
+ 0.21548247337341309,
+ 1.229819655418396,
+ -0.003914456348866224,
+ -0.0022549647837877274,
+ 0.9173493385314941,
+ 0.002840968780219555,
+ 0.00402939273044467,
+ 0.9664422273635864,
+ -0.03286217898130417,
+ 0.08691263198852539,
+ 1.6763685941696167,
+ -0.0033706924878060818,
+ 0.003604066791012883,
+ 0.637454092502594,
+ 0.00226653297431767,
+ -0.003442598506808281,
+ 0.12704192101955414,
+ 1.0420737266540527,
+ -0.4330839216709137,
+ -0.0038871702272444963,
+ -0.003553343005478382,
+ -0.10251304507255554,
+ 0.0035279199946671724,
+ 0.0029368007089942694,
+ -0.5590164065361023
+ ],
+ "wrist_pos": [
+ 0.18861989676952362,
+ -0.07513894140720367,
+ 0.6476287245750427
+ ],
+ "wrist_rot": [
+ -0.47930145263671875,
+ 0.5666123032569885,
+ 0.3924259543418884,
+ 0.543343722820282
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.7382066036807373e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 30,
+ "virtual_xyz": [
+ 0.18928861618041992,
+ -0.07504060864448547,
+ 0.6477448344230652
+ ],
+ "wrist_rpy": [
+ -1.6768587827682495,
+ 0.23564006388187408,
+ 1.5211403369903564
+ ],
+ "finger_dofs": [
+ 1.2518365383148193,
+ -0.0038635944947600365,
+ 0.06928550451993942,
+ 1.3277963399887085,
+ -0.0023949958849698305,
+ -0.002173792105168104,
+ 0.8732273578643799,
+ 0.002025339985266328,
+ 0.0021763271652162075,
+ 1.2284826040267944,
+ -0.004260667134076357,
+ 0.058649200946092606,
+ 1.3385682106018066,
+ -0.0025653385091573,
+ 0.0021270648576319218,
+ 0.8813592791557312,
+ 0.0019107218831777573,
+ -0.002130531007423997,
+ 0.48603716492652893,
+ -0.002837858162820339,
+ 0.2156444936990738,
+ 1.2867587804794312,
+ -0.0037960908375680447,
+ 0.00027952768141403794,
+ 0.9453760981559753,
+ 0.0028316068928688765,
+ 0.0038933223113417625,
+ 1.0117766857147217,
+ -0.03630010038614273,
+ 0.08636871725320816,
+ 1.6990686655044556,
+ -0.0033974121324718,
+ 0.0038005097303539515,
+ 0.6695665121078491,
+ 0.002248762408271432,
+ -0.0037287797313183546,
+ 0.14809802174568176,
+ 1.061299204826355,
+ -0.4432065188884735,
+ -0.00383548135869205,
+ -0.003583424026146531,
+ -0.10264351218938828,
+ 0.00363970291800797,
+ 0.002982815494760871,
+ -0.5754193663597107
+ ],
+ "wrist_pos": [
+ 0.1892886906862259,
+ -0.07504058629274368,
+ 0.6477447748184204
+ ],
+ "wrist_rot": [
+ -0.48077794909477234,
+ 0.5659696459770203,
+ 0.3943936228752136,
+ 0.5412804484367371
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.41609882323246e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 31,
+ "virtual_xyz": [
+ 0.18923500180244446,
+ -0.075527623295784,
+ 0.6479557752609253
+ ],
+ "wrist_rpy": [
+ -1.6776889562606812,
+ 0.22939437627792358,
+ 1.5235891342163086
+ ],
+ "finger_dofs": [
+ 1.2753733396530151,
+ -0.0037922821938991547,
+ 0.07062599062919617,
+ 1.370270013809204,
+ -0.002452362095937133,
+ -0.002140694996342063,
+ 0.9029214382171631,
+ 0.002043947344645858,
+ 0.0021716784685850143,
+ 1.243888020515442,
+ -0.004249869845807552,
+ 0.06081412732601166,
+ 1.3744916915893555,
+ -0.0025833924300968647,
+ 0.0020450798328965902,
+ 0.9168990254402161,
+ 0.0018937982385978103,
+ -0.0020551164634525776,
+ 0.514629602432251,
+ -0.003142690286040306,
+ 0.2122080773115158,
+ 1.3405208587646484,
+ -0.00388287752866745,
+ 0.002097582444548607,
+ 0.9782636761665344,
+ 0.00292508234269917,
+ 0.0038818244356662035,
+ 1.049635410308838,
+ -0.03375249356031418,
+ 0.08440786600112915,
+ 1.7395750284194946,
+ -0.0034329222980886698,
+ 0.003841564990580082,
+ 0.6935959458351135,
+ 0.0022236485965549946,
+ -0.003812218550592661,
+ 0.15136422216892242,
+ 1.088119387626648,
+ -0.4503948986530304,
+ -0.0036927126348018646,
+ -0.003463948844000697,
+ -0.10634252429008484,
+ 0.0035678318236023188,
+ 0.002919023158028722,
+ -0.5860075354576111
+ ],
+ "wrist_pos": [
+ 0.18923509120941162,
+ -0.0755276009440422,
+ 0.6479557156562805
+ ],
+ "wrist_rot": [
+ -0.48193490505218506,
+ 0.5654077529907227,
+ 0.39665743708610535,
+ 0.5391803979873657
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.4365184003727336e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 32,
+ "virtual_xyz": [
+ 0.18927116692066193,
+ -0.07594269514083862,
+ 0.6480506062507629
+ ],
+ "wrist_rpy": [
+ -1.6784522533416748,
+ 0.21993711590766907,
+ 1.5244030952453613
+ ],
+ "finger_dofs": [
+ 1.2969233989715576,
+ -0.0036815728526562452,
+ 0.07013801485300064,
+ 1.407313346862793,
+ -0.002378108212724328,
+ -0.002112046116963029,
+ 0.932663083076477,
+ 0.0020257998257875443,
+ 0.0021466210018843412,
+ 1.2752959728240967,
+ -0.004368564113974571,
+ 0.06137942522764206,
+ 1.3987406492233276,
+ -0.001788838068023324,
+ 0.0019679998513311148,
+ 0.9496311545372009,
+ -9.164647963189054e-06,
+ -0.0020517122466117144,
+ 0.5547654628753662,
+ -0.0037384014576673508,
+ 0.21449555456638336,
+ 1.3837498426437378,
+ -0.003950343932956457,
+ 0.0023055763449519873,
+ 1.0085548162460327,
+ 0.002983872778713703,
+ 0.003817287739366293,
+ 1.0781307220458984,
+ -0.03530849888920784,
+ 0.08589959144592285,
+ 1.7563525438308716,
+ -0.0035058746580034494,
+ 0.0037495028227567673,
+ 0.7271345257759094,
+ 0.0021915845572948456,
+ -0.0037014628760516644,
+ 0.159474179148674,
+ 1.1093394756317139,
+ -0.4491509199142456,
+ -0.003340075956657529,
+ -0.003333594650030136,
+ -0.11901682615280151,
+ 0.003431451739743352,
+ 0.0028099946212023497,
+ -0.5972505807876587
+ ],
+ "wrist_pos": [
+ 0.1892712563276291,
+ -0.07594267278909683,
+ 0.6480505466461182
+ ],
+ "wrist_rot": [
+ -0.484363317489624,
+ 0.5637571215629578,
+ 0.3994345963001251,
+ 0.536676824092865
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.419617430859944e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 33,
+ "virtual_xyz": [
+ 0.18951168656349182,
+ -0.0761919841170311,
+ 0.6481376886367798
+ ],
+ "wrist_rpy": [
+ -1.676524043083191,
+ 0.21466045081615448,
+ 1.526016354560852
+ ],
+ "finger_dofs": [
+ 1.328306794166565,
+ -0.00368478917516768,
+ 0.06776600331068039,
+ 1.4421443939208984,
+ -0.0026325879152864218,
+ -0.0020706767681986094,
+ 0.9623015522956848,
+ 0.0020704646594822407,
+ 0.0021399608813226223,
+ 1.2917907238006592,
+ -0.003972962498664856,
+ 0.061105888336896896,
+ 1.3846381902694702,
+ 0.0026313995476812124,
+ 0.0020033102482557297,
+ 0.9644557237625122,
+ -0.0022028526291251183,
+ -0.002008844632655382,
+ 0.581475019454956,
+ -0.0008787327678874135,
+ 0.20466578006744385,
+ 1.4389309883117676,
+ -0.0035155073273926973,
+ 0.0025511241983622313,
+ 1.036787509918213,
+ 0.0028796035330742598,
+ 0.003608595347031951,
+ 1.1155308485031128,
+ -0.03175448998808861,
+ 0.07957612723112106,
+ 1.7585200071334839,
+ -0.003529560985043645,
+ 0.003865455975756049,
+ 0.7493518590927124,
+ 0.0021965918131172657,
+ -0.003986817318946123,
+ 0.16917353868484497,
+ 1.131951928138733,
+ -0.4557856321334839,
+ -0.0037269520107656717,
+ -0.003257374744862318,
+ -0.12438744306564331,
+ 0.003470279509201646,
+ 0.0028946588281542063,
+ -0.6099536418914795
+ ],
+ "wrist_pos": [
+ 0.18951177597045898,
+ -0.0761919617652893,
+ 0.648137629032135
+ ],
+ "wrist_rot": [
+ -0.4847568869590759,
+ 0.5626412034034729,
+ 0.4019526243209839,
+ 0.5356114506721497
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.3107372726371977e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 34,
+ "virtual_xyz": [
+ 0.18943728506565094,
+ -0.07634523510932922,
+ 0.6483458280563354
+ ],
+ "wrist_rpy": [
+ -1.6751970052719116,
+ 0.20849083364009857,
+ 1.528351068496704
+ ],
+ "finger_dofs": [
+ 1.3464620113372803,
+ -0.003579606767743826,
+ 0.06767148524522781,
+ 1.4759056568145752,
+ -0.0024328292347490788,
+ -0.002095840871334076,
+ 0.9885376691818237,
+ 0.002034249249845743,
+ 0.0021363296546041965,
+ 1.3038443326950073,
+ -0.004443414509296417,
+ 0.06462948769330978,
+ 1.3702319860458374,
+ 0.0037354968953877687,
+ 0.002091402420774102,
+ 0.978581964969635,
+ -0.00252128834836185,
+ -0.0019840963650494814,
+ 0.6062728762626648,
+ -0.002322956919670105,
+ 0.19859182834625244,
+ 1.4817339181900024,
+ -0.003723232541233301,
+ 0.002938015153631568,
+ 1.062812089920044,
+ 0.002933975774794817,
+ 0.003529611509293318,
+ 1.1444202661514282,
+ -0.026876145973801613,
+ 0.077626533806324,
+ 1.7580245733261108,
+ -0.0032786501105874777,
+ 0.003815066535025835,
+ 0.7695250511169434,
+ 0.0021183916833251715,
+ -0.004044087138026953,
+ 0.17756755650043488,
+ 1.1545034646987915,
+ -0.46037259697914124,
+ -0.0036055617965757847,
+ -0.0032848636619746685,
+ -0.13128045201301575,
+ 0.003454064019024372,
+ 0.0028563104569911957,
+ -0.6209586262702942
+ ],
+ "wrist_pos": [
+ 0.1894373744726181,
+ -0.07634521275758743,
+ 0.6483457684516907
+ ],
+ "wrist_rot": [
+ -0.48533979058265686,
+ 0.5616248250007629,
+ 0.4047475755214691,
+ 0.5340431332588196
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.36948608289822e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 35,
+ "virtual_xyz": [
+ 0.1898120939731598,
+ -0.07636361569166183,
+ 0.6479380130767822
+ ],
+ "wrist_rpy": [
+ -1.6732208728790283,
+ 0.2049006223678589,
+ 1.5285793542861938
+ ],
+ "finger_dofs": [
+ 1.3731155395507812,
+ -0.0034584172535687685,
+ 0.061765339225530624,
+ 1.503693699836731,
+ -0.002567223971709609,
+ -0.00200175610370934,
+ 1.0175096988677979,
+ 0.0020369491539895535,
+ 0.002079368568956852,
+ 1.3261559009552002,
+ -0.0028521851636469364,
+ 0.05849012732505798,
+ 1.3544085025787354,
+ 0.010046957060694695,
+ -0.0019645942375063896,
+ 0.9822520017623901,
+ -0.0035652087535709143,
+ -0.0020312287379056215,
+ 0.6226046085357666,
+ -0.0006583781796507537,
+ 0.1897905170917511,
+ 1.5297622680664062,
+ -0.0034010901581496,
+ 0.003379284171387553,
+ 1.085983395576477,
+ 0.0027952357195317745,
+ 0.0032574983779340982,
+ 1.1906994581222534,
+ -0.03342968970537186,
+ 0.0708981454372406,
+ 1.758263349533081,
+ -0.0031955514568835497,
+ 0.0038584121502935886,
+ 0.7727214694023132,
+ 0.0021150782704353333,
+ -0.004239989444613457,
+ 0.1878826916217804,
+ 1.1702744960784912,
+ -0.4631459414958954,
+ -0.003092304803431034,
+ -0.0029713453259319067,
+ -0.14180368185043335,
+ 0.003255028510466218,
+ 0.0027437929529696703,
+ -0.6311557292938232
+ ],
+ "wrist_pos": [
+ 0.18981218338012695,
+ -0.07636359333992004,
+ 0.6479379534721375
+ ],
+ "wrist_rot": [
+ -0.4856748580932617,
+ 0.5605115294456482,
+ 0.4064061939716339,
+ 0.5336483716964722
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.200439297439516e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 36,
+ "virtual_xyz": [
+ 0.18990851938724518,
+ -0.07633044570684433,
+ 0.6477744579315186
+ ],
+ "wrist_rpy": [
+ -1.6716936826705933,
+ 0.1979738473892212,
+ 1.5294427871704102
+ ],
+ "finger_dofs": [
+ 1.3893638849258423,
+ -0.001883881981484592,
+ 0.053381647914648056,
+ 1.519215703010559,
+ 0.002394086681306362,
+ -0.0020991566125303507,
+ 1.0445663928985596,
+ 0.0018059442518278956,
+ 0.0020341600757092237,
+ 1.3554655313491821,
+ -0.0037482178304344416,
+ 0.05681435018777847,
+ 1.3303289413452148,
+ 0.008853860199451447,
+ -0.0018077410059049726,
+ 0.9958318471908569,
+ -0.0036825232673436403,
+ -0.002137870993465185,
+ 0.6436984539031982,
+ -0.0029668172355741262,
+ 0.1804874837398529,
+ 1.5634396076202393,
+ -0.003796791424974799,
+ 0.0037959341425448656,
+ 1.1056867837905884,
+ 0.002801978960633278,
+ 0.0031272785272449255,
+ 1.2285090684890747,
+ -0.03738608956336975,
+ 0.06689944863319397,
+ 1.7572619915008545,
+ -0.003223574021831155,
+ 0.003839879296720028,
+ 0.7796276211738586,
+ 0.002107953652739525,
+ -0.00426519475877285,
+ 0.19461534917354584,
+ 1.181426763534546,
+ -0.45641061663627625,
+ -0.0023848244454711676,
+ -0.002827141899615526,
+ -0.15449842810630798,
+ 0.0030670512933284044,
+ 0.0025828692596405745,
+ -0.6412549018859863
+ ],
+ "wrist_pos": [
+ 0.18990859389305115,
+ -0.07633042335510254,
+ 0.6477743983268738
+ ],
+ "wrist_rot": [
+ -0.48681145906448364,
+ 0.5589220523834229,
+ 0.409070760011673,
+ 0.5322421789169312
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.2085681905537058e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 37,
+ "virtual_xyz": [
+ 0.18999511003494263,
+ -0.07641105353832245,
+ 0.647497832775116
+ ],
+ "wrist_rpy": [
+ -1.6688306331634521,
+ 0.19560103118419647,
+ 1.5305018424987793
+ ],
+ "finger_dofs": [
+ 1.3981298208236694,
+ -0.0024998467415571213,
+ 0.044921696186065674,
+ 1.509886622428894,
+ 0.0003967155935242772,
+ -0.002069073962047696,
+ 1.0712507963180542,
+ 0.0018548251828178763,
+ 0.0019993430469185114,
+ 1.3726773262023926,
+ -0.002884569112211466,
+ 0.05056283250451088,
+ 1.3191888332366943,
+ 0.014151724986732006,
+ -0.001981023931875825,
+ 0.9951485991477966,
+ -0.004119297955185175,
+ -0.0021711564622819424,
+ 0.647223174571991,
+ -0.000997579307295382,
+ 0.1639568954706192,
+ 1.6082004308700562,
+ -0.0037167740520089865,
+ 0.004145290236920118,
+ 1.1268274784088135,
+ 0.0027532854583114386,
+ 0.002993941307067871,
+ 1.2570412158966064,
+ -0.038855068385601044,
+ 0.057828303426504135,
+ 1.7580105066299438,
+ -0.0032579656690359116,
+ 0.003924806602299213,
+ 0.7744504809379578,
+ 0.0021326779387891293,
+ -0.0044680191203951836,
+ 0.20074526965618134,
+ 1.188326358795166,
+ -0.45548784732818604,
+ -0.002154798246920109,
+ -0.002643855521455407,
+ -0.1623648703098297,
+ 0.002974610310047865,
+ 0.002558639971539378,
+ -0.651402473449707
+ ],
+ "wrist_pos": [
+ 0.1899951994419098,
+ -0.07641103118658066,
+ 0.6474977731704712
+ ],
+ "wrist_rot": [
+ -0.48636487126350403,
+ 0.5580810904502869,
+ 0.41083768010139465,
+ 0.532171905040741
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.171686759311342e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 38,
+ "virtual_xyz": [
+ 0.1899702101945877,
+ -0.07667052745819092,
+ 0.6474987864494324
+ ],
+ "wrist_rpy": [
+ -1.6674747467041016,
+ 0.19258111715316772,
+ 1.5316818952560425
+ ],
+ "finger_dofs": [
+ 1.4049147367477417,
+ -0.002267960226163268,
+ 0.041089218109846115,
+ 1.5043731927871704,
+ 0.001186533598229289,
+ -0.0020333195570856333,
+ 1.093837857246399,
+ 0.0018738849321380258,
+ 0.0019876465667039156,
+ 1.388256549835205,
+ -0.00160380604211241,
+ 0.04862809553742409,
+ 1.3095390796661377,
+ 0.01610102504491806,
+ -0.0020787380635738373,
+ 0.9874131679534912,
+ -0.0042704143561422825,
+ -0.0021683883387595415,
+ 0.6558363437652588,
+ 0.0029644740279763937,
+ 0.15167565643787384,
+ 1.648703694343567,
+ -0.0030685397796332836,
+ 0.0042872000485658646,
+ 1.1480271816253662,
+ 0.0026331429835408926,
+ 0.002853136043995619,
+ 1.269521713256836,
+ -0.03815580904483795,
+ 0.05391952022910118,
+ 1.7599948644638062,
+ -0.0032631056383252144,
+ 0.004007907584309578,
+ 0.776440441608429,
+ 0.00215379660949111,
+ -0.004657672718167305,
+ 0.19790618121623993,
+ 1.1959137916564941,
+ -0.4496453106403351,
+ -0.002360897371545434,
+ -0.0025302532594650984,
+ -0.1676681786775589,
+ 0.003010434564203024,
+ 0.0025894225109368563,
+ -0.660147488117218
+ ],
+ "wrist_pos": [
+ 0.18997028470039368,
+ -0.07667050510644913,
+ 0.6474987268447876
+ ],
+ "wrist_rot": [
+ -0.4864530861377716,
+ 0.5574361681938171,
+ 0.41240042448043823,
+ 0.5315582752227783
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.1599433353003406e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 39,
+ "virtual_xyz": [
+ 0.1900092512369156,
+ -0.07672040164470673,
+ 0.6475306749343872
+ ],
+ "wrist_rpy": [
+ -1.6679010391235352,
+ 0.19070100784301758,
+ 1.5322579145431519
+ ],
+ "finger_dofs": [
+ 1.4127110242843628,
+ -0.0021082034800201654,
+ 0.040172576904296875,
+ 1.5008245706558228,
+ -0.002289206488057971,
+ -0.0019675507210195065,
+ 1.1114896535873413,
+ 0.0019420520402491093,
+ 0.001982509158551693,
+ 1.3954967260360718,
+ -0.0007314069662243128,
+ 0.05066199600696564,
+ 1.315725564956665,
+ 0.016549518331885338,
+ -0.0020858654752373695,
+ 0.9860091209411621,
+ -0.004242347087711096,
+ -0.002184490207582712,
+ 0.668266236782074,
+ 0.005662769544869661,
+ 0.14865286648273468,
+ 1.6789981126785278,
+ -0.0024744453839957714,
+ 0.004310898017138243,
+ 1.166967511177063,
+ 0.0025865305215120316,
+ 0.0027858889661729336,
+ 1.2848491668701172,
+ -0.037157926708459854,
+ 0.05463138967752457,
+ 1.761154055595398,
+ -0.003246407024562359,
+ 0.004003959242254496,
+ 0.7829998731613159,
+ 0.0021578555461019278,
+ -0.0047838082537055016,
+ 0.1900852620601654,
+ 1.205919623374939,
+ -0.4409914016723633,
+ -0.0022977215703576803,
+ -0.0025081923231482506,
+ -0.16942885518074036,
+ 0.0030299711506813765,
+ 0.002547529526054859,
+ -0.6674049496650696
+ ],
+ "wrist_pos": [
+ 0.19000932574272156,
+ -0.07672037929296494,
+ 0.6475306153297424
+ ],
+ "wrist_rot": [
+ -0.48688971996307373,
+ 0.5572572350502014,
+ 0.41297590732574463,
+ 0.530898928642273
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.1341888611914328e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 40,
+ "virtual_xyz": [
+ 0.19001367688179016,
+ -0.07688573747873306,
+ 0.647501528263092
+ ],
+ "wrist_rpy": [
+ -1.6672157049179077,
+ 0.18964450061321259,
+ 1.5326027870178223
+ ],
+ "finger_dofs": [
+ 1.4214379787445068,
+ -0.0026708936784416437,
+ 0.04188421368598938,
+ 1.4996055364608765,
+ -0.00355731719173491,
+ -0.0019057915778830647,
+ 1.1252493858337402,
+ 0.002081417478621006,
+ 0.00197199615649879,
+ 1.4041759967803955,
+ 0.0022216839715838432,
+ 0.04972550645470619,
+ 1.3132812976837158,
+ 0.017497649416327477,
+ -0.0021298592910170555,
+ 0.9876806139945984,
+ -0.004217395093291998,
+ -0.0021586085204035044,
+ 0.6764373183250427,
+ 0.007548230234533548,
+ 0.14406132698059082,
+ 1.7044349908828735,
+ -0.002154911868274212,
+ 0.004422828089445829,
+ 1.1842851638793945,
+ 0.002542930655181408,
+ 0.002711604116484523,
+ 1.300823450088501,
+ -0.03627796098589897,
+ 0.0526777021586895,
+ 1.7612545490264893,
+ -0.0029090202879160643,
+ 0.003919019363820553,
+ 0.7876127362251282,
+ 0.002018908504396677,
+ -0.0049208118580281734,
+ 0.18815317749977112,
+ 1.2158873081207275,
+ -0.43762585520744324,
+ -0.0024362714029848576,
+ -0.002390560694038868,
+ -0.17500564455986023,
+ 0.002960320794954896,
+ 0.0026463200338184834,
+ -0.673126757144928
+ ],
+ "wrist_pos": [
+ 0.19001373648643494,
+ -0.07688571512699127,
+ 0.6475014686584473
+ ],
+ "wrist_rot": [
+ -0.4868835210800171,
+ 0.5569707155227661,
+ 0.4135622978210449,
+ 0.530748724937439
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.1063738131488208e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 41,
+ "virtual_xyz": [
+ 0.19003310799598694,
+ -0.07675856351852417,
+ 0.6475099325180054
+ ],
+ "wrist_rpy": [
+ -1.6673938035964966,
+ 0.18812666833400726,
+ 1.5330979824066162
+ ],
+ "finger_dofs": [
+ 1.425201416015625,
+ -0.002556827152147889,
+ 0.04166460782289505,
+ 1.4984103441238403,
+ -0.003962560091167688,
+ -0.001862662029452622,
+ 1.137202262878418,
+ 0.002122079487890005,
+ 0.0019734275992959738,
+ 1.4082210063934326,
+ 0.002914419397711754,
+ 0.05014849081635475,
+ 1.3063586950302124,
+ 0.021106243133544922,
+ -0.002329988172277808,
+ 0.9851125478744507,
+ -0.004791826941072941,
+ -0.002198628382757306,
+ 0.68739914894104,
+ 0.004696425516158342,
+ 0.1417812556028366,
+ 1.7218464612960815,
+ -0.0026246195193380117,
+ 0.00458982540294528,
+ 1.1940397024154663,
+ 0.002570665907114744,
+ 0.002686504041776061,
+ 1.31267249584198,
+ -0.03616379201412201,
+ 0.05169481039047241,
+ 1.7597488164901733,
+ -0.002691319677978754,
+ 0.0039445688016712666,
+ 0.7926698923110962,
+ 0.0020610669162124395,
+ -0.004873494617640972,
+ 0.18953801691532135,
+ 1.222061276435852,
+ -0.4331912696361542,
+ -0.002257594373077154,
+ -0.002407277002930641,
+ -0.1780116856098175,
+ 0.0029243489261716604,
+ 0.0024936911650002003,
+ -0.6784249544143677
+ ],
+ "wrist_pos": [
+ 0.1900331825017929,
+ -0.07675854116678238,
+ 0.6475098729133606
+ ],
+ "wrist_rot": [
+ -0.4871833622455597,
+ 0.5567989945411682,
+ 0.4140803813934326,
+ 0.5302495956420898
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.132414778088787e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 42,
+ "virtual_xyz": [
+ 0.1900138407945633,
+ -0.07691475003957748,
+ 0.647477388381958
+ ],
+ "wrist_rpy": [
+ -1.6668002605438232,
+ 0.18759870529174805,
+ 1.533951997756958
+ ],
+ "finger_dofs": [
+ 1.4267184734344482,
+ -0.0025314076337963343,
+ 0.03948361054062843,
+ 1.498010516166687,
+ -0.003538882825523615,
+ -0.0018546434585005045,
+ 1.147063970565796,
+ 0.0020740185864269733,
+ 0.0019636352080851793,
+ 1.408981204032898,
+ 0.002107968321070075,
+ 0.04781300947070122,
+ 1.3070924282073975,
+ 0.019405120983719826,
+ -0.0019973809830844402,
+ 0.9808779358863831,
+ -0.00424755085259676,
+ -0.002173167886212468,
+ 0.6929482221603394,
+ 0.007418067194521427,
+ 0.13489890098571777,
+ 1.7425059080123901,
+ -0.0020111219491809607,
+ 0.004856396932154894,
+ 1.2047061920166016,
+ 0.0024598469026386738,
+ 0.002576843835413456,
+ 1.3198028802871704,
+ -0.03657010197639465,
+ 0.04732007533311844,
+ 1.7613379955291748,
+ -0.0030802704859524965,
+ 0.004067490343004465,
+ 0.7949767112731934,
+ 0.0021456731483340263,
+ -0.0052163563668727875,
+ 0.1904655396938324,
+ 1.2281014919281006,
+ -0.4362078309059143,
+ -0.002301001688465476,
+ -0.0023701146710664034,
+ -0.17701935768127441,
+ 0.002944231266155839,
+ 0.0025593936443328857,
+ -0.6818262338638306
+ ],
+ "wrist_pos": [
+ 0.19001391530036926,
+ -0.0769147276878357,
+ 0.6474773287773132
+ ],
+ "wrist_rot": [
+ -0.4869241416454315,
+ 0.5567694306373596,
+ 0.4146236777305603,
+ 0.5300942063331604
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.1312681042218173e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 43,
+ "virtual_xyz": [
+ 0.1900339424610138,
+ -0.0766274556517601,
+ 0.6474325656890869
+ ],
+ "wrist_rpy": [
+ -1.6673611402511597,
+ 0.1884283572435379,
+ 1.534205436706543
+ ],
+ "finger_dofs": [
+ 1.4245281219482422,
+ -0.0024902198929339647,
+ 0.03859305381774902,
+ 1.496044397354126,
+ -0.0038164330180734396,
+ -0.0018329544691368937,
+ 1.1534019708633423,
+ 0.0021036830730736256,
+ 0.0019658408127725124,
+ 1.406976342201233,
+ 0.000895526260137558,
+ 0.05021598935127258,
+ 1.3038829565048218,
+ 0.021280014887452126,
+ -0.0017549027688801289,
+ 0.9790738821029663,
+ -0.004282496869564056,
+ -0.0021873931400477886,
+ 0.6980021595954895,
+ 0.007880289107561111,
+ 0.13101297616958618,
+ 1.7526155710220337,
+ -0.0024119215086102486,
+ 0.005146223120391369,
+ 1.2109020948410034,
+ 0.00248020444996655,
+ 0.002538400935009122,
+ 1.3097549676895142,
+ -0.03756359964609146,
+ 0.043590009212493896,
+ 1.760538101196289,
+ -0.002661737147718668,
+ 0.004005990456789732,
+ 0.797661304473877,
+ 0.0020774141885340214,
+ -0.00515914149582386,
+ 0.1860203891992569,
+ 1.2330446243286133,
+ -0.431790292263031,
+ -0.002373315393924713,
+ -0.002321854466572404,
+ -0.17904400825500488,
+ 0.002905426546931267,
+ 0.002563181333243847,
+ -0.6845071911811829
+ ],
+ "wrist_pos": [
+ 0.19003401696681976,
+ -0.07662743330001831,
+ 0.6474325060844421
+ ],
+ "wrist_rot": [
+ -0.4867885708808899,
+ 0.5571272373199463,
+ 0.41429635882377625,
+ 0.530098557472229
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.135903400812822e-07
+ ]
+ },
+ {
+ "phase": "grasp",
+ "step": 44,
+ "virtual_xyz": [
+ 0.1900484710931778,
+ -0.07657626271247864,
+ 0.6474435925483704
+ ],
+ "wrist_rpy": [
+ -1.6674001216888428,
+ 0.18877659738063812,
+ 1.5343788862228394
+ ],
+ "finger_dofs": [
+ 1.424877643585205,
+ -0.002573056146502495,
+ 0.03890465572476387,
+ 1.4962687492370605,
+ -0.003921111114323139,
+ -0.0018367895390838385,
+ 1.155833125114441,
+ 0.0021044202148914337,
+ 0.0019691498018801212,
+ 1.4074612855911255,
+ 0.0036988509818911552,
+ 0.049683406949043274,
+ 1.3029887676239014,
+ 0.024078309535980225,
+ -0.0025217225775122643,
+ 0.9790475964546204,
+ -0.005633100867271423,
+ -0.002203035866841674,
+ 0.7030096650123596,
+ 0.005515788681805134,
+ 0.12798656523227692,
+ 1.7509517669677734,
+ -0.0024390695616602898,
+ 0.004836427979171276,
+ 1.21637761592865,
+ 0.002490860177204013,
+ 0.0025538718327879906,
+ 1.308282494544983,
+ -0.037593454122543335,
+ 0.044005077332258224,
+ 1.7591228485107422,
+ -0.002701742807403207,
+ 0.004010902717709541,
+ 0.8019964098930359,
+ 0.0020665565971285105,
+ -0.004939091391861439,
+ 0.18590150773525238,
+ 1.2357746362686157,
+ -0.4309696853160858,
+ -0.002397952601313591,
+ -0.0023533841595053673,
+ -0.1799895167350769,
+ 0.002874399069696665,
+ 0.002530548023059964,
+ -0.6857885718345642
+ ],
+ "wrist_pos": [
+ 0.19004854559898376,
+ -0.07657624781131744,
+ 0.6474435329437256
+ ],
+ "wrist_rot": [
+ -0.4866611957550049,
+ 0.5572529435157776,
+ 0.41423138976097107,
+ 0.5301342010498047
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.1346285450363212e-07
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 0,
+ "virtual_xyz": [
+ 0.18884915113449097,
+ -0.0761856734752655,
+ 0.6475030183792114
+ ],
+ "wrist_rpy": [
+ -1.6661958694458008,
+ 0.18460513651371002,
+ 1.5343269109725952
+ ],
+ "finger_dofs": [
+ 1.4001935720443726,
+ 0.0024875435046851635,
+ 0.03996292129158974,
+ 1.5013583898544312,
+ -0.007067072670906782,
+ -0.0013808389194309711,
+ 1.154876708984375,
+ 0.0022929180413484573,
+ 0.0019685649313032627,
+ 1.4049708843231201,
+ 0.0034737444948405027,
+ 0.04759489372372627,
+ 1.2714247703552246,
+ 0.028143825009465218,
+ -0.002495103282853961,
+ 0.9812281727790833,
+ -0.00645532226189971,
+ -0.00210463535040617,
+ 0.7041430473327637,
+ 0.003868457395583391,
+ 0.12355025857686996,
+ 1.7403312921524048,
+ -0.002345723332837224,
+ 0.004859559703618288,
+ 1.2127134799957275,
+ 0.0023413074668496847,
+ 0.0023771885316818953,
+ 1.3222028017044067,
+ -0.03985900804400444,
+ 0.04615899175405502,
+ 1.7600092887878418,
+ -0.00322075211443007,
+ 0.0039689368568360806,
+ 0.8136178851127625,
+ 0.0020804661326110363,
+ -0.004876397550106049,
+ 0.18037870526313782,
+ 1.237136721611023,
+ -0.4222833812236786,
+ -0.002687695436179638,
+ -0.0025167525745928288,
+ -0.1666431874036789,
+ 0.0028365410398691893,
+ 0.0022942831274122,
+ -0.6804660558700562
+ ],
+ "wrist_pos": [
+ 0.18884922564029694,
+ -0.07618565112352371,
+ 0.6475029587745667
+ ],
+ "wrist_rot": [
+ -0.4874291718006134,
+ 0.5560852885246277,
+ 0.4157502353191376,
+ 0.5294654369354248
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.7905843208154693e-07
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 1,
+ "virtual_xyz": [
+ 0.18745054304599762,
+ -0.07569718360900879,
+ 0.6475587487220764
+ ],
+ "wrist_rpy": [
+ -1.664703130722046,
+ 0.18012267351150513,
+ 1.5326117277145386
+ ],
+ "finger_dofs": [
+ 1.359701156616211,
+ -0.001269474159926176,
+ 0.039559781551361084,
+ 1.5027761459350586,
+ -0.010315453633666039,
+ -0.0006309968302957714,
+ 1.153929352760315,
+ 0.002402881858870387,
+ 0.00198792084120214,
+ 1.3982551097869873,
+ -0.0035006559919565916,
+ 0.05227436125278473,
+ 1.2606840133666992,
+ 0.006589511875063181,
+ 7.888479012763128e-05,
+ 1.0219957828521729,
+ -0.0029487714637070894,
+ -0.0019765114411711693,
+ 0.7180638313293457,
+ 0.004863658454269171,
+ 0.1250138282775879,
+ 1.7246124744415283,
+ -0.0027724055107682943,
+ 0.004010952543467283,
+ 1.2103707790374756,
+ 0.0025454815477132797,
+ 0.0024735680781304836,
+ 1.3724579811096191,
+ -0.03782391548156738,
+ 0.051414549350738525,
+ 1.7583571672439575,
+ -0.0039029584731906652,
+ 0.0037903711199760437,
+ 0.8264703154563904,
+ 0.0022194141056388617,
+ -0.00435986602678895,
+ 0.16287845373153687,
+ 1.2411714792251587,
+ -0.42557045817375183,
+ -0.0007206173613667488,
+ -0.0032430009450763464,
+ -0.10838142037391663,
+ 0.0031665232963860035,
+ -0.0022234448697417974,
+ -0.6709775328636169
+ ],
+ "wrist_pos": [
+ 0.1874506175518036,
+ -0.075697161257267,
+ 0.6475586891174316
+ ],
+ "wrist_rot": [
+ -0.4886609613895416,
+ 0.5543791651725769,
+ 0.4169950783252716,
+ 0.5291401743888855
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.543082390753625e-07
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 2,
+ "virtual_xyz": [
+ 0.18609021604061127,
+ -0.07545622438192368,
+ 0.6475420594215393
+ ],
+ "wrist_rpy": [
+ -1.66031014919281,
+ 0.17416873574256897,
+ 1.5320823192596436
+ ],
+ "finger_dofs": [
+ 1.3235397338867188,
+ 0.002823749789968133,
+ 0.03476838394999504,
+ 1.5088121891021729,
+ -0.008323796093463898,
+ -0.0018055059481412172,
+ 1.155346155166626,
+ 0.002278567524626851,
+ 0.001945399446412921,
+ 1.3904372453689575,
+ -0.001590697094798088,
+ 0.05413753539323807,
+ 1.2460544109344482,
+ 0.005761811044067144,
+ 0.002073615323752165,
+ 1.0898414850234985,
+ -0.0028678891249001026,
+ -0.002028458984568715,
+ 0.756497323513031,
+ 0.003474536119028926,
+ 0.11636009812355042,
+ 1.69692862033844,
+ -0.00262007606215775,
+ 0.003921284805983305,
+ 1.2079508304595947,
+ 0.002284211339429021,
+ 0.002139132469892502,
+ 1.4600874185562134,
+ -0.03817087784409523,
+ 0.04868771508336067,
+ 1.7549628019332886,
+ -0.0029501088429242373,
+ 0.0034362822771072388,
+ 0.8536248207092285,
+ 0.001993883401155472,
+ -0.0042514740489423275,
+ 0.16641564667224884,
+ 1.245237112045288,
+ -0.43046000599861145,
+ 0.002005829242989421,
+ -0.0034197319764643908,
+ -0.08467075228691101,
+ 0.0031101100612431765,
+ -0.0027240184135735035,
+ -0.6615676283836365
+ ],
+ "wrist_pos": [
+ 0.18609029054641724,
+ -0.07545620203018188,
+ 0.6475419998168945
+ ],
+ "wrist_rot": [
+ -0.48917126655578613,
+ 0.5520256161689758,
+ 0.419771671295166,
+ 0.5289338231086731
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.2703888785381423e-07
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 3,
+ "virtual_xyz": [
+ 0.1847202330827713,
+ -0.07408053427934647,
+ 0.6472854614257812
+ ],
+ "wrist_rpy": [
+ -1.6561365127563477,
+ 0.17174294590950012,
+ 1.5329885482788086
+ ],
+ "finger_dofs": [
+ 1.2768532037734985,
+ 0.0011793534504249692,
+ 0.03424973040819168,
+ 1.4828687906265259,
+ -0.008288657292723656,
+ -0.0018037870759144425,
+ 1.1602869033813477,
+ 0.0021585768554359674,
+ 0.0019198276568204165,
+ 1.3501960039138794,
+ -0.0036001596599817276,
+ 0.05714333429932594,
+ 1.2022712230682373,
+ 0.004406447988003492,
+ 0.0020998595282435417,
+ 1.1002309322357178,
+ -0.0028045775834470987,
+ -0.0020332413259893656,
+ 0.7953044176101685,
+ 0.002703714882954955,
+ 0.10572662204504013,
+ 1.6781548261642456,
+ -0.0028094241861253977,
+ 0.004117144737392664,
+ 1.1941208839416504,
+ 0.0020132018253207207,
+ 0.0003582875360734761,
+ 1.5490890741348267,
+ -0.036556653678417206,
+ 0.04350228235125542,
+ 1.7540695667266846,
+ -0.0029848897829651833,
+ 0.003353087231516838,
+ 0.8676429986953735,
+ 0.0019755777902901173,
+ -0.004322144668549299,
+ 0.18613210320472717,
+ 1.2454943656921387,
+ -0.43899503350257874,
+ 0.002777253044769168,
+ -0.0037660617381334305,
+ -0.05557555705308914,
+ 0.003180387895554304,
+ -0.0032944795675575733,
+ -0.6554484963417053
+ ],
+ "wrist_pos": [
+ 0.18472030758857727,
+ -0.07408051192760468,
+ 0.6472854018211365
+ ],
+ "wrist_rot": [
+ -0.48843899369239807,
+ 0.5508344769477844,
+ 0.42185309529304504,
+ 0.5291962623596191
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.0806851946654206e-07
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 4,
+ "virtual_xyz": [
+ 0.18340572714805603,
+ -0.07244447618722916,
+ 0.6469737887382507
+ ],
+ "wrist_rpy": [
+ -1.6522005796432495,
+ 0.16922476887702942,
+ 1.5348279476165771
+ ],
+ "finger_dofs": [
+ 1.220967411994934,
+ 0.0005581394070759416,
+ 0.036209363490343094,
+ 1.4385188817977905,
+ -0.008565245196223259,
+ -0.001989950193092227,
+ 1.1649211645126343,
+ 0.0020826985128223896,
+ 0.0018994736019521952,
+ 1.3061118125915527,
+ -0.0035245486069470644,
+ 0.061541393399238586,
+ 1.1492810249328613,
+ 0.0024875823874026537,
+ 0.0022047937382012606,
+ 1.1064674854278564,
+ -0.002435440896078944,
+ -0.0020787373650819063,
+ 0.8406615853309631,
+ -0.001763663487508893,
+ 0.09927359223365784,
+ 1.6663635969161987,
+ -0.003130243392661214,
+ 0.004097296390682459,
+ 1.1838778257369995,
+ 0.0018779353704303503,
+ -0.0020893316250294447,
+ 1.530616283416748,
+ -0.03451181575655937,
+ 0.04342726990580559,
+ 1.7531594038009644,
+ -0.0029767905361950397,
+ 0.0031880796886980534,
+ 0.8923650979995728,
+ 0.0019419001182541251,
+ -0.004106382839381695,
+ 0.2060706615447998,
+ 1.2452994585037231,
+ -0.4424392580986023,
+ 0.0027771012391895056,
+ -0.0035514270421117544,
+ -0.028574567288160324,
+ 0.0031311220955103636,
+ -0.003589513711631298,
+ -0.6511235237121582
+ ],
+ "wrist_pos": [
+ 0.183405801653862,
+ -0.07244445383548737,
+ 0.646973729133606
+ ],
+ "wrist_rot": [
+ -0.4875376224517822,
+ 0.5498939752578735,
+ 0.42413797974586487,
+ 0.5291792154312134
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -8.897355030512699e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 5,
+ "virtual_xyz": [
+ 0.18216145038604736,
+ -0.07029277831315994,
+ 0.6465985178947449
+ ],
+ "wrist_rpy": [
+ -1.6502619981765747,
+ 0.17140069603919983,
+ 1.5375536680221558
+ ],
+ "finger_dofs": [
+ 1.144238829612732,
+ -0.002347594127058983,
+ 0.0333273820579052,
+ 1.3714603185653687,
+ -0.007578102871775627,
+ -0.001760965446010232,
+ 1.1669269800186157,
+ 0.0020966657903045416,
+ 0.0018655492458492517,
+ 1.251091480255127,
+ 0.003500478807836771,
+ 0.05987938866019249,
+ 1.0955215692520142,
+ 0.004142774268984795,
+ 0.001774742268025875,
+ 1.100101351737976,
+ -0.0029310176614671946,
+ -0.0020366196986287832,
+ 0.8839747309684753,
+ -0.0010783671168610454,
+ 0.09302597492933273,
+ 1.6621187925338745,
+ -0.002943861298263073,
+ 0.0042428262531757355,
+ 1.174569010734558,
+ -0.001479878555983305,
+ -0.0024600245524197817,
+ 1.4677233695983887,
+ -0.027107272297143936,
+ 0.045399025082588196,
+ 1.7530001401901245,
+ -0.0028853255789726973,
+ 0.003101484151557088,
+ 0.9185767769813538,
+ 0.0018820923287421465,
+ -0.004027270711958408,
+ 0.23117251694202423,
+ 1.242942452430725,
+ -0.4565905034542084,
+ 0.003384064882993698,
+ -0.003851877059787512,
+ 0.003436888800933957,
+ 0.0031765145249664783,
+ -0.0038483189418911934,
+ -0.6478442549705505
+ ],
+ "wrist_pos": [
+ 0.18216152489185333,
+ -0.07029275596141815,
+ 0.6465984582901001
+ ],
+ "wrist_rot": [
+ -0.485714852809906,
+ 0.5506271719932556,
+ 0.42477625608444214,
+ 0.5295807123184204
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -6.720219403177907e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 6,
+ "virtual_xyz": [
+ 0.1810113489627838,
+ -0.06818411499261856,
+ 0.6462035179138184
+ ],
+ "wrist_rpy": [
+ -1.6466155052185059,
+ 0.17585806548595428,
+ 1.5408294200897217
+ ],
+ "finger_dofs": [
+ 1.0798099040985107,
+ -0.003934009466320276,
+ 0.027803905308246613,
+ 1.3070111274719238,
+ -0.01066494919359684,
+ -0.0016977390041574836,
+ 1.1699641942977905,
+ 0.002297206548973918,
+ 0.001848073909059167,
+ 1.2020021677017212,
+ 0.005578259937465191,
+ 0.05429718643426895,
+ 1.0560429096221924,
+ 0.003137878142297268,
+ -0.0004901114734821022,
+ 1.0917749404907227,
+ -0.002518679480999708,
+ -0.00196064542979002,
+ 0.9241694808006287,
+ 0.001728926203213632,
+ 0.09398069232702255,
+ 1.672163963317871,
+ -0.003231519367545843,
+ 0.00416379701346159,
+ 1.1704881191253662,
+ -0.0018371132900938392,
+ -0.0025673985946923494,
+ 1.3926637172698975,
+ -0.0036960081197321415,
+ 0.034347906708717346,
+ 1.7488470077514648,
+ 0.0033196338918060064,
+ 0.003093959065154195,
+ 0.9407479166984558,
+ 0.001942899776622653,
+ -0.003696648869663477,
+ 0.2631424069404602,
+ 1.242153525352478,
+ -0.4853610694408417,
+ 0.004240380600094795,
+ -0.00428464449942112,
+ 0.03763171657919884,
+ 0.0030875694938004017,
+ -0.004141882061958313,
+ -0.6442744731903076
+ ],
+ "wrist_pos": [
+ 0.18101142346858978,
+ -0.06818409264087677,
+ 0.6462034583091736
+ ],
+ "wrist_rot": [
+ -0.482694536447525,
+ 0.5516294240951538,
+ 0.4253876507282257,
+ 0.5308071970939636
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -3.389351022065057e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 7,
+ "virtual_xyz": [
+ 0.17964597046375275,
+ -0.06719598174095154,
+ 0.6458545327186584
+ ],
+ "wrist_rpy": [
+ -1.6401463747024536,
+ 0.17195355892181396,
+ 1.5433138608932495
+ ],
+ "finger_dofs": [
+ 1.0230867862701416,
+ -0.0042684925720095634,
+ 0.0017800163477659225,
+ 1.2679617404937744,
+ -0.013838731683790684,
+ -0.00034111624700017273,
+ 1.1733691692352295,
+ 0.0025178329087793827,
+ 0.0018095853738486767,
+ 1.1669355630874634,
+ 0.00837048888206482,
+ 0.04839324206113815,
+ 1.0139305591583252,
+ 0.002076489385217428,
+ -0.0012606715317815542,
+ 1.0915199518203735,
+ -0.0021748908329755068,
+ -0.0014784737722948194,
+ 0.9822537899017334,
+ 0.00201339996419847,
+ 0.09255945682525635,
+ 1.6707127094268799,
+ -0.003495295997709036,
+ 0.003992112819105387,
+ 1.1697813272476196,
+ -0.0018466059118509293,
+ -0.0027016375679522753,
+ 1.3749879598617554,
+ -0.0016841258620843291,
+ 0.02680484764277935,
+ 1.7508814334869385,
+ 0.00264900759793818,
+ 0.002884127665311098,
+ 0.9791654944419861,
+ 0.001966404262930155,
+ -0.0033526383340358734,
+ 0.29896625876426697,
+ 1.2301474809646606,
+ -0.4665444493293762,
+ 0.0034020442981272936,
+ -0.002820185851305723,
+ -0.005431133788079023,
+ 0.002252136589959264,
+ -0.003068312769755721,
+ -0.6463254690170288
+ ],
+ "wrist_pos": [
+ 0.17964604496955872,
+ -0.06719595938920975,
+ 0.6458544731140137
+ ],
+ "wrist_rot": [
+ -0.48130515217781067,
+ 0.5499830842018127,
+ 0.4289306104183197,
+ 0.5309258699417114
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.9407140783300747e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 8,
+ "virtual_xyz": [
+ 0.17791332304477692,
+ -0.06606223434209824,
+ 0.645740807056427
+ ],
+ "wrist_rpy": [
+ -1.6322327852249146,
+ 0.17057983577251434,
+ 1.545213222503662
+ ],
+ "finger_dofs": [
+ 0.9611169099807739,
+ -0.002899408107623458,
+ -0.025282712653279305,
+ 1.2099483013153076,
+ -0.016413336619734764,
+ 0.002625746186822653,
+ 1.17466139793396,
+ 0.0028344187885522842,
+ 0.001800887519493699,
+ 1.1233460903167725,
+ 0.0048807282000780106,
+ 0.04954797402024269,
+ 0.9772269129753113,
+ 0.002005537273362279,
+ -0.0018689471762627363,
+ 1.1027135848999023,
+ -0.0022791840601712465,
+ -0.0010917403269559145,
+ 1.0245192050933838,
+ 0.0022470271214842796,
+ 0.0865667387843132,
+ 1.6767542362213135,
+ -0.0031858133152127266,
+ 0.004001250024884939,
+ 1.1697421073913574,
+ -0.0020100027322769165,
+ -0.0028680325485765934,
+ 1.3550282716751099,
+ -0.0037869561929255724,
+ 0.027417602017521858,
+ 1.747713565826416,
+ 0.0023566430900245905,
+ 0.002732647582888603,
+ 1.012856125831604,
+ 0.0011411129962652922,
+ -0.0032684234902262688,
+ 0.3339259624481201,
+ 1.21881103515625,
+ -0.40487486124038696,
+ 0.0019893052522093058,
+ -0.002031689742580056,
+ -0.11697695404291153,
+ 0.00197658222168684,
+ -0.0024552440736442804,
+ -0.6514472961425781
+ ],
+ "wrist_pos": [
+ 0.17791339755058289,
+ -0.06606221199035645,
+ 0.6457407474517822
+ ],
+ "wrist_rot": [
+ -0.47903767228126526,
+ 0.5484307408332825,
+ 0.4319942891597748,
+ 0.5320972800254822
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.55066040008478e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 9,
+ "virtual_xyz": [
+ 0.17619600892066956,
+ -0.06492941826581955,
+ 0.6456666588783264
+ ],
+ "wrist_rpy": [
+ -1.6237086057662964,
+ 0.1643947958946228,
+ 1.546032428741455
+ ],
+ "finger_dofs": [
+ 0.9151745438575745,
+ 0.0071464055217802525,
+ -0.039705727249383926,
+ 1.1200580596923828,
+ -0.013706148602068424,
+ 0.002262827707454562,
+ 1.1773231029510498,
+ 0.002620387589558959,
+ 0.0017845715628936887,
+ 1.0989733934402466,
+ 0.0060653528198599815,
+ 0.04529630020260811,
+ 0.9123234152793884,
+ 0.00443160580471158,
+ -0.0019971756264567375,
+ 1.102251410484314,
+ -0.0030468564946204424,
+ 0.001574108493514359,
+ 1.0827674865722656,
+ 0.002106671454384923,
+ 0.0837477296590805,
+ 1.6688463687896729,
+ -0.003010308602824807,
+ 0.003514843061566353,
+ 1.1699204444885254,
+ -0.0019731433130800724,
+ -0.002731723478063941,
+ 1.3512533903121948,
+ -0.0045632668770849705,
+ 0.04571574553847313,
+ 1.7358015775680542,
+ -0.002569471951574087,
+ 0.00249295961111784,
+ 1.0583995580673218,
+ 0.0018297235947102308,
+ -0.0028482016641646624,
+ 0.39538538455963135,
+ 1.2101590633392334,
+ -0.37291184067726135,
+ 0.0019412350375205278,
+ -0.001978891668841243,
+ -0.22235651314258575,
+ 0.002177443588152528,
+ -0.002918783575296402,
+ -0.6518625617027283
+ ],
+ "wrist_pos": [
+ 0.17619608342647552,
+ -0.06492939591407776,
+ 0.6456665992736816
+ ],
+ "wrist_rot": [
+ -0.4781566858291626,
+ 0.5453927516937256,
+ 0.43627142906188965,
+ 0.532522439956665
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -1.1595385984719542e-08
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 10,
+ "virtual_xyz": [
+ 0.1744610071182251,
+ -0.06436869502067566,
+ 0.6456059217453003
+ ],
+ "wrist_rpy": [
+ -1.6114249229431152,
+ 0.1551351100206375,
+ 1.5495468378067017
+ ],
+ "finger_dofs": [
+ 0.887488067150116,
+ 0.011466196738183498,
+ -0.07051553577184677,
+ 1.0439547300338745,
+ -0.012755835428833961,
+ -4.158314550295472e-05,
+ 1.1765929460525513,
+ 0.002528160810470581,
+ 0.0014932726044207811,
+ 1.091050386428833,
+ 0.008818425238132477,
+ 0.03158148378133774,
+ 0.8349807858467102,
+ 0.006574994884431362,
+ -0.0022776778787374496,
+ 1.1077717542648315,
+ -0.003053076798096299,
+ 0.0019092113943770528,
+ 1.1555944681167603,
+ 0.002306529087945819,
+ 0.0686819925904274,
+ 1.653419017791748,
+ -0.0029737097211182117,
+ 0.0030302004888653755,
+ 1.1740655899047852,
+ -0.0018764232518151402,
+ -0.0025667452719062567,
+ 1.3500057458877563,
+ -0.0031532393768429756,
+ 0.046005696058273315,
+ 1.6979597806930542,
+ -0.0026904430706053972,
+ 0.002151012420654297,
+ 1.1066895723342896,
+ 0.0018917229026556015,
+ -0.002371578710153699,
+ 0.47212663292884827,
+ 1.206240177154541,
+ -0.3771757483482361,
+ 0.0018932074308395386,
+ -0.001975405029952526,
+ -0.332497775554657,
+ 0.001953305909410119,
+ -0.0025793223176151514,
+ -0.6483171582221985
+ ],
+ "wrist_pos": [
+ 0.17446108162403107,
+ -0.06436867266893387,
+ 0.6456058621406555
+ ],
+ "wrist_rot": [
+ -0.4763491749763489,
+ 0.5414389371871948,
+ 0.4431108236312866,
+ 0.5325298309326172
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ -2.6210620340805235e-09
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 11,
+ "virtual_xyz": [
+ 0.17274247109889984,
+ -0.06339935958385468,
+ 0.6455418467521667
+ ],
+ "wrist_rpy": [
+ -1.6007951498031616,
+ 0.14440366625785828,
+ 1.5541303157806396
+ ],
+ "finger_dofs": [
+ 0.8723670840263367,
+ 0.0174631979316473,
+ -0.10230258107185364,
+ 0.9451345205307007,
+ -0.02456400915980339,
+ 0.0026623974554240704,
+ 1.1737980842590332,
+ 0.003171732649207115,
+ 0.0011100745759904385,
+ 1.1035329103469849,
+ 0.005695344880223274,
+ 0.02342761866748333,
+ 0.7360008955001831,
+ 0.010547246783971786,
+ -0.001587771694175899,
+ 1.0966711044311523,
+ -0.0032570320181548595,
+ 0.001927255536429584,
+ 1.229985237121582,
+ 0.0025421844329684973,
+ 0.05846244469285011,
+ 1.626848816871643,
+ -0.0025798731949180365,
+ 0.002424785867333412,
+ 1.1762982606887817,
+ -0.0014563142322003841,
+ -0.002272125333547592,
+ 1.346800446510315,
+ 0.0022608230356127024,
+ 0.041518956422805786,
+ 1.661552906036377,
+ -0.002351156435906887,
+ 0.001873679575510323,
+ 1.1413578987121582,
+ 0.001889725448563695,
+ -0.002013647696003318,
+ 0.5453547239303589,
+ 1.2038319110870361,
+ -0.3947674334049225,
+ 0.002069455338642001,
+ -0.001950193545781076,
+ -0.41468948125839233,
+ 0.0017547478200867772,
+ -0.0022136990446597338,
+ -0.6421915888786316
+ ],
+ "wrist_pos": [
+ 0.1727425456047058,
+ -0.06339933723211288,
+ 0.645541787147522
+ ],
+ "wrist_rot": [
+ -0.47509369254112244,
+ 0.53770512342453,
+ 0.45014113187789917,
+ 0.5315373539924622
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.002275235718116164
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 12,
+ "virtual_xyz": [
+ 0.1709820181131363,
+ -0.06214810907840729,
+ 0.6454696655273438
+ ],
+ "wrist_rpy": [
+ -1.5937833786010742,
+ 0.1367390900850296,
+ 1.5584372282028198
+ ],
+ "finger_dofs": [
+ 0.8913676738739014,
+ 0.015865663066506386,
+ -0.12569661438465118,
+ 0.8232395052909851,
+ -0.028698060661554337,
+ 0.0026496632490307093,
+ 1.175769567489624,
+ 0.003238372039049864,
+ 0.0008120353450067341,
+ 1.1154927015304565,
+ -7.620528049301356e-05,
+ 0.04190946742892265,
+ 0.645611047744751,
+ 0.012114133685827255,
+ 0.0031746665481477976,
+ 1.0824850797653198,
+ -0.003114529186859727,
+ 0.0018824490252882242,
+ 1.2881262302398682,
+ 0.001872316817753017,
+ 0.04866618663072586,
+ 1.6009188890457153,
+ -0.002335264114663005,
+ 0.0020417107734829187,
+ 1.1812480688095093,
+ 0.00010302998271072283,
+ -0.0020253469701856375,
+ 1.3571933507919312,
+ 0.002098335651680827,
+ 0.033688679337501526,
+ 1.6321529150009155,
+ -0.002095523290336132,
+ 0.0004199603572487831,
+ 1.165955901145935,
+ 0.0018434695666655898,
+ -0.001869131694547832,
+ 0.5919703841209412,
+ 1.207687258720398,
+ -0.41330352425575256,
+ 0.002117109252139926,
+ -0.0020748539827764034,
+ -0.4533901512622833,
+ 0.0017065104329958558,
+ -0.002207526471465826,
+ -0.6376499533653259
+ ],
+ "wrist_pos": [
+ 0.17098209261894226,
+ -0.062148090451955795,
+ 0.645469605922699
+ ],
+ "wrist_rot": [
+ -0.47408634424209595,
+ 0.5353758335113525,
+ 0.45524805784225464,
+ 0.5304374694824219
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.0059234448708593845
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 13,
+ "virtual_xyz": [
+ 0.16920943558216095,
+ -0.060893602669239044,
+ 0.645450234413147
+ ],
+ "wrist_rpy": [
+ -1.5901644229888916,
+ 0.13466742634773254,
+ 1.560202717781067
+ ],
+ "finger_dofs": [
+ 0.8982672691345215,
+ 0.00921939592808485,
+ -0.13199439644813538,
+ 0.7392180562019348,
+ -0.02909466065466404,
+ 0.00285766227170825,
+ 1.1783063411712646,
+ 0.003271010471507907,
+ 0.0007106863777153194,
+ 1.1197314262390137,
+ 0.0027590934187173843,
+ 0.06173310428857803,
+ 0.5953124761581421,
+ 0.02097022905945778,
+ 0.0031797545962035656,
+ 1.0438847541809082,
+ -0.0036290818825364113,
+ 0.0019526254618540406,
+ 1.3126366138458252,
+ 0.001815427909605205,
+ 0.046371497213840485,
+ 1.5936167240142822,
+ -0.002469867467880249,
+ 0.001861503697000444,
+ 1.1861952543258667,
+ 0.0018631034763529897,
+ -0.0018919042777270079,
+ 1.3649333715438843,
+ 0.0019939360208809376,
+ 0.03224887698888779,
+ 1.617803692817688,
+ -0.002204919932410121,
+ -0.0018114980775862932,
+ 1.1799349784851074,
+ 0.0019007831579074264,
+ -0.0005901452386751771,
+ 0.6026849150657654,
+ 1.2146155834197998,
+ -0.4195970296859741,
+ 0.002167237689718604,
+ -0.002195273758843541,
+ -0.4644881784915924,
+ 0.0019039337057620287,
+ -0.002378795063123107,
+ -0.6343957781791687
+ ],
+ "wrist_pos": [
+ 0.16920951008796692,
+ -0.06089358404278755,
+ 0.6454501748085022
+ ],
+ "wrist_rot": [
+ -0.4731983244419098,
+ 0.5344895124435425,
+ 0.45724397897720337,
+ 0.5304074883460999
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.009926333092153072
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 14,
+ "virtual_xyz": [
+ 0.1674383133649826,
+ -0.059641506522893906,
+ 0.6454262137413025
+ ],
+ "wrist_rpy": [
+ -1.5876606702804565,
+ 0.13740426301956177,
+ 1.5615547895431519
+ ],
+ "finger_dofs": [
+ 0.8934915065765381,
+ 0.014988714829087257,
+ -0.1394999772310257,
+ 0.6923861503601074,
+ -0.027003536000847816,
+ 0.0011401940137147903,
+ 1.1716262102127075,
+ 0.0029392677824944258,
+ 0.0006447480409406126,
+ 1.1122715473175049,
+ -0.004013689700514078,
+ 0.07474071532487869,
+ 0.5576346516609192,
+ 0.0006951887626200914,
+ 0.0030177964363247156,
+ 1.0586252212524414,
+ -0.0019325809553265572,
+ 0.001982665155082941,
+ 1.3210551738739014,
+ 0.0019036148441955447,
+ 0.042415544390678406,
+ 1.5895670652389526,
+ -0.0024128190707415342,
+ 0.0010507996194064617,
+ 1.1897774934768677,
+ 0.0018679335480555892,
+ -0.0018616849556565285,
+ 1.3690927028656006,
+ 0.002012847224250436,
+ 0.02926577441394329,
+ 1.6112862825393677,
+ -0.002172516891732812,
+ -0.0018408778123557568,
+ 1.1859917640686035,
+ 0.0019033248536288738,
+ 0.0004246504104230553,
+ 0.5972983837127686,
+ 1.2224403619766235,
+ -0.4226341247558594,
+ 0.0020733231212943792,
+ -0.0019821098539978266,
+ -0.47566649317741394,
+ 0.0018166879890486598,
+ -0.0021767972502857447,
+ -0.6334143877029419
+ ],
+ "wrist_pos": [
+ 0.16743838787078857,
+ -0.059641484171152115,
+ 0.6454261541366577
+ ],
+ "wrist_rot": [
+ -0.4714520573616028,
+ 0.5348693132400513,
+ 0.45753422379493713,
+ 0.5313287377357483
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.014004831202328205
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 15,
+ "virtual_xyz": [
+ 0.16567014157772064,
+ -0.05840759724378586,
+ 0.6454192996025085
+ ],
+ "wrist_rpy": [
+ -1.5864125490188599,
+ 0.1425752192735672,
+ 1.5620595216751099
+ ],
+ "finger_dofs": [
+ 0.8841501474380493,
+ 0.010090170428156853,
+ -0.14507263898849487,
+ 0.6505848169326782,
+ -0.026330491527915,
+ 0.0018177918391302228,
+ 1.1657352447509766,
+ 0.002924633212387562,
+ 0.0006372518837451935,
+ 1.1150692701339722,
+ -0.003124651499092579,
+ 0.07623856514692307,
+ 0.49828022718429565,
+ 0.0006124399951659143,
+ 0.0030304735992103815,
+ 1.100874662399292,
+ -0.002007771749049425,
+ 0.001980370143428445,
+ 1.3242051601409912,
+ 0.0018786389846354723,
+ 0.04146585613489151,
+ 1.5892287492752075,
+ -0.0024179413449019194,
+ -0.000560366315767169,
+ 1.1924147605895996,
+ 0.001906979363411665,
+ -0.0017992008943110704,
+ 1.3714805841445923,
+ 0.0020060900133103132,
+ 0.028674161061644554,
+ 1.6084734201431274,
+ -0.0021700167562812567,
+ -0.0018775990465655923,
+ 1.1897552013397217,
+ 0.0019191654864698648,
+ 0.0017552075441926718,
+ 0.573500394821167,
+ 1.2323285341262817,
+ -0.4172098934650421,
+ 0.0020659349393099546,
+ -0.0017731143161654472,
+ -0.49228721857070923,
+ -2.1571338947978802e-05,
+ -0.0019464504439383745,
+ -0.6325549483299255
+ ],
+ "wrist_pos": [
+ 0.1656702160835266,
+ -0.05840757489204407,
+ 0.6454192399978638
+ ],
+ "wrist_rot": [
+ -0.4696199297904968,
+ 0.5358969569206238,
+ 0.4566074013710022,
+ 0.5327111482620239
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.018022317439317703
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 16,
+ "virtual_xyz": [
+ 0.16391180455684662,
+ -0.05719966068863869,
+ 0.6454218029975891
+ ],
+ "wrist_rpy": [
+ -1.5857890844345093,
+ 0.14946529269218445,
+ 1.5625159740447998
+ ],
+ "finger_dofs": [
+ 0.8744327425956726,
+ 0.006117134355008602,
+ -0.14512483775615692,
+ 0.6023950576782227,
+ -0.0222804993391037,
+ 0.00259698205627501,
+ 1.175383448600769,
+ 0.002863092813640833,
+ 0.0006534993881359696,
+ 1.1061429977416992,
+ -0.0028751655481755733,
+ 0.07349199056625366,
+ 0.4641737937927246,
+ 0.0009414711967110634,
+ 0.0030437635723501444,
+ 1.1120132207870483,
+ -0.001991366036236286,
+ 0.0019825168419629335,
+ 1.3256504535675049,
+ 0.0019070382695645094,
+ 0.040698204189538956,
+ 1.5892295837402344,
+ -0.002439664676785469,
+ -0.0010973968310281634,
+ 1.1942294836044312,
+ 0.0019200718961656094,
+ -0.0017852620221674442,
+ 1.3726450204849243,
+ 0.0019702319987118244,
+ 0.028117669746279716,
+ 1.6076074838638306,
+ -0.0022078962065279484,
+ -0.0018806367879733443,
+ 1.1917332410812378,
+ 0.0019284095615148544,
+ 0.0018794880015775561,
+ 0.545046329498291,
+ 1.2400785684585571,
+ -0.4139878749847412,
+ 0.002025477821007371,
+ -0.0016718494007363915,
+ -0.49968963861465454,
+ -0.0011241924948990345,
+ -0.001900291070342064,
+ -0.6323254108428955
+ ],
+ "wrist_pos": [
+ 0.1639118790626526,
+ -0.057199638336896896,
+ 0.6454217433929443
+ ],
+ "wrist_rot": [
+ -0.46750667691230774,
+ 0.5374476313591003,
+ 0.4550338685512543,
+ 0.5343515872955322
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.02226564660668373
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 17,
+ "virtual_xyz": [
+ 0.16216261684894562,
+ -0.05599689111113548,
+ 0.6454176306724548
+ ],
+ "wrist_rpy": [
+ -1.5853073596954346,
+ 0.15818342566490173,
+ 1.5635559558868408
+ ],
+ "finger_dofs": [
+ 0.8544492721557617,
+ 0.005166816990822554,
+ -0.1499452143907547,
+ 0.5783121585845947,
+ -0.023069076240062714,
+ 0.0025549083948135376,
+ 1.1787623167037964,
+ 0.00286178570240736,
+ 0.0006451295921579003,
+ 1.083817481994629,
+ -0.003952051978558302,
+ 0.07695309817790985,
+ 0.4559537470340729,
+ -0.0027759885415434837,
+ 0.0026188388001173735,
+ 1.1287144422531128,
+ -0.0021303545217961073,
+ 0.001939239795319736,
+ 1.3255698680877686,
+ 0.0020140239503234625,
+ 0.03719858452677727,
+ 1.5885907411575317,
+ -0.0022690650075674057,
+ -0.0004798253648914397,
+ 1.195410132408142,
+ 0.0018565277568995953,
+ -0.0018302761018276215,
+ 1.3721966743469238,
+ 0.002018708037212491,
+ 0.025382570922374725,
+ 1.6093032360076904,
+ -0.0020853024907410145,
+ -0.001830990775488317,
+ 1.1908422708511353,
+ 0.001876502064988017,
+ 0.0006740550161339343,
+ 0.5168076753616333,
+ 1.2456388473510742,
+ -0.4155704379081726,
+ 0.002009738003835082,
+ -0.0014855967601761222,
+ -0.5011012554168701,
+ -0.0018766674911603332,
+ -0.0018122681649401784,
+ -0.6333447098731995
+ ],
+ "wrist_pos": [
+ 0.1621626913547516,
+ -0.05599687248468399,
+ 0.6454175710678101
+ ],
+ "wrist_rot": [
+ -0.46477967500686646,
+ 0.5395780205726624,
+ 0.4530787765979767,
+ 0.5362415313720703
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.02674991264939308
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 18,
+ "virtual_xyz": [
+ 0.16043655574321747,
+ -0.054671432822942734,
+ 0.6454143524169922
+ ],
+ "wrist_rpy": [
+ -1.585080623626709,
+ 0.16449089348316193,
+ 1.5629372596740723
+ ],
+ "finger_dofs": [
+ 0.8539516925811768,
+ 0.00635983282700181,
+ -0.14314085245132446,
+ 0.5297685861587524,
+ -0.024536937475204468,
+ 0.0026598870754241943,
+ 1.1800220012664795,
+ 0.002949046203866601,
+ 0.0007103289826773107,
+ 1.077712893486023,
+ -0.003300173208117485,
+ 0.07904653996229172,
+ 0.4158710539340973,
+ -0.003532098839059472,
+ 0.0024030893109738827,
+ 1.1360812187194824,
+ -0.0020389764104038477,
+ 0.0019974198658019304,
+ 1.3265259265899658,
+ 0.0018706178525462747,
+ 0.040904514491558075,
+ 1.5858570337295532,
+ -0.002458920469507575,
+ -0.0018691570730879903,
+ 1.1957316398620605,
+ 0.001959188375622034,
+ -0.0012087182840332389,
+ 1.3749566078186035,
+ 0.0019729677587747574,
+ 0.02798689715564251,
+ 1.6039619445800781,
+ -0.002217188011854887,
+ -0.001924712909385562,
+ 1.1950238943099976,
+ 0.0019501922652125359,
+ 0.001942740404047072,
+ 0.48480871319770813,
+ 1.2534294128417969,
+ -0.4074017405509949,
+ 0.001969203120097518,
+ -0.0010607497533783317,
+ -0.506502628326416,
+ -0.0018934260588139296,
+ -0.0018234971212223172,
+ -0.6316742897033691
+ ],
+ "wrist_pos": [
+ 0.16043663024902344,
+ -0.05467142164707184,
+ 0.6454142928123474
+ ],
+ "wrist_rot": [
+ -0.4632030427455902,
+ 0.5408220291137695,
+ 0.45125916600227356,
+ 0.5378843545913696
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.03119898959994316
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 19,
+ "virtual_xyz": [
+ 0.15871332585811615,
+ -0.05341196805238724,
+ 0.6454116702079773
+ ],
+ "wrist_rpy": [
+ -1.5846543312072754,
+ 0.17138071358203888,
+ 1.5629264116287231
+ ],
+ "finger_dofs": [
+ 0.8443393707275391,
+ 0.0051519302651286125,
+ -0.1444072276353836,
+ 0.4973733127117157,
+ -0.02460569143295288,
+ 0.0026667239144444466,
+ 1.1795424222946167,
+ 0.0029494999907910824,
+ 0.0007431076373904943,
+ 1.0665817260742188,
+ -0.003447757102549076,
+ 0.08105316013097763,
+ 0.38925832509994507,
+ -0.00448193633928895,
+ 0.002453858032822609,
+ 1.1431348323822021,
+ -0.0019311965443193913,
+ 0.0019679563120007515,
+ 1.328338861465454,
+ 0.0019143846584483981,
+ 0.040134649723768234,
+ 1.582727313041687,
+ -0.0023576957173645496,
+ -0.0018772283801808953,
+ 1.1965142488479614,
+ 0.00193579972255975,
+ -0.0008952099597081542,
+ 1.3770047426223755,
+ 0.0019988964777439833,
+ 0.02718712016940117,
+ 1.6013728380203247,
+ -0.002143343910574913,
+ -0.0019048696849495173,
+ 1.197338342666626,
+ 0.0019225667929276824,
+ 0.001910699182190001,
+ 0.4495018720626831,
+ 1.2643053531646729,
+ -0.4057866036891937,
+ 0.0020782931242138147,
+ -0.001410001888871193,
+ -0.5060442090034485,
+ -0.0014095497317612171,
+ -0.001995590515434742,
+ -0.6313326358795166
+ ],
+ "wrist_pos": [
+ 0.15871340036392212,
+ -0.05341195687651634,
+ 0.6454116106033325
+ ],
+ "wrist_rot": [
+ -0.4612475335597992,
+ 0.5422895550727844,
+ 0.4494936466217041,
+ 0.5395628809928894
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.035826753824949265
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 20,
+ "virtual_xyz": [
+ 0.15700095891952515,
+ -0.05217409133911133,
+ 0.645408570766449
+ ],
+ "wrist_rpy": [
+ -1.5837794542312622,
+ 0.17950285971164703,
+ 1.5640078783035278
+ ],
+ "finger_dofs": [
+ 0.8284597396850586,
+ 0.004616700578480959,
+ -0.15037879347801208,
+ 0.47413337230682373,
+ -0.02337607368826866,
+ 0.0028411787934601307,
+ 1.180345058441162,
+ 0.0029251163359731436,
+ 0.0007224790751934052,
+ 1.052263855934143,
+ -0.0031129277776926756,
+ 0.07817737013101578,
+ 0.3741450905799866,
+ -0.003935311455279589,
+ 0.002220392692834139,
+ 1.1460102796554565,
+ -0.0021770561579614878,
+ 0.001936060027219355,
+ 1.330068588256836,
+ 0.0018706937553361058,
+ 0.03548433631658554,
+ 1.5793458223342896,
+ -0.0022118077613413334,
+ -0.001921079121530056,
+ 1.1974644660949707,
+ 0.0019173724576830864,
+ -0.0006486724596470594,
+ 1.3779224157333374,
+ 0.0019611085299402475,
+ 0.02326218970119953,
+ 1.6006525754928589,
+ -0.002061160746961832,
+ -0.0018955492414534092,
+ 1.1974698305130005,
+ 0.0018970592645928264,
+ 0.0018998680170625448,
+ 0.41822558641433716,
+ 1.2756208181381226,
+ -0.40855541825294495,
+ 0.0019452754640951753,
+ -0.0012182679492980242,
+ -0.5054419040679932,
+ -0.00185726850759238,
+ -0.0018939129076898098,
+ -0.6323992013931274
+ ],
+ "wrist_pos": [
+ 0.15700101852416992,
+ -0.052174076437950134,
+ 0.6454085111618042
+ ],
+ "wrist_rot": [
+ -0.4585358798503876,
+ 0.5441799759864807,
+ 0.447803795337677,
+ 0.5413728356361389
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.04087931662797928
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 21,
+ "virtual_xyz": [
+ 0.1553032398223877,
+ -0.05085979029536247,
+ 0.6453951001167297
+ ],
+ "wrist_rpy": [
+ -1.5828031301498413,
+ 0.1873912662267685,
+ 1.5649434328079224
+ ],
+ "finger_dofs": [
+ 0.8066493272781372,
+ 0.00978874322026968,
+ -0.15374742448329926,
+ 0.4723184406757355,
+ -0.02408607490360737,
+ 0.0020762747153639793,
+ 1.1717714071273804,
+ 0.0028395229019224644,
+ 0.0006932061514817178,
+ 1.0407780408859253,
+ -0.0032043755054473877,
+ 0.07499725371599197,
+ 0.3536096215248108,
+ -0.0046288445591926575,
+ 0.0023421267978847027,
+ 1.1488972902297974,
+ -0.0020547891035676003,
+ 0.0019521369831636548,
+ 1.331194281578064,
+ 0.0015838611871004105,
+ 0.03234783560037613,
+ 1.575534462928772,
+ -0.0022907829843461514,
+ -0.0019594321493059397,
+ 1.198079228401184,
+ 0.0019485207740217447,
+ -4.7955818445188925e-06,
+ 1.3791199922561646,
+ 0.0019600519444793463,
+ 0.020542453974485397,
+ 1.5985833406448364,
+ -0.0016148407012224197,
+ -0.0019341808510944247,
+ 1.198224425315857,
+ 0.001912939129397273,
+ 0.001946076168678701,
+ 0.38858312368392944,
+ 1.286570429801941,
+ -0.40919435024261475,
+ 0.0019354330142959952,
+ -0.0007114260224625468,
+ -0.5054283142089844,
+ -0.0018669208511710167,
+ -0.0018957129213958979,
+ -0.6328601837158203
+ ],
+ "wrist_pos": [
+ 0.15530331432819366,
+ -0.05085977539420128,
+ 0.645395040512085
+ ],
+ "wrist_rot": [
+ -0.4558885991573334,
+ 0.5459521412849426,
+ 0.4461624324321747,
+ 0.5431766510009766
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.04620150104165077
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 22,
+ "virtual_xyz": [
+ 0.15361210703849792,
+ -0.049530986696481705,
+ 0.6453957557678223
+ ],
+ "wrist_rpy": [
+ -1.5829682350158691,
+ 0.19560541212558746,
+ 1.5650464296340942
+ ],
+ "finger_dofs": [
+ 0.7885226011276245,
+ 0.011132887564599514,
+ -0.15442515909671783,
+ 0.4555656909942627,
+ -0.02589433826506138,
+ 0.0019780336879193783,
+ 1.166817307472229,
+ 0.0029140000697225332,
+ 0.0007182026747614145,
+ 1.0277498960494995,
+ -0.002827482530847192,
+ 0.07563447952270508,
+ 0.3341629207134247,
+ -0.003973466344177723,
+ 0.00204415712505579,
+ 1.1482453346252441,
+ -0.002304073190316558,
+ 0.0019242174457758665,
+ 1.333079218864441,
+ 0.0018584448844194412,
+ 0.03351794555783272,
+ 1.5775094032287598,
+ -0.0021856341045349836,
+ -0.001952274003997445,
+ 1.198222041130066,
+ 0.001921391929499805,
+ 0.0005103560979478061,
+ 1.3796826601028442,
+ 0.001965618459507823,
+ 0.021567746996879578,
+ 1.598556637763977,
+ -0.002016025595366955,
+ -0.0018987029325217009,
+ 1.1991974115371704,
+ 0.0018863355508074164,
+ 0.001896508620120585,
+ 0.35632553696632385,
+ 1.295089840888977,
+ -0.4032618999481201,
+ 0.0019536823965609074,
+ 0.000817007152363658,
+ -0.5067242980003357,
+ -0.0018726240377873182,
+ -0.0018803466809913516,
+ -0.632570743560791
+ ],
+ "wrist_pos": [
+ 0.1536121964454651,
+ -0.04953097179532051,
+ 0.6453956961631775
+ ],
+ "wrist_rot": [
+ -0.4536812901496887,
+ 0.5478530526161194,
+ 0.44388827681541443,
+ 0.5449711084365845
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.051262736320495605
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 23,
+ "virtual_xyz": [
+ 0.15193894505500793,
+ -0.0481959693133831,
+ 0.6453867554664612
+ ],
+ "wrist_rpy": [
+ -1.5819976329803467,
+ 0.20236682891845703,
+ 1.565123438835144
+ ],
+ "finger_dofs": [
+ 0.7792655229568481,
+ 0.011100984178483486,
+ -0.15350770950317383,
+ 0.43094971776008606,
+ -0.0254142377525568,
+ 0.0021897004917263985,
+ 1.1650933027267456,
+ 0.0029504105914384127,
+ 0.0007267338805831969,
+ 1.020272135734558,
+ -0.0032876261975616217,
+ 0.07187201082706451,
+ 0.29969334602355957,
+ -0.0096898740157485,
+ 0.0026788341347128153,
+ 1.1573573350906372,
+ 0.0008736932068131864,
+ 0.0019451555563136935,
+ 1.3358889818191528,
+ 0.0012965899659320712,
+ 0.032699789851903915,
+ 1.5730146169662476,
+ -0.0022553750313818455,
+ -0.002085821470245719,
+ 1.1990472078323364,
+ 0.001995253609493375,
+ 0.0019039282342419028,
+ 1.3825664520263672,
+ 0.0019128500716760755,
+ 0.020713888108730316,
+ 1.593697428703308,
+ -0.0021149434614926577,
+ -0.0019683828577399254,
+ 1.2023675441741943,
+ 0.001944529009051621,
+ 0.002029846189543605,
+ 0.33529040217399597,
+ 1.3036822080612183,
+ -0.4015848934650421,
+ 0.001910715363919735,
+ 0.0007419476751238108,
+ -0.5089596509933472,
+ -0.001867435872554779,
+ -0.0018869027262553573,
+ -0.6317873001098633
+ ],
+ "wrist_pos": [
+ 0.1519390344619751,
+ -0.04819595068693161,
+ 0.6453866958618164
+ ],
+ "wrist_rot": [
+ -0.4515586197376251,
+ 0.5491639971733093,
+ 0.44231247901916504,
+ 0.5466931462287903
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.05665169283747673
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 24,
+ "virtual_xyz": [
+ 0.15027666091918945,
+ -0.04685043916106224,
+ 0.6453865170478821
+ ],
+ "wrist_rpy": [
+ -1.5814645290374756,
+ 0.20812618732452393,
+ 1.5650547742843628
+ ],
+ "finger_dofs": [
+ 0.7720633149147034,
+ 0.011043916456401348,
+ -0.15404091775417328,
+ 0.4055909812450409,
+ -0.026099925860762596,
+ 0.0021713399328291416,
+ 1.1655464172363281,
+ 0.0029706943314522505,
+ 0.0007439146866090596,
+ 1.0176208019256592,
+ -0.003242408623918891,
+ 0.07036750018596649,
+ 0.2632112205028534,
+ -0.009389052167534828,
+ 0.0025997981429100037,
+ 1.1595200300216675,
+ -0.0008634714758954942,
+ 0.0019089378183707595,
+ 1.3424752950668335,
+ 0.0016467795940116048,
+ 0.03325206786394119,
+ 1.569604754447937,
+ -0.0021387021988630295,
+ -0.002162851858884096,
+ 1.1999187469482422,
+ 0.0019993060268461704,
+ 0.001955663552507758,
+ 1.3867579698562622,
+ 0.0018957456341013312,
+ 0.02078498899936676,
+ 1.5881632566452026,
+ -0.0019912896677851677,
+ -0.001980728469789028,
+ 1.2070640325546265,
+ 0.0019161421805620193,
+ 0.0020294785499572754,
+ 0.3182852268218994,
+ 1.3097853660583496,
+ -0.3992549777030945,
+ 0.001929895835928619,
+ 0.0018032582011073828,
+ -0.512438952922821,
+ -0.0018698818748816848,
+ -0.001882288372144103,
+ -0.6303412318229675
+ ],
+ "wrist_pos": [
+ 0.15027675032615662,
+ -0.04685042425990105,
+ 0.6453864574432373
+ ],
+ "wrist_rot": [
+ -0.44986259937286377,
+ 0.550311267375946,
+ 0.44084975123405457,
+ 0.5481173396110535
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.062217433005571365
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 25,
+ "virtual_xyz": [
+ 0.14863130450248718,
+ -0.04545653611421585,
+ 0.6453763246536255
+ ],
+ "wrist_rpy": [
+ -1.5806225538253784,
+ 0.21395264565944672,
+ 1.5654288530349731
+ ],
+ "finger_dofs": [
+ 0.7684307098388672,
+ 0.010768337175250053,
+ -0.15274158120155334,
+ 0.38019999861717224,
+ -0.024392718449234962,
+ 0.002258098218590021,
+ 1.165920615196228,
+ 0.0029117553494870663,
+ 0.0007275174139067531,
+ 1.0148063898086548,
+ -0.003266825107857585,
+ 0.06740841269493103,
+ 0.22863206267356873,
+ -0.014356864616274834,
+ 0.0031733631622046232,
+ 1.1653814315795898,
+ 0.0021123860497027636,
+ 0.0019209989113733172,
+ 1.3470025062561035,
+ 0.000843957532197237,
+ 0.032304491847753525,
+ 1.5629857778549194,
+ -0.0021734514739364386,
+ -0.0023159640841186047,
+ 1.2013657093048096,
+ 0.0020719815511256456,
+ 0.0020596273243427277,
+ 1.3907374143600464,
+ 0.0019199526868760586,
+ 0.01951700448989868,
+ 1.5818840265274048,
+ -0.001111100660637021,
+ -0.002064586617052555,
+ 1.2113252878189087,
+ 0.0019516684114933014,
+ 0.002140881959348917,
+ 0.30597540736198425,
+ 1.3150687217712402,
+ -0.3995996117591858,
+ 0.0019233879866078496,
+ 0.001829553977586329,
+ -0.5149055123329163,
+ -0.0018758919322863221,
+ -0.0018966844072565436,
+ -0.629203736782074
+ ],
+ "wrist_pos": [
+ 0.14863139390945435,
+ -0.04545652121305466,
+ 0.6453762650489807
+ ],
+ "wrist_rot": [
+ -0.4479367733001709,
+ 0.5515011548995972,
+ 0.43957215547561646,
+ 0.5495228171348572
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.06804808974266052
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 26,
+ "virtual_xyz": [
+ 0.1469913125038147,
+ -0.04403967410326004,
+ 0.6453718543052673
+ ],
+ "wrist_rpy": [
+ -1.5802136659622192,
+ 0.21991795301437378,
+ 1.5653752088546753
+ ],
+ "finger_dofs": [
+ 0.7656971216201782,
+ 0.009439291432499886,
+ -0.15319344401359558,
+ 0.35095494985580444,
+ -0.027956582605838776,
+ 0.002397913485765457,
+ 1.1666755676269531,
+ 0.003107365919277072,
+ 0.0007395418360829353,
+ 1.0011475086212158,
+ -0.0025790694635361433,
+ 0.0667649656534195,
+ 0.2143910825252533,
+ -0.008987068198621273,
+ 0.00269391480833292,
+ 1.1603673696517944,
+ -0.000979200005531311,
+ 0.0018982315668836236,
+ 1.3510324954986572,
+ 0.0014821919612586498,
+ 0.032701991498470306,
+ 1.5603713989257812,
+ -0.002086010994389653,
+ -0.0023247855715453625,
+ 1.2022260427474976,
+ 0.0020564182195812464,
+ 0.002067673485726118,
+ 1.393821358680725,
+ 0.0019357786513864994,
+ 0.01950053870677948,
+ 1.5776150226593018,
+ -0.0014246475184336305,
+ -0.0020492435432970524,
+ 1.2150486707687378,
+ 0.0019301942083984613,
+ 0.002118067117407918,
+ 0.29304465651512146,
+ 1.3193901777267456,
+ -0.39778804779052734,
+ 0.0019347027409821749,
+ 0.0020319190807640553,
+ -0.5173772573471069,
+ -0.001865280675701797,
+ -0.001882221782580018,
+ -0.6280576586723328
+ ],
+ "wrist_pos": [
+ 0.14699140191078186,
+ -0.044039659202098846,
+ 0.6453717947006226
+ ],
+ "wrist_rot": [
+ -0.4462049901485443,
+ 0.5527170896530151,
+ 0.43801650404930115,
+ 0.5509504675865173
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.07378552109003067
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 27,
+ "virtual_xyz": [
+ 0.14535675942897797,
+ -0.042629923671483994,
+ 0.6453668475151062
+ ],
+ "wrist_rpy": [
+ -1.5796622037887573,
+ 0.22663599252700806,
+ 1.5649398565292358
+ ],
+ "finger_dofs": [
+ 0.7597058415412903,
+ 0.009908260777592659,
+ -0.14992813766002655,
+ 0.3278645873069763,
+ -0.027182243764400482,
+ 0.002490064362064004,
+ 1.1667526960372925,
+ 0.0030976731795817614,
+ 0.0007738320855423808,
+ 0.985662043094635,
+ -0.0026937793008983135,
+ 0.0650482326745987,
+ 0.20063000917434692,
+ -0.012470209039747715,
+ 0.0026795638259500265,
+ 1.1660170555114746,
+ 0.0019022097112610936,
+ 0.0019026336958631873,
+ 1.3505574464797974,
+ 0.0017133981455117464,
+ 0.033128999173641205,
+ 1.558836817741394,
+ -0.002117592841386795,
+ -0.0022983828093856573,
+ 1.2031911611557007,
+ 0.002056140685454011,
+ 0.0020527364686131477,
+ 1.3951692581176758,
+ 0.001967859221622348,
+ 0.01982896961271763,
+ 1.5753192901611328,
+ -0.0017556817037984729,
+ -0.0020606121979653835,
+ 1.21723210811615,
+ 0.0019435810390859842,
+ 0.00213314569555223,
+ 0.27872464060783386,
+ 1.323905348777771,
+ -0.3951490819454193,
+ 0.0019101471407338977,
+ 0.002027439186349511,
+ -0.5188398361206055,
+ -0.0018577936571091413,
+ -0.0018776855431497097,
+ -0.6273151636123657
+ ],
+ "wrist_pos": [
+ 0.14535684883594513,
+ -0.0426299087703228,
+ 0.6453667879104614
+ ],
+ "wrist_rot": [
+ -0.44432806968688965,
+ 0.5539783835411072,
+ 0.43618178367614746,
+ 0.5526534914970398
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.07947599142789841
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 28,
+ "virtual_xyz": [
+ 0.143751323223114,
+ -0.041222985833883286,
+ 0.6453670263290405
+ ],
+ "wrist_rpy": [
+ -1.5791091918945312,
+ 0.233318492770195,
+ 1.5651538372039795
+ ],
+ "finger_dofs": [
+ 0.7602251172065735,
+ 0.0059754932299256325,
+ -0.1526777595281601,
+ 0.2856910228729248,
+ -0.03316950425505638,
+ 0.0026373628061264753,
+ 1.1636682748794556,
+ 0.0034388613421469927,
+ 0.000789776211604476,
+ 0.9870049953460693,
+ -0.0034308158792555332,
+ 0.06197327375411987,
+ 0.16503824293613434,
+ -0.01650715060532093,
+ 0.0032558534294366837,
+ 1.1676523685455322,
+ 0.00209590932354331,
+ 0.001864560297690332,
+ 1.3526915311813354,
+ 0.001336492714472115,
+ 0.032026506960392,
+ 1.5524985790252686,
+ -0.0019735253881663084,
+ -0.002476039342582226,
+ 1.2044028043746948,
+ 0.002096115844324231,
+ 0.00216703861951828,
+ 1.3980357646942139,
+ 0.0019522788934409618,
+ 0.01842164248228073,
+ 1.571045160293579,
+ 0.0003369697951711714,
+ -0.002102874917909503,
+ 1.2203468084335327,
+ 0.0019382822792977095,
+ 0.0021944143809378147,
+ 0.26922670006752014,
+ 1.3276463747024536,
+ -0.396391361951828,
+ 0.0019195029744878411,
+ 0.002033968921750784,
+ -0.5201746821403503,
+ -0.0018593110144138336,
+ -0.001885053003206849,
+ -0.6265978217124939
+ ],
+ "wrist_pos": [
+ 0.14375141263008118,
+ -0.04122297465801239,
+ 0.6453669667243958
+ ],
+ "wrist_rot": [
+ -0.4422749876976013,
+ 0.555370569229126,
+ 0.4345325827598572,
+ 0.5542000532150269
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.08526472747325897
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 29,
+ "virtual_xyz": [
+ 0.14214017987251282,
+ -0.03977268561720848,
+ 0.6453573107719421
+ ],
+ "wrist_rpy": [
+ -1.5788124799728394,
+ 0.2402012199163437,
+ 1.5648796558380127
+ ],
+ "finger_dofs": [
+ 0.754880964756012,
+ 0.006101743783801794,
+ -0.14797215163707733,
+ 0.258105993270874,
+ -0.02818494476377964,
+ 0.00281163165345788,
+ 1.1659271717071533,
+ 0.0032228741329163313,
+ 0.0008123533916659653,
+ 0.9731844067573547,
+ -0.002390817506238818,
+ 0.06253319978713989,
+ 0.1504354625940323,
+ -0.013960860669612885,
+ 0.002700225915759802,
+ 1.1679844856262207,
+ 0.001910977065563202,
+ 0.0018874130910262465,
+ 1.3525015115737915,
+ 0.0013965461403131485,
+ 0.03318657726049423,
+ 1.550135612487793,
+ -0.0020721526816487312,
+ -0.0024690001737326384,
+ 1.2050440311431885,
+ 0.0021191744599491358,
+ 0.0021651657298207283,
+ 1.399566411972046,
+ 0.001959795830771327,
+ 0.01909066177904606,
+ 1.5680651664733887,
+ -0.0007258478435687721,
+ -0.0021293379832059145,
+ 1.2225806713104248,
+ 0.0019691898487508297,
+ 0.00223158928565681,
+ 0.25676000118255615,
+ 1.3309054374694824,
+ -0.39345094561576843,
+ 0.001909016165882349,
+ 0.0020537888631224632,
+ -0.5218964219093323,
+ -0.001861967146396637,
+ -0.0018879652488976717,
+ -0.6256771087646484
+ ],
+ "wrist_pos": [
+ 0.14214026927947998,
+ -0.03977266699075699,
+ 0.6453572511672974
+ ],
+ "wrist_rot": [
+ -0.44036751985549927,
+ 0.5567489266395569,
+ 0.432616651058197,
+ 0.5558326840400696
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.0910448282957077
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 30,
+ "virtual_xyz": [
+ 0.1405555158853531,
+ -0.03832203894853592,
+ 0.6453521847724915
+ ],
+ "wrist_rpy": [
+ -1.57833993434906,
+ 0.24704012274742126,
+ 1.5650995969772339
+ ],
+ "finger_dofs": [
+ 0.7528799176216125,
+ 0.007061440031975508,
+ -0.14732418954372406,
+ 0.22374282777309418,
+ -0.023995785042643547,
+ 0.0026565168518573046,
+ 1.1663659811019897,
+ 0.0029874304309487343,
+ 0.000800054520368576,
+ 0.9695850014686584,
+ -0.002365370746701956,
+ 0.062267474830150604,
+ 0.13017937541007996,
+ -0.01401096023619175,
+ 0.00322551466524601,
+ 1.1602184772491455,
+ 0.002007103990763426,
+ 0.0018815264338627458,
+ 1.354429841041565,
+ 0.0011360171483829618,
+ 0.032512109726667404,
+ 1.5448557138442993,
+ -0.002090382855385542,
+ -0.0025724396109580994,
+ 1.2059358358383179,
+ 0.002164547797292471,
+ 0.0022404894698411226,
+ 1.4021278619766235,
+ 0.0019409789238125086,
+ 0.018100501969456673,
+ 1.5641493797302246,
+ 0.0003229266148991883,
+ -0.002167228376492858,
+ 1.225358247756958,
+ 0.001980297267436981,
+ 0.0022849657107144594,
+ 0.2487117499113083,
+ 1.3337751626968384,
+ -0.39417165517807007,
+ 0.0019237628439441323,
+ 0.002071571070700884,
+ -0.523287296295166,
+ -0.0018703393870964646,
+ -0.0018986384384334087,
+ -0.6249252557754517
+ ],
+ "wrist_pos": [
+ 0.14055560529232025,
+ -0.038322027772665024,
+ 0.6453521251678467
+ ],
+ "wrist_rot": [
+ -0.43828001618385315,
+ 0.5581825375556946,
+ 0.4308946132659912,
+ 0.5573800802230835
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.09689605236053467
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 31,
+ "virtual_xyz": [
+ 0.13897112011909485,
+ -0.03687991946935654,
+ 0.645355761051178
+ ],
+ "wrist_rpy": [
+ -1.578645944595337,
+ 0.2558940351009369,
+ 1.5656977891921997
+ ],
+ "finger_dofs": [
+ 0.7419012784957886,
+ 0.005423827562481165,
+ -0.14971855282783508,
+ 0.20151777565479279,
+ -0.029055098071694374,
+ 0.0031630785670131445,
+ 1.1673702001571655,
+ 0.0033453102223575115,
+ 0.0007983869290910661,
+ 0.9471688866615295,
+ -0.002039923332631588,
+ 0.06203334406018257,
+ 0.13577108085155487,
+ -0.011307874694466591,
+ 0.0028477897867560387,
+ 1.164333462715149,
+ 0.0014092035125941038,
+ 0.0018610348924994469,
+ 1.3538362979888916,
+ 0.0015390272019430995,
+ 0.031473200768232346,
+ 1.5448774099349976,
+ -0.0015738151269033551,
+ -0.002528864424675703,
+ 1.2063708305358887,
+ 0.0021115841809660196,
+ 0.0022024998906999826,
+ 1.401583194732666,
+ 0.001970993122085929,
+ 0.01707162708044052,
+ 1.565521478652954,
+ 0.0007899763295426965,
+ -0.002112818183377385,
+ 1.2248008251190186,
+ 0.0019384481711313128,
+ 0.0022087744437158108,
+ 0.23603543639183044,
+ 1.3356236219406128,
+ -0.39533770084381104,
+ 0.0019313201773911715,
+ 0.0020542365964502096,
+ -0.5214803218841553,
+ -0.0018730146111920476,
+ -0.0018831586930900812,
+ -0.6256657838821411
+ ],
+ "wrist_pos": [
+ 0.138971209526062,
+ -0.03687990829348564,
+ 0.6453557014465332
+ ],
+ "wrist_rot": [
+ -0.4357370436191559,
+ 0.5602946281433105,
+ 0.42848971486091614,
+ 0.5591060519218445
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.10271807760000229
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 32,
+ "virtual_xyz": [
+ 0.13740617036819458,
+ -0.03540179133415222,
+ 0.6453450322151184
+ ],
+ "wrist_rpy": [
+ -1.578228235244751,
+ 0.26330122351646423,
+ 1.5654202699661255
+ ],
+ "finger_dofs": [
+ 0.7388616800308228,
+ 0.00623969454318285,
+ -0.14559544622898102,
+ 0.17321069538593292,
+ -0.020866893231868744,
+ 0.002585706068202853,
+ 1.1666232347488403,
+ 0.0028364406898617744,
+ 0.0008101988350972533,
+ 0.9482660889625549,
+ -0.0025572236627340317,
+ 0.058201663196086884,
+ 0.09150023013353348,
+ -0.020008180290460587,
+ 0.003352388506755233,
+ 1.1689848899841309,
+ 0.002293757861480117,
+ 0.0018637040629982948,
+ 1.3543550968170166,
+ 0.0011588346678763628,
+ 0.032128822058439255,
+ 1.5423678159713745,
+ -0.002006871858611703,
+ -0.002640919294208288,
+ 1.206883430480957,
+ 0.0021753585897386074,
+ 0.0022797370329499245,
+ 1.403265118598938,
+ 0.0019416370196267962,
+ 0.017489183694124222,
+ 1.5624676942825317,
+ 0.0005239185993559659,
+ -0.0021810263860970736,
+ 1.2269293069839478,
+ 0.0019796728156507015,
+ 0.0023067870642989874,
+ 0.22616498172283173,
+ 1.3387256860733032,
+ -0.39286375045776367,
+ 0.0019210688769817352,
+ 0.002065961016342044,
+ -0.5235595703125,
+ -0.0018781854305416346,
+ -0.0019004701171070337,
+ -0.6246973872184753
+ ],
+ "wrist_pos": [
+ 0.13740625977516174,
+ -0.035401783883571625,
+ 0.6453449726104736
+ ],
+ "wrist_rot": [
+ -0.43363240361213684,
+ 0.5617390275001526,
+ 0.42644307017326355,
+ 0.5608550906181335
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.10846593230962753
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 33,
+ "virtual_xyz": [
+ 0.13585816323757172,
+ -0.033901017159223557,
+ 0.6453456878662109
+ ],
+ "wrist_rpy": [
+ -1.5784783363342285,
+ 0.27058976888656616,
+ 1.565032958984375
+ ],
+ "finger_dofs": [
+ 0.7374497056007385,
+ 0.00783572718501091,
+ -0.13960526883602142,
+ 0.14509239792823792,
+ -0.013734271749854088,
+ -0.0019324199529364705,
+ 1.1564885377883911,
+ 0.0023133335635066032,
+ 0.0008683589985594153,
+ 0.9437665343284607,
+ -0.003986116033047438,
+ 0.05583890900015831,
+ 0.06245667487382889,
+ -0.027868779376149178,
+ 0.00416176300495863,
+ 1.1813970804214478,
+ 0.0028688486199826,
+ 0.0018497153650969267,
+ 1.3556879758834839,
+ 0.00101363321300596,
+ 0.03436511009931564,
+ 1.5405222177505493,
+ -0.0020091859623789787,
+ -0.0026946088764816523,
+ 1.207277774810791,
+ 0.0022002630867064,
+ 0.002313937759026885,
+ 1.4050371646881104,
+ 0.0019269839394837618,
+ 0.018981315195560455,
+ 1.5595130920410156,
+ -0.00015191461716312915,
+ -0.0022007350344210863,
+ 1.229292869567871,
+ 0.0019935513846576214,
+ 0.0023354419972747564,
+ 0.21515017747879028,
+ 1.3400745391845703,
+ -0.38827377557754517,
+ 0.0019272774225100875,
+ 0.002079722471535206,
+ -0.5259329080581665,
+ -0.001883366028778255,
+ -0.0019079588819295168,
+ -0.6234145164489746
+ ],
+ "wrist_pos": [
+ 0.13585825264453888,
+ -0.03390100598335266,
+ 0.6453456282615662
+ ],
+ "wrist_rot": [
+ -0.4317733943462372,
+ 0.5632697939872742,
+ 0.42420530319213867,
+ 0.5624487400054932
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.11425292491912842
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 34,
+ "virtual_xyz": [
+ 0.13430631160736084,
+ -0.03242721036076546,
+ 0.6453423500061035
+ ],
+ "wrist_rpy": [
+ -1.5784366130828857,
+ 0.27841460704803467,
+ 1.5648341178894043
+ ],
+ "finger_dofs": [
+ 0.7313163876533508,
+ 0.007433594204485416,
+ -0.14017479121685028,
+ 0.12044250220060349,
+ -0.013072087429463863,
+ 0.0023287783842533827,
+ 1.1611253023147583,
+ 0.0024403918068856,
+ 0.0008823795360513031,
+ 0.930069088935852,
+ -0.0019475199514999986,
+ 0.05932358652353287,
+ 0.05185995250940323,
+ -0.020200908184051514,
+ 0.0031568799167871475,
+ 1.1765574216842651,
+ 0.0022064587101340294,
+ 0.0018441514112055302,
+ 1.356349229812622,
+ 0.001334180124104023,
+ 0.03449282422661781,
+ 1.5398807525634766,
+ -0.0019976994954049587,
+ -0.0026655574329197407,
+ 1.207625150680542,
+ 0.002188132144510746,
+ 0.00230077700689435,
+ 1.4057751893997192,
+ 0.0019664473365992308,
+ 0.018960611894726753,
+ 1.5587021112442017,
+ 0.00035595521330833435,
+ -0.0021921072620898485,
+ 1.2304035425186157,
+ 0.0019863478373736143,
+ 0.0023225832264870405,
+ 0.2061234712600708,
+ 1.3411917686462402,
+ -0.3879914879798889,
+ 0.0019243742572143674,
+ 0.002070790156722069,
+ -0.5262857675552368,
+ -0.0018785570282489061,
+ -0.0019017604645341635,
+ -0.6231623888015747
+ ],
+ "wrist_pos": [
+ 0.134306401014328,
+ -0.03242719918489456,
+ 0.6453422904014587
+ ],
+ "wrist_rot": [
+ -0.429623544216156,
+ 0.5648862719535828,
+ 0.42194435000419617,
+ 0.5641720294952393
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.11998643726110458
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 35,
+ "virtual_xyz": [
+ 0.13278357684612274,
+ -0.030905969440937042,
+ 0.6453403234481812
+ ],
+ "wrist_rpy": [
+ -1.5782796144485474,
+ 0.286662220954895,
+ 1.5652025938034058
+ ],
+ "finger_dofs": [
+ 0.7288652062416077,
+ 0.006229701451957226,
+ -0.14063657820224762,
+ 0.08127600699663162,
+ -0.017393089830875397,
+ 0.003963103983551264,
+ 1.1746810674667358,
+ 0.0029394207522273064,
+ 0.0008598698768764734,
+ 0.9132434129714966,
+ -0.00228735338896513,
+ 0.06114664673805237,
+ 0.053968485444784164,
+ -0.01927630789577961,
+ 0.003503457410261035,
+ 1.1707510948181152,
+ 0.002189483493566513,
+ 0.0018386479932814837,
+ 1.3571913242340088,
+ 0.0013519166968762875,
+ 0.032960087060928345,
+ 1.5373656749725342,
+ -0.0009716423810459673,
+ -0.002697843126952648,
+ 1.207991123199463,
+ 0.002176819834858179,
+ 0.002315790858119726,
+ 1.4064741134643555,
+ 0.0019730625208467245,
+ 0.01751803234219551,
+ 1.5576651096343994,
+ 0.0012902503367513418,
+ -0.0021838124375790358,
+ 1.2309118509292603,
+ 0.001967476448044181,
+ 0.0023098925594240427,
+ 0.20037463307380676,
+ 1.3420889377593994,
+ -0.3911201059818268,
+ 0.0019328809576109052,
+ 0.002069193636998534,
+ -0.5256291627883911,
+ -0.0018783163977786899,
+ -0.0018986791837960482,
+ -0.6233953237533569
+ ],
+ "wrist_pos": [
+ 0.1327836662530899,
+ -0.030905960127711296,
+ 0.6453402638435364
+ ],
+ "wrist_rot": [
+ -0.427155077457428,
+ 0.5666810274124146,
+ 0.41974955797195435,
+ 0.5658810138702393
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.12573908269405365
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 36,
+ "virtual_xyz": [
+ 0.13125768303871155,
+ -0.029408777132630348,
+ 0.645335853099823
+ ],
+ "wrist_rpy": [
+ -1.5783441066741943,
+ 0.29553699493408203,
+ 1.5649689435958862
+ ],
+ "finger_dofs": [
+ 0.7255879640579224,
+ 0.006643916480243206,
+ -0.1348380744457245,
+ 0.045624714344739914,
+ -0.007663149386644363,
+ 0.0029217051342129707,
+ 1.1777185201644897,
+ 0.002283685840666294,
+ 0.0008836647029966116,
+ 0.8945978879928589,
+ -0.0018851185450330377,
+ 0.06158518046140671,
+ 0.050153858959674835,
+ -0.01874171942472458,
+ 0.0028466603253036737,
+ 1.172588586807251,
+ 0.002033827593550086,
+ 0.0018491970840841532,
+ 1.3550333976745605,
+ 0.0014681646134704351,
+ 0.03360041603446007,
+ 1.539207935333252,
+ -0.001992424950003624,
+ -0.0026574735529720783,
+ 1.2081459760665894,
+ 0.002184887183830142,
+ 0.0022942470386624336,
+ 1.4055893421173096,
+ 0.001982814399525523,
+ 0.018163442611694336,
+ 1.5588691234588623,
+ 0.000319881655741483,
+ -0.0021928383503109217,
+ 1.2304461002349854,
+ 0.001986180664971471,
+ 0.002321540843695402,
+ 0.18841612339019775,
+ 1.3431613445281982,
+ -0.38920244574546814,
+ 0.0019200077513232827,
+ 0.002075005089864135,
+ -0.5252915024757385,
+ -0.0018788466695696115,
+ -0.0018997722072526813,
+ -0.6235170960426331
+ ],
+ "wrist_pos": [
+ 0.1312577724456787,
+ -0.029408765956759453,
+ 0.6453357934951782
+ ],
+ "wrist_rot": [
+ -0.424734890460968,
+ 0.5685158967971802,
+ 0.4171355664730072,
+ 0.5677919387817383
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.13141940534114838
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 37,
+ "virtual_xyz": [
+ 0.12975993752479553,
+ -0.027872692793607712,
+ 0.645335853099823
+ ],
+ "wrist_rpy": [
+ -1.5783402919769287,
+ 0.30438297986984253,
+ 1.5652211904525757
+ ],
+ "finger_dofs": [
+ 0.7221933603286743,
+ 0.006350398063659668,
+ -0.13479478657245636,
+ 0.019026726484298706,
+ -0.006445483770221472,
+ 0.002388042164966464,
+ 1.170433521270752,
+ 0.0021530648227781057,
+ 0.0008869866724126041,
+ 0.8707771897315979,
+ -0.001736701000481844,
+ 0.06274651736021042,
+ 0.0662354975938797,
+ -0.013063669204711914,
+ 0.0026358366012573242,
+ 1.169677734375,
+ 0.0003058515430893749,
+ 0.001845657010562718,
+ 1.3550995588302612,
+ 0.0013565343106165528,
+ 0.032736167311668396,
+ 1.5378261804580688,
+ -0.0008659245795570314,
+ -0.0026781028136610985,
+ 1.2082558870315552,
+ 0.0021720589138567448,
+ 0.0023074329365044832,
+ 1.4055702686309814,
+ 0.0019696159288287163,
+ 0.017322152853012085,
+ 1.5586851835250854,
+ 0.0012959507293999195,
+ -0.0021760864183306694,
+ 1.2304847240447998,
+ 0.0019647686276584864,
+ 0.002302160719409585,
+ 0.1811881959438324,
+ 1.343764305114746,
+ -0.3912201523780823,
+ 0.0019280529813840985,
+ 0.0020705885253846645,
+ -0.5243062376976013,
+ -0.001878636423498392,
+ -0.0018952267710119486,
+ -0.6239661574363708
+ ],
+ "wrist_pos": [
+ 0.1297600269317627,
+ -0.027872683480381966,
+ 0.6453357934951782
+ ],
+ "wrist_rot": [
+ -0.4221571385860443,
+ 0.5704224705696106,
+ 0.4146789610385895,
+ 0.5695987939834595
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.1372404843568802
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 38,
+ "virtual_xyz": [
+ 0.12827350199222565,
+ -0.026299377903342247,
+ 0.6453288197517395
+ ],
+ "wrist_rpy": [
+ -1.578426718711853,
+ 0.31349584460258484,
+ 1.566056251525879
+ ],
+ "finger_dofs": [
+ 0.7005708813667297,
+ 0.008550011552870274,
+ -0.13487571477890015,
+ 0.027086567133665085,
+ -0.007222343236207962,
+ -0.0019327946938574314,
+ 1.1598979234695435,
+ 0.0020381018985062838,
+ 0.0008381731458939612,
+ 0.8568468689918518,
+ -0.0004956150078214705,
+ 0.06286080181598663,
+ 0.06618844717741013,
+ -0.00829626526683569,
+ 0.0028237602673470974,
+ 1.1474579572677612,
+ -0.002181599149480462,
+ 0.0018438685219734907,
+ 1.3544732332229614,
+ 0.0012830514460802078,
+ 0.030994130298495293,
+ 1.5356073379516602,
+ 0.00029418314807116985,
+ -0.0027119575534015894,
+ 1.2086056470870972,
+ 0.0021733238827437162,
+ 0.002326419809833169,
+ 1.4053781032562256,
+ 0.001971503021195531,
+ 0.015633108094334602,
+ 1.5585542917251587,
+ 0.0017646595370024443,
+ -0.0021787334699183702,
+ 1.2300324440002441,
+ 0.0019569096621125937,
+ 0.00230665085837245,
+ 0.17531323432922363,
+ 1.3441423177719116,
+ -0.3949172794818878,
+ 0.0019399356096982956,
+ 0.0020765007939189672,
+ -0.5224707722663879,
+ -0.0018830954795703292,
+ -0.0018978574080392718,
+ -0.6247424483299255
+ ],
+ "wrist_pos": [
+ 0.12827357649803162,
+ -0.0262993685901165,
+ 0.6453287601470947
+ ],
+ "wrist_rot": [
+ -0.419353723526001,
+ 0.5725133419036865,
+ 0.4122786521911621,
+ 0.5713117122650146
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.1429484337568283
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 39,
+ "virtual_xyz": [
+ 0.12678693234920502,
+ -0.024797648191452026,
+ 0.6453301310539246
+ ],
+ "wrist_rpy": [
+ -1.578583836555481,
+ 0.32319459319114685,
+ 1.5661957263946533
+ ],
+ "finger_dofs": [
+ 0.6905010342597961,
+ 0.009203238412737846,
+ -0.12912963330745697,
+ 0.0017194494139403105,
+ 0.0034319781698286533,
+ -0.002020295476540923,
+ 1.1590958833694458,
+ -0.002092806389555335,
+ 0.0008588224300183356,
+ 0.8414565920829773,
+ -0.00244994112290442,
+ 0.059864938259124756,
+ 0.05003559589385986,
+ -0.016359835863113403,
+ 0.003300022566691041,
+ 1.151879072189331,
+ 0.0019363684114068747,
+ 0.0018521215533837676,
+ 1.3521904945373535,
+ 0.00156586361117661,
+ 0.03093954361975193,
+ 1.538497805595398,
+ -0.0013398330193012953,
+ -0.0026373076252639294,
+ 1.2085371017456055,
+ 0.002157238544896245,
+ 0.0022801884915679693,
+ 1.4038541316986084,
+ 0.00197422131896019,
+ 0.015839917585253716,
+ 1.5613749027252197,
+ 0.0011047489242628217,
+ -0.0021544236224144697,
+ 1.228621006011963,
+ 0.0019553168676793575,
+ 0.002272326499223709,
+ 0.16298909485340118,
+ 1.3449187278747559,
+ -0.39372706413269043,
+ 0.0019313457887619734,
+ 0.0020838251803070307,
+ -0.5211833119392395,
+ -0.0018831539200618863,
+ -0.001889317063614726,
+ -0.6253829598426819
+ ],
+ "wrist_pos": [
+ 0.126787006855011,
+ -0.02479763887822628,
+ 0.6453300714492798
+ ],
+ "wrist_rot": [
+ -0.4165927767753601,
+ 0.574580192565918,
+ 0.4094829261302948,
+ 0.5732640624046326
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.14867453277111053
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 40,
+ "virtual_xyz": [
+ 0.12534239888191223,
+ -0.023163853213191032,
+ 0.6453169584274292
+ ],
+ "wrist_rpy": [
+ -1.5784085988998413,
+ 0.33033692836761475,
+ 1.5661187171936035
+ ],
+ "finger_dofs": [
+ 0.6914324760437012,
+ 0.00935338158160448,
+ -0.12851110100746155,
+ -0.02102418802678585,
+ 0.003988730721175671,
+ -0.004071593750268221,
+ 1.133644938468933,
+ -0.002629607217386365,
+ 0.0008506127633154392,
+ 0.8455082178115845,
+ -0.0010049662087112665,
+ 0.059573400765657425,
+ 0.011328315362334251,
+ -0.015014655888080597,
+ 0.0028120893985033035,
+ 1.1548080444335938,
+ -0.0014561277348548174,
+ 0.0018337644869461656,
+ 1.3543353080749512,
+ 0.0009677982307039201,
+ 0.03185207024216652,
+ 1.5325678586959839,
+ 0.00014431696035899222,
+ -0.0027994015254080296,
+ 1.2089568376541138,
+ 0.002210893202573061,
+ 0.002385261934250593,
+ 1.4066874980926514,
+ 0.0019327542977407575,
+ 0.016077563166618347,
+ 1.5559184551239014,
+ 0.0016662353882566094,
+ -0.002209305763244629,
+ 1.2318083047866821,
+ 0.00197284366004169,
+ 0.0023536270018666983,
+ 0.15956173837184906,
+ 1.345548152923584,
+ -0.3921343684196472,
+ 0.0019433991983532906,
+ 0.002091559348627925,
+ -0.5238461494445801,
+ -0.0018911510705947876,
+ -0.001908278209157288,
+ -0.6239723563194275
+ ],
+ "wrist_pos": [
+ 0.1253424882888794,
+ -0.023163843899965286,
+ 0.6453168988227844
+ ],
+ "wrist_rot": [
+ -0.41452157497406006,
+ 0.5759966373443604,
+ 0.4074499309062958,
+ 0.5747906565666199
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.15423694252967834
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 41,
+ "virtual_xyz": [
+ 0.12390254437923431,
+ -0.021563606336712837,
+ 0.6453116536140442
+ ],
+ "wrist_rpy": [
+ -1.578536868095398,
+ 0.3383459448814392,
+ 1.566279649734497
+ ],
+ "finger_dofs": [
+ 0.6852582693099976,
+ 0.012485262006521225,
+ -0.1249968633055687,
+ -0.042264532297849655,
+ 0.006368126254528761,
+ -0.0028460933826863766,
+ 1.1387101411819458,
+ -0.0025910395197570324,
+ 0.0008393396274186671,
+ 0.8488364219665527,
+ -0.0035644429735839367,
+ 0.053571801632642746,
+ -0.041065022349357605,
+ -0.030082212761044502,
+ 0.004011610057204962,
+ 1.1708394289016724,
+ 0.0024894496891647577,
+ 0.0018175066215917468,
+ 1.3557465076446533,
+ 0.0009064908954314888,
+ 0.031803879886865616,
+ 1.5307731628417969,
+ 0.00035097767249681056,
+ -0.0028038248419761658,
+ 1.2090891599655151,
+ 0.0021991983521729708,
+ 0.0023752928245812654,
+ 1.4079973697662354,
+ 0.0019418406300246716,
+ 0.01592133194208145,
+ 1.554443120956421,
+ 0.001712940284051001,
+ -0.0022057786118239164,
+ 1.232663869857788,
+ 0.0019666936714202166,
+ 0.0023411083966493607,
+ 0.15411081910133362,
+ 1.3458319902420044,
+ -0.39150622487068176,
+ 0.001954612322151661,
+ 0.002099217614158988,
+ -0.5250025391578674,
+ -0.0018949409713968635,
+ -0.0019123749807476997,
+ -0.6232338547706604
+ ],
+ "wrist_pos": [
+ 0.12390263378620148,
+ -0.02156359702348709,
+ 0.6453115940093994
+ ],
+ "wrist_rot": [
+ -0.41221457719802856,
+ 0.5776935815811157,
+ 0.40514159202575684,
+ 0.57637619972229
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.15972819924354553
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 42,
+ "virtual_xyz": [
+ 0.12245805561542511,
+ -0.02004561573266983,
+ 0.6453136801719666
+ ],
+ "wrist_rpy": [
+ -1.5786333084106445,
+ 0.34755876660346985,
+ 1.5661059617996216
+ ],
+ "finger_dofs": [
+ 0.6722448468208313,
+ 0.014431138522922993,
+ -0.12142103165388107,
+ -0.04285349324345589,
+ 0.011486634612083435,
+ -0.004060667939484119,
+ 1.1236181259155273,
+ -0.0032057424541562796,
+ 0.0008763396763242781,
+ 0.8309140205383301,
+ -0.0029561829287558794,
+ 0.05383405461907387,
+ -0.043583136051893234,
+ -0.02932291477918625,
+ 0.0035217725671827793,
+ 1.170966386795044,
+ 0.0022056852467358112,
+ 0.0018140426836907864,
+ 1.3553792238235474,
+ 0.0014398187631741166,
+ 0.031532686203718185,
+ 1.5345590114593506,
+ -0.0007972903549671173,
+ -0.0027221881318837404,
+ 1.2089612483978271,
+ 0.002172159031033516,
+ 0.0023230838123708963,
+ 1.4071648120880127,
+ 0.001983749447390437,
+ 0.01616828888654709,
+ 1.5572737455368042,
+ 0.0015135060530155897,
+ -0.0021849768236279488,
+ 1.2312973737716675,
+ 0.0019602898973971605,
+ 0.0023084543645381927,
+ 0.14401711523532867,
+ 1.346447229385376,
+ -0.39021384716033936,
+ 0.0019404024351388216,
+ 0.002089841989800334,
+ -0.5248356461524963,
+ -0.0018885571043938398,
+ -0.0019030621042475104,
+ -0.6232555508613586
+ ],
+ "wrist_pos": [
+ 0.12245815247297287,
+ -0.020045608282089233,
+ 0.6453136205673218
+ ],
+ "wrist_rot": [
+ -0.409641832113266,
+ 0.5795494318008423,
+ 0.4023894965648651,
+ 0.5782720446586609
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.1655472218990326
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 43,
+ "virtual_xyz": [
+ 0.12103218585252762,
+ -0.01853150874376297,
+ 0.6453282237052917
+ ],
+ "wrist_rpy": [
+ -1.579241156578064,
+ 0.3579756021499634,
+ 1.5662165880203247
+ ],
+ "finger_dofs": [
+ 0.658368706703186,
+ 0.014979152008891106,
+ -0.11889038980007172,
+ -0.044431235641241074,
+ 0.01746854931116104,
+ -0.004539788234978914,
+ 1.1151379346847534,
+ -0.0036969706416130066,
+ 0.0009668170241639018,
+ 0.8161392211914062,
+ -0.0034426322672516108,
+ 0.05325990915298462,
+ -0.04496816173195839,
+ -0.03386104106903076,
+ 0.003612965578213334,
+ 1.1781450510025024,
+ 0.0024224219378083944,
+ 0.001820677425712347,
+ 1.3545583486557007,
+ 0.0015221105422824621,
+ 0.031855788081884384,
+ 1.5390510559082031,
+ -0.0014851504238322377,
+ -0.002683907514438033,
+ 1.2087886333465576,
+ 0.002163955941796303,
+ 0.0023018603678792715,
+ 1.4050683975219727,
+ 0.0019805249758064747,
+ 0.016685334965586662,
+ 1.561238408088684,
+ 0.001215863972902298,
+ -0.002162751043215394,
+ 1.2289307117462158,
+ 0.0019514876184985042,
+ 0.002277693012729287,
+ 0.13182608783245087,
+ 1.3463877439498901,
+ -0.38952675461769104,
+ 0.0019456347217783332,
+ 0.002096915151923895,
+ -0.5230464339256287,
+ -0.0018918442074209452,
+ -0.0018981467001140118,
+ -0.6241430640220642
+ ],
+ "wrist_pos": [
+ 0.12103228271007538,
+ -0.018531503155827522,
+ 0.645328164100647
+ ],
+ "wrist_rot": [
+ -0.4067784249782562,
+ 0.5817954540252686,
+ 0.39921078085899353,
+ 0.580237865447998
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.171984001994133
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 44,
+ "virtual_xyz": [
+ 0.11963877826929092,
+ -0.016858356073498726,
+ 0.64531409740448
+ ],
+ "wrist_rpy": [
+ -1.5792027711868286,
+ 0.3663056492805481,
+ 1.5662875175476074
+ ],
+ "finger_dofs": [
+ 0.6535425782203674,
+ 0.017532337456941605,
+ -0.11735769361257553,
+ -0.04947679862380028,
+ 0.01678045466542244,
+ -0.007557321339845657,
+ 1.0958452224731445,
+ -0.0041809650138020515,
+ 0.0009547272929921746,
+ 0.8047664761543274,
+ -0.0031963211949914694,
+ 0.055361058562994,
+ -0.04553011432290077,
+ -0.03221821412444115,
+ 0.006402487400919199,
+ 1.158157229423523,
+ 0.0028812389355152845,
+ 0.001824225764721632,
+ 1.3566981554031372,
+ 0.0011936804512515664,
+ 0.03166138008236885,
+ 1.5360705852508545,
+ -0.0004382194601930678,
+ -0.0027427533641457558,
+ 1.2085764408111572,
+ 0.0021757192444056273,
+ 0.0023362759966403246,
+ 1.4064513444900513,
+ 0.0019608691800385714,
+ 0.016358906403183937,
+ 1.5585418939590454,
+ 0.0016866630176082253,
+ -0.002181844785809517,
+ 1.2298905849456787,
+ 0.001953686587512493,
+ 0.002304297173395753,
+ 0.12975822389125824,
+ 1.3467209339141846,
+ -0.390442818403244,
+ 0.0019558370113372803,
+ 0.0021006891038268805,
+ -0.524335503578186,
+ -0.0018960695015266538,
+ -0.0019061098573729396,
+ -0.6234875917434692
+ ],
+ "wrist_pos": [
+ 0.11963887512683868,
+ -0.016858350485563278,
+ 0.6453140377998352
+ ],
+ "wrist_rot": [
+ -0.40433409810066223,
+ 0.5834707617759705,
+ 0.3968084156513214,
+ 0.5819096565246582
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.17831136286258698
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 45,
+ "virtual_xyz": [
+ 0.11824865639209747,
+ -0.015190225094556808,
+ 0.6453058123588562
+ ],
+ "wrist_rpy": [
+ -1.5792242288589478,
+ 0.37484607100486755,
+ 1.5663038492202759
+ ],
+ "finger_dofs": [
+ 0.6419283747673035,
+ 0.01491232868283987,
+ -0.12180529534816742,
+ -0.05448578670620918,
+ 0.011572000570595264,
+ -0.0034299392718821764,
+ 1.10797119140625,
+ -0.003296144539490342,
+ 0.0009259360958822072,
+ 0.7924747467041016,
+ -0.002878844039514661,
+ 0.05755356326699257,
+ -0.04896135255694389,
+ -0.0285872220993042,
+ 0.003880127100273967,
+ 1.152539610862732,
+ 0.001996054779738188,
+ 0.0018311160383746028,
+ 1.3588074445724487,
+ 0.0011427574791014194,
+ 0.031170165166258812,
+ 1.5368391275405884,
+ -0.0009092184482142329,
+ -0.0027337628416717052,
+ 1.2081795930862427,
+ 0.0021737716160714626,
+ 0.0023291620891541243,
+ 1.4070191383361816,
+ 0.001937976572662592,
+ 0.016161048784852028,
+ 1.558391809463501,
+ 0.0013720054412260652,
+ -0.0021730654407292604,
+ 1.2299431562423706,
+ 0.0019544956739991903,
+ 0.0022950151469558477,
+ 0.1267552673816681,
+ 1.3470743894577026,
+ -0.39091259241104126,
+ 0.0019685341976583004,
+ 0.002116761403158307,
+ -0.5250003337860107,
+ -0.0019015711732208729,
+ -0.001904623699374497,
+ -0.6231976747512817
+ ],
+ "wrist_pos": [
+ 0.11824876070022583,
+ -0.01519022136926651,
+ 0.6453057527542114
+ ],
+ "wrist_rot": [
+ -0.40185460448265076,
+ 0.5851786136627197,
+ 0.39430394768714905,
+ 0.5836120843887329
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.18423627316951752
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 46,
+ "virtual_xyz": [
+ 0.11687168478965759,
+ -0.013549279421567917,
+ 0.6453015208244324
+ ],
+ "wrist_rpy": [
+ -1.579423427581787,
+ 0.38347873091697693,
+ 1.5663173198699951
+ ],
+ "finger_dofs": [
+ 0.6310622096061707,
+ 0.017155194655060768,
+ -0.11981775611639023,
+ -0.056071937084198,
+ 0.016280049458146095,
+ -0.005378071218729019,
+ 1.0967648029327393,
+ -0.004034334793686867,
+ 0.0009158318862318993,
+ 0.7808343172073364,
+ -0.0021411844063550234,
+ 0.060554441064596176,
+ -0.048240963369607925,
+ -0.023245234042406082,
+ 0.004726392682641745,
+ 1.1334216594696045,
+ 0.0019883764907717705,
+ 0.001834730850532651,
+ 1.3643652200698853,
+ 0.0010335363913327456,
+ 0.031123962253332138,
+ 1.5395506620407104,
+ -0.001871707965619862,
+ -0.0027727519627660513,
+ 1.2078897953033447,
+ 0.0021958663128316402,
+ 0.0023673302493989468,
+ 1.4079958200454712,
+ 0.0019273272482678294,
+ 0.016415413469076157,
+ 1.5583221912384033,
+ 0.0008450116729363799,
+ -0.002188154263421893,
+ 1.230251431465149,
+ 0.0019580323714762926,
+ 0.0023198064882308245,
+ 0.12402766197919846,
+ 1.347156047821045,
+ -0.39101099967956543,
+ 0.00197739340364933,
+ 0.0021215982269495726,
+ -0.5263492465019226,
+ -0.0019044809741899371,
+ -0.0019082919461652637,
+ -0.6226999759674072
+ ],
+ "wrist_pos": [
+ 0.11687177419662476,
+ -0.013549275696277618,
+ 0.6453014612197876
+ ],
+ "wrist_rot": [
+ -0.39939388632774353,
+ 0.586928129196167,
+ 0.3917122781276703,
+ 0.5852874517440796
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.1901886761188507
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 47,
+ "virtual_xyz": [
+ 0.11550863832235336,
+ -0.011895029805600643,
+ 0.6452962160110474
+ ],
+ "wrist_rpy": [
+ -1.5796679258346558,
+ 0.3921688199043274,
+ 1.5663639307022095
+ ],
+ "finger_dofs": [
+ 0.6226944923400879,
+ 0.01623079553246498,
+ -0.11917659640312195,
+ -0.060041118413209915,
+ 0.01277308352291584,
+ -0.006938638165593147,
+ 1.0748320817947388,
+ -0.0042001125402748585,
+ 0.0009277011849917471,
+ 0.7688908576965332,
+ -0.001978946616873145,
+ 0.0629853680729866,
+ -0.0503438375890255,
+ -0.02118058130145073,
+ 0.004233661573380232,
+ 1.1261749267578125,
+ 0.0007150560268200934,
+ 0.0018403795547783375,
+ 1.3703539371490479,
+ 3.04474015138112e-05,
+ 0.031162984669208527,
+ 1.5430891513824463,
+ -0.0019155869958922267,
+ -0.0027834202628582716,
+ 1.207894206047058,
+ 0.002209794009104371,
+ 0.0023802719078958035,
+ 1.4087111949920654,
+ 0.0018874307861551642,
+ 0.01676476001739502,
+ 1.5584033727645874,
+ 9.638653136789799e-05,
+ -0.0021941110026091337,
+ 1.2305504083633423,
+ 0.0019654277712106705,
+ 0.0023309329990297556,
+ 0.12253347039222717,
+ 1.3470958471298218,
+ -0.39143797755241394,
+ 0.0019801962189376354,
+ 0.00212748721241951,
+ -0.5273439288139343,
+ -0.0019080389756709337,
+ -0.0019125204998999834,
+ -0.6224331259727478
+ ],
+ "wrist_pos": [
+ 0.11550873517990112,
+ -0.01189502701163292,
+ 0.6452961564064026
+ ],
+ "wrist_rot": [
+ -0.396912544965744,
+ 0.5886929035186768,
+ 0.38909202814102173,
+ 0.5869483947753906
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.1962372362613678
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 48,
+ "virtual_xyz": [
+ 0.11415407061576843,
+ -0.010226786136627197,
+ 0.6452915072441101
+ ],
+ "wrist_rpy": [
+ -1.5793774127960205,
+ 0.4003955125808716,
+ 1.5664129257202148
+ ],
+ "finger_dofs": [
+ 0.6017559170722961,
+ 0.023345470428466797,
+ -0.11878202855587006,
+ -0.06244524568319321,
+ 0.031069302931427956,
+ -0.004001180175691843,
+ 1.0967291593551636,
+ -0.004862997215241194,
+ 0.0008738429751247168,
+ 0.758414089679718,
+ -0.002145908772945404,
+ 0.06362929940223694,
+ -0.0536344014108181,
+ -0.02420526184141636,
+ 0.004969258792698383,
+ 1.1181033849716187,
+ 0.0018074942054226995,
+ 0.0018358755623921752,
+ 1.3742518424987793,
+ 0.0006176321185193956,
+ 0.030091315507888794,
+ 1.54444420337677,
+ -0.0018731157761067152,
+ -0.0027638201136142015,
+ 1.2082819938659668,
+ 0.0021872587967664003,
+ 0.0023591138888150454,
+ 1.4095457792282104,
+ 0.0019072493305429816,
+ 0.016083139926195145,
+ 1.5577350854873657,
+ 0.000782376155257225,
+ -0.0021827309392392635,
+ 1.231247067451477,
+ 0.0019548663403838873,
+ 0.0023116101510822773,
+ 0.12364160269498825,
+ 1.3476301431655884,
+ -0.39342963695526123,
+ 0.0019835280254483223,
+ 0.0021226874087005854,
+ -0.5276827812194824,
+ -0.0019048599060624838,
+ -0.001907356665469706,
+ -0.6223750114440918
+ ],
+ "wrist_pos": [
+ 0.11415417492389679,
+ -0.01022678054869175,
+ 0.6452914476394653
+ ],
+ "wrist_rot": [
+ -0.39440208673477173,
+ 0.5902524590492249,
+ 0.3867603540420532,
+ 0.5886130928993225
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.20221620798110962
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 49,
+ "virtual_xyz": [
+ 0.11282829195261002,
+ -0.008560691960155964,
+ 0.6452859044075012
+ ],
+ "wrist_rpy": [
+ -1.5796202421188354,
+ 0.4091692864894867,
+ 1.56649911403656
+ ],
+ "finger_dofs": [
+ 0.5910845398902893,
+ 0.023995203897356987,
+ -0.11838038265705109,
+ -0.06772533059120178,
+ 0.03143801540136337,
+ -0.004786721430718899,
+ 1.0991731882095337,
+ -0.005341792479157448,
+ 0.0008164125611074269,
+ 0.7484421133995056,
+ -0.0020759678445756435,
+ 0.06513456255197525,
+ -0.055537108331918716,
+ -0.022618332877755165,
+ 0.004530885722488165,
+ 1.1026175022125244,
+ -0.001733488286845386,
+ 0.0018481124425306916,
+ 1.3771111965179443,
+ 0.00010704866144806147,
+ 0.030329503118991852,
+ 1.5460656881332397,
+ -0.0019186284625902772,
+ -0.0028318350668996572,
+ 1.2086608409881592,
+ 0.0022279026452451944,
+ 0.0024104691110551357,
+ 1.410056233406067,
+ 0.0018576305592432618,
+ 0.0164995975792408,
+ 1.5576951503753662,
+ -0.00021968262444715947,
+ -0.0022071257699280977,
+ 1.2310991287231445,
+ 0.001971049699932337,
+ 0.002351482631638646,
+ 0.12110867351293564,
+ 1.3473984003067017,
+ -0.3921310007572174,
+ 0.0019904905930161476,
+ 0.0021396426018327475,
+ -0.5288432836532593,
+ -0.0019174288026988506,
+ -0.0019185654819011688,
+ -0.6217222809791565
+ ],
+ "wrist_pos": [
+ 0.11282838881015778,
+ -0.00856068730354309,
+ 0.6452858448028564
+ ],
+ "wrist_rot": [
+ -0.39186975359916687,
+ 0.5920183658599854,
+ 0.3841131329536438,
+ 0.5902621746063232
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.208205446600914
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 50,
+ "virtual_xyz": [
+ 0.11152709275484085,
+ -0.006862181704491377,
+ 0.6452803015708923
+ ],
+ "wrist_rpy": [
+ -1.5799168348312378,
+ 0.41788992285728455,
+ 1.5664937496185303
+ ],
+ "finger_dofs": [
+ 0.5857212543487549,
+ 0.024020586162805557,
+ -0.11711543798446655,
+ -0.0726737231016159,
+ 0.03011409565806389,
+ -0.006462524179369211,
+ 1.0868974924087524,
+ -0.005963499192148447,
+ 0.0008154374663718045,
+ 0.737978994846344,
+ -0.002302785636857152,
+ 0.06764722615480423,
+ -0.06119464710354805,
+ -0.02552727237343788,
+ 0.003970123361796141,
+ 1.1099789142608643,
+ -0.002213188447058201,
+ 0.0018526436761021614,
+ 1.3764139413833618,
+ 0.0007051238208077848,
+ 0.030696313828229904,
+ 1.5451573133468628,
+ -0.0019431906985118985,
+ -0.0027263222727924585,
+ 1.208937168121338,
+ 0.002180033829063177,
+ 0.002327435649931431,
+ 1.4103120565414429,
+ 0.0018917546840384603,
+ 0.01678645610809326,
+ 1.5572720766067505,
+ 0.00042031376506201923,
+ -0.002175231697037816,
+ 1.231005072593689,
+ 0.0019586076959967613,
+ 0.002293709432706237,
+ 0.11805935204029083,
+ 1.3472906351089478,
+ -0.39034533500671387,
+ 0.0019862703047692776,
+ 0.002130690962076187,
+ -0.5297051668167114,
+ -0.0019107030238956213,
+ -0.0019201113609597087,
+ -0.6209990978240967
+ ],
+ "wrist_pos": [
+ 0.11152718961238861,
+ -0.006862180307507515,
+ 0.6452802419662476
+ ],
+ "wrist_rot": [
+ -0.3893889784812927,
+ 0.5937541127204895,
+ 0.38143131136894226,
+ 0.5918973088264465
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.2143411487340927
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 51,
+ "virtual_xyz": [
+ 0.11021910607814789,
+ -0.005178778897970915,
+ 0.6452839374542236
+ ],
+ "wrist_rpy": [
+ -1.580141305923462,
+ 0.4266526997089386,
+ 1.5663855075836182
+ ],
+ "finger_dofs": [
+ 0.5715621113777161,
+ 0.021735941991209984,
+ -0.11852903664112091,
+ -0.07369298487901688,
+ 0.025522664189338684,
+ -0.003957436420023441,
+ 1.09586763381958,
+ -0.004558152984827757,
+ 0.0008505421574227512,
+ 0.7290074229240417,
+ -0.0027442206628620625,
+ 0.06830865889787674,
+ -0.06602929532527924,
+ -0.02951459400355816,
+ 0.00471842335537076,
+ 1.104347825050354,
+ -0.0017882909160107374,
+ 0.0018595601432025433,
+ 1.379010558128357,
+ -0.00029853274463675916,
+ 0.0308572668582201,
+ 1.5461971759796143,
+ -0.0019322899170219898,
+ -0.002798902802169323,
+ 1.2087620496749878,
+ 0.0022092037834227085,
+ 0.0023735330905765295,
+ 1.4108898639678955,
+ 0.001845550606958568,
+ 0.01712937094271183,
+ 1.5571842193603516,
+ -0.0004321103624533862,
+ -0.00219848589040339,
+ 1.2309273481369019,
+ 0.001970072975382209,
+ 0.0023300345055758953,
+ 0.11638413369655609,
+ 1.3473694324493408,
+ -0.3896799087524414,
+ 0.001995387254282832,
+ 0.0021486745681613684,
+ -0.5308130979537964,
+ -0.0019166863057762384,
+ -0.0019273747457191348,
+ -0.6205228567123413
+ ],
+ "wrist_pos": [
+ 0.11021920293569565,
+ -0.005178777500987053,
+ 0.6452838778495789
+ ],
+ "wrist_rot": [
+ -0.38689786195755005,
+ 0.5954523086547852,
+ 0.37871986627578735,
+ 0.5935635566711426
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.22067396342754364
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 52,
+ "virtual_xyz": [
+ 0.1089402288198471,
+ -0.003486866597086191,
+ 0.64528489112854
+ ],
+ "wrist_rpy": [
+ -1.5806933641433716,
+ 0.43548154830932617,
+ 1.566263198852539
+ ],
+ "finger_dofs": [
+ 0.56538325548172,
+ 0.022462839260697365,
+ -0.11674398928880692,
+ -0.08023630082607269,
+ 0.025691283866763115,
+ -0.004458988085389137,
+ 1.0943710803985596,
+ -0.004815947264432907,
+ 0.0008936689118854702,
+ 0.7205268144607544,
+ -0.0026871601585298777,
+ 0.07088824361562729,
+ -0.06779755651950836,
+ -0.02937776781618595,
+ 0.00566866947337985,
+ 1.0951783657073975,
+ 0.00038710562512278557,
+ 0.0018714361358433962,
+ 1.380313515663147,
+ -7.76395172579214e-05,
+ 0.03195933252573013,
+ 1.5462920665740967,
+ -0.001920333132147789,
+ -0.002911098999902606,
+ 1.2089157104492188,
+ 0.0022536625619977713,
+ 0.002449345774948597,
+ 1.4113439321517944,
+ 0.0018099664011970162,
+ 0.017963295802474022,
+ 1.556750774383545,
+ -0.0006194188026711345,
+ -0.0022320663556456566,
+ 1.2309976816177368,
+ 0.0019813720136880875,
+ 0.0023805778473615646,
+ 0.11351291090250015,
+ 1.3471250534057617,
+ -0.3877106010913849,
+ 0.002014128491282463,
+ 0.002157974988222122,
+ -0.5320987105369568,
+ -0.001929147052578628,
+ -0.001938840956427157,
+ -0.6197266578674316
+ ],
+ "wrist_pos": [
+ 0.10894032567739487,
+ -0.003486866131424904,
+ 0.6452848315238953
+ ],
+ "wrist_rot": [
+ -0.38448214530944824,
+ 0.5972101092338562,
+ 0.37587884068489075,
+ 0.5951710343360901
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.2271498590707779
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 53,
+ "virtual_xyz": [
+ 0.10766144096851349,
+ -0.0018235421739518642,
+ 0.6452881693840027
+ ],
+ "wrist_rpy": [
+ -1.581119418144226,
+ 0.4449266493320465,
+ 1.5661747455596924
+ ],
+ "finger_dofs": [
+ 0.5585172176361084,
+ 0.023212915286421776,
+ -0.11446008831262589,
+ -0.08106204122304916,
+ 0.026753699406981468,
+ -0.005256826989352703,
+ 1.0847499370574951,
+ -0.005451211705803871,
+ 0.0009423320298083127,
+ 0.7033689618110657,
+ -0.0032612334471195936,
+ 0.07356587052345276,
+ -0.06798286736011505,
+ -0.03528648987412453,
+ 0.005053616128861904,
+ 1.1085597276687622,
+ 0.0018607483943924308,
+ 0.001869495608843863,
+ 1.3779947757720947,
+ 0.0012314164778217673,
+ 0.031877562403678894,
+ 1.5483136177062988,
+ -0.001965074334293604,
+ -0.0027626531664282084,
+ 1.209019660949707,
+ 0.002197607886046171,
+ 0.0023427437990903854,
+ 1.4102349281311035,
+ 0.0019203000701963902,
+ 0.01804535649716854,
+ 1.5590237379074097,
+ -0.0006013484089635313,
+ -0.0021867721807211637,
+ 1.2295830249786377,
+ 0.001965966774150729,
+ 0.0023042759858071804,
+ 0.1084250882267952,
+ 1.3472224473953247,
+ -0.38698843121528625,
+ 0.002002626657485962,
+ 0.0021621892228722572,
+ -0.5313720107078552,
+ -0.001917937770485878,
+ -0.001914637628942728,
+ -0.6198441982269287
+ ],
+ "wrist_pos": [
+ 0.10766153037548065,
+ -0.0018235407769680023,
+ 0.6452881097793579
+ ],
+ "wrist_rot": [
+ -0.3818289041519165,
+ 0.5990538597106934,
+ 0.3728920519351959,
+ 0.5969024300575256
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.23375867307186127
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 54,
+ "virtual_xyz": [
+ 0.10638490319252014,
+ -2.6269493901054375e-05,
+ 0.6452814340591431
+ ],
+ "wrist_rpy": [
+ -1.5799213647842407,
+ 0.45234209299087524,
+ 1.5662178993225098
+ ],
+ "finger_dofs": [
+ 0.5278029441833496,
+ 0.026800518855452538,
+ -0.11534102261066437,
+ -0.06418795883655548,
+ 0.0376250185072422,
+ -0.004311930388212204,
+ 1.1051709651947021,
+ -0.005772063974291086,
+ 0.0008199845906347036,
+ 0.6965250372886658,
+ -0.0035651475191116333,
+ 0.0714179128408432,
+ -0.07440579682588577,
+ -0.03887539729475975,
+ 0.004964984487742186,
+ 1.1043641567230225,
+ 0.0016304657328873873,
+ 0.0018287708517163992,
+ 1.3814215660095215,
+ -0.0007686676690354943,
+ 0.029038092121481895,
+ 1.5449970960617065,
+ -0.0019502198556438088,
+ -0.002805081196129322,
+ 1.2092256546020508,
+ 0.0022121283691376448,
+ 0.0023895264603197575,
+ 1.4121203422546387,
+ 0.001883030985482037,
+ 0.015822621062397957,
+ 1.5560660362243652,
+ 0.0003099805908277631,
+ -0.002205031458288431,
+ 1.2315853834152222,
+ 0.0019679563120007515,
+ 0.002345920307561755,
+ 0.1174028068780899,
+ 1.3482924699783325,
+ -0.39302539825439453,
+ 0.001997201470658183,
+ 0.0021543463226407766,
+ -0.5313321948051453,
+ -0.00190936669241637,
+ -0.00190380506683141,
+ -0.6202372312545776
+ ],
+ "wrist_pos": [
+ 0.1063849925994873,
+ -2.6268884539604187e-05,
+ 0.6452813744544983
+ ],
+ "wrist_rot": [
+ -0.37924808263778687,
+ 0.6002286672592163,
+ 0.3710342347621918,
+ 0.5985230803489685
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.24000674486160278
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 55,
+ "virtual_xyz": [
+ 0.10515114665031433,
+ 0.001683959737420082,
+ 0.6452816724777222
+ ],
+ "wrist_rpy": [
+ -1.5798665285110474,
+ 0.4612812101840973,
+ 1.5661696195602417
+ ],
+ "finger_dofs": [
+ 0.5210605263710022,
+ 0.02784128487110138,
+ -0.11434241384267807,
+ -0.07273838669061661,
+ 0.038758549839258194,
+ -0.004742469172924757,
+ 1.1062815189361572,
+ -0.006333163473755121,
+ 0.0007992223836481571,
+ 0.6844893097877502,
+ -0.004182666074484587,
+ 0.0703888088464737,
+ -0.0785331055521965,
+ -0.045225244015455246,
+ 0.005729396361857653,
+ 1.1054471731185913,
+ 0.002147218445315957,
+ 0.0018450779607519507,
+ 1.382698655128479,
+ 0.0009193320292979479,
+ 0.028904393315315247,
+ 1.5479118824005127,
+ -0.0019378399010747671,
+ -0.0028200827073305845,
+ 1.208963394165039,
+ 0.0022116461768746376,
+ 0.0023806006647646427,
+ 1.412035584449768,
+ 0.0018905531615018845,
+ 0.015997007489204407,
+ 1.5573533773422241,
+ -0.0006513893022201955,
+ -0.0022074480075389147,
+ 1.2308197021484375,
+ 0.001971162622794509,
+ 0.0023395975586026907,
+ 0.11588289588689804,
+ 1.3487088680267334,
+ -0.39230015873908997,
+ 0.002003066474571824,
+ 0.0021657999604940414,
+ -0.5318809747695923,
+ -0.0019160739611834288,
+ -0.0019113149028271437,
+ -0.6200412511825562
+ ],
+ "wrist_pos": [
+ 0.1051512360572815,
+ 0.001683959737420082,
+ 0.6452816128730774
+ ],
+ "wrist_rot": [
+ -0.3765748143196106,
+ 0.6018739938735962,
+ 0.36834216117858887,
+ 0.6002191305160522
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.24613584578037262
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 56,
+ "virtual_xyz": [
+ 0.10392862558364868,
+ 0.003439352149143815,
+ 0.6452789306640625
+ ],
+ "wrist_rpy": [
+ -1.5800020694732666,
+ 0.46941038966178894,
+ 1.566145420074463
+ ],
+ "finger_dofs": [
+ 0.5163735151290894,
+ 0.027650533244013786,
+ -0.11295332759618759,
+ -0.07604599744081497,
+ 0.037635255604982376,
+ -0.006827387027442455,
+ 1.093193769454956,
+ -0.007078852504491806,
+ 0.0008084457949735224,
+ 0.6589768528938293,
+ -0.004094290547072887,
+ 0.07282014936208725,
+ -0.07520835846662521,
+ -0.04576196148991585,
+ 0.005066389683634043,
+ 1.1220868825912476,
+ 0.002177995862439275,
+ 0.0018563265912234783,
+ 1.3819326162338257,
+ 0.0009033231763169169,
+ 0.02968750149011612,
+ 1.5455286502838135,
+ -0.001954092876985669,
+ -0.002851635916158557,
+ 1.2097305059432983,
+ 0.00223183399066329,
+ 0.0024081969168037176,
+ 1.41280198097229,
+ 0.0019079329213127494,
+ 0.016286496073007584,
+ 1.5556854009628296,
+ 0.0001786087523214519,
+ -0.0022185510024428368,
+ 1.2321739196777344,
+ 0.0019779058638960123,
+ 0.0023565171286463737,
+ 0.1149475947022438,
+ 1.3487166166305542,
+ -0.39102864265441895,
+ 0.0020044792909175158,
+ 0.0021708819549530745,
+ -0.5325042605400085,
+ -0.001919829985126853,
+ -0.0019139409996569157,
+ -0.6195036172866821
+ ],
+ "wrist_pos": [
+ 0.10392872989177704,
+ 0.0034393519163131714,
+ 0.6452788710594177
+ ],
+ "wrist_rot": [
+ -0.3741871416568756,
+ 0.6033976674079895,
+ 0.3658377528190613,
+ 0.6017124652862549
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.2524223029613495
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 57,
+ "virtual_xyz": [
+ 0.10272307693958282,
+ 0.005207075737416744,
+ 0.645280122756958
+ ],
+ "wrist_rpy": [
+ -1.5808300971984863,
+ 0.4765782356262207,
+ 1.5659263134002686
+ ],
+ "finger_dofs": [
+ 0.5083847045898438,
+ 0.022213825955986977,
+ -0.11663801223039627,
+ -0.08363452553749084,
+ 0.023051723837852478,
+ -0.002115826588124037,
+ 1.0991497039794922,
+ -0.004070242866873741,
+ 0.0008921424741856754,
+ 0.6228847503662109,
+ -0.004646149463951588,
+ 0.06997508555650711,
+ -0.06835509091615677,
+ -0.05085211247205734,
+ 0.005768666043877602,
+ 1.1513855457305908,
+ 0.0030051853973418474,
+ 0.0018742750398814678,
+ 1.3803017139434814,
+ 0.0006567680393345654,
+ 0.03319705277681351,
+ 1.5403311252593994,
+ -0.0019535720348358154,
+ -0.0029494676273316145,
+ 1.2111231088638306,
+ 0.0022845950443297625,
+ 0.0024813327472656965,
+ 1.4143937826156616,
+ 0.0018942429451271892,
+ 0.01815771870315075,
+ 1.551363229751587,
+ 0.00010139813821297139,
+ -0.0022589368745684624,
+ 1.235550045967102,
+ 0.0020015323534607887,
+ 0.002416028641164303,
+ 0.11121056228876114,
+ 1.3484290838241577,
+ -0.3857138454914093,
+ 0.002002532361075282,
+ 0.0021799858659505844,
+ -0.5342509746551514,
+ -0.0019250701880082488,
+ -0.001928648678585887,
+ -0.6181709170341492
+ ],
+ "wrist_pos": [
+ 0.10272318124771118,
+ 0.00520707480609417,
+ 0.6452800631523132
+ ],
+ "wrist_rot": [
+ -0.37235021591186523,
+ 0.6048247218132019,
+ 0.36335015296936035,
+ 0.6029253602027893
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.25884220004081726
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 58,
+ "virtual_xyz": [
+ 0.10153893381357193,
+ 0.006948921363800764,
+ 0.6452822685241699
+ ],
+ "wrist_rpy": [
+ -1.5816434621810913,
+ 0.4852391481399536,
+ 1.5656545162200928
+ ],
+ "finger_dofs": [
+ 0.500946044921875,
+ 0.022084102034568787,
+ -0.11468061804771423,
+ -0.08651907742023468,
+ 0.021892547607421875,
+ -0.002492698607966304,
+ 1.1073185205459595,
+ -0.004086473491042852,
+ 0.0009661004296503961,
+ 0.6138659715652466,
+ -0.004441110882908106,
+ 0.07260020822286606,
+ -0.06986913830041885,
+ -0.04880812019109726,
+ 0.00679876608774066,
+ 1.145819902420044,
+ 0.002911950694397092,
+ 0.0018812748603522778,
+ 1.3768924474716187,
+ 0.0011414075270295143,
+ 0.034801747649908066,
+ 1.5386427640914917,
+ -0.0019230315228924155,
+ -0.0029689788352698088,
+ 1.2113527059555054,
+ 0.0022846811916679144,
+ 0.0024829113390296698,
+ 1.4142628908157349,
+ 0.0019056969322264194,
+ 0.019215580075979233,
+ 1.551389217376709,
+ -5.6173299526562914e-05,
+ -0.0022651616018265486,
+ 1.2353628873825073,
+ 0.002001224085688591,
+ 0.0024175578728318214,
+ 0.10466789454221725,
+ 1.3482673168182373,
+ -0.38198551535606384,
+ 0.0019972254522144794,
+ 0.002175393747165799,
+ -0.5350942611694336,
+ -0.0019255069782957435,
+ -0.0019373156828805804,
+ -0.617329478263855
+ ],
+ "wrist_pos": [
+ 0.10153903812170029,
+ 0.006948918104171753,
+ 0.6452822089195251
+ ],
+ "wrist_rot": [
+ -0.37007179856300354,
+ 0.606501579284668,
+ 0.36039090156555176,
+ 0.6044179201126099
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.2653760015964508
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 59,
+ "virtual_xyz": [
+ 0.10034378618001938,
+ 0.008771287277340889,
+ 0.6452797651290894
+ ],
+ "wrist_rpy": [
+ -1.5811500549316406,
+ 0.4927847981452942,
+ 1.5655591487884521
+ ],
+ "finger_dofs": [
+ 0.47008639574050903,
+ 0.02711085043847561,
+ -0.11098934710025787,
+ -0.06870279461145401,
+ 0.036539722234010696,
+ -0.004510059487074614,
+ 1.1016881465911865,
+ -0.005905611906200647,
+ 0.0009095154819078743,
+ 0.6122114658355713,
+ -0.004358046688139439,
+ 0.07135066390037537,
+ -0.0751168504357338,
+ -0.04833824932575226,
+ 0.0071489824913442135,
+ 1.1307357549667358,
+ 0.0027254391461610794,
+ 0.0018406648887321353,
+ 1.3779032230377197,
+ -7.102151721483096e-05,
+ 0.033302389085292816,
+ 1.5337519645690918,
+ -0.0013229468604549766,
+ -0.0030150790698826313,
+ 1.211585283279419,
+ 0.0022976361215114594,
+ 0.0025334449019283056,
+ 1.415948510169983,
+ 0.0018800398102030158,
+ 0.01778358966112137,
+ 1.5484668016433716,
+ 0.001037990441545844,
+ -0.0022793314419686794,
+ 1.2371599674224854,
+ 0.002000600565224886,
+ 0.002457922790199518,
+ 0.10862306505441666,
+ 1.3488043546676636,
+ -0.38559478521347046,
+ 0.002004482550546527,
+ 0.002175208181142807,
+ -0.5354297161102295,
+ -0.0019171596504747868,
+ -0.0019160478841513395,
+ -0.6171923875808716
+ ],
+ "wrist_pos": [
+ 0.10034389048814774,
+ 0.00877128541469574,
+ 0.6452797055244446
+ ],
+ "wrist_rot": [
+ -0.3676754832267761,
+ 0.6077628135681152,
+ 0.3582139015197754,
+ 0.6059058308601379
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.27200284600257874
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 60,
+ "virtual_xyz": [
+ 0.09917434304952621,
+ 0.010596515610814095,
+ 0.6452717185020447
+ ],
+ "wrist_rpy": [
+ -1.5808411836624146,
+ 0.49985554814338684,
+ 1.5656547546386719
+ ],
+ "finger_dofs": [
+ 0.4703185260295868,
+ 0.028510354459285736,
+ -0.11011473089456558,
+ -0.07856393605470657,
+ 0.0380888357758522,
+ -0.005602953024208546,
+ 1.0952019691467285,
+ -0.0068941982463002205,
+ 0.0008325002854689956,
+ 0.5872301459312439,
+ -0.003798143705353141,
+ 0.07010815292596817,
+ -0.06433206796646118,
+ -0.04404924437403679,
+ 0.0046224468387663364,
+ 1.1498221158981323,
+ 0.0026047625578939915,
+ 0.0018633236177265644,
+ 1.3834691047668457,
+ 3.243247920181602e-05,
+ 0.03347710147500038,
+ 1.533216118812561,
+ -0.0019039037870243192,
+ -0.0030799589585512877,
+ 1.2116774320602417,
+ 0.0023404411040246487,
+ 0.0025918614119291306,
+ 1.4180107116699219,
+ 0.0018736481433734298,
+ 0.017523998394608498,
+ 1.5453593730926514,
+ 0.0008162542944774032,
+ -0.0023047018330544233,
+ 1.2400765419006348,
+ 0.0020173087250441313,
+ 0.002495918655768037,
+ 0.11392657458782196,
+ 1.3492399454116821,
+ -0.3879610300064087,
+ 0.0020055046770721674,
+ 0.0021738114301115274,
+ -0.5362721085548401,
+ -0.0019239833345636725,
+ -0.0019320223946124315,
+ -0.6170682311058044
+ ],
+ "wrist_pos": [
+ 0.09917443990707397,
+ 0.010596511885523796,
+ 0.6452716588973999
+ ],
+ "wrist_rot": [
+ -0.3654147684574127,
+ 0.6089990139007568,
+ 0.3561793267726898,
+ 0.6072301268577576
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.27819153666496277
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 61,
+ "virtual_xyz": [
+ 0.098030686378479,
+ 0.01239093765616417,
+ 0.6452735066413879
+ ],
+ "wrist_rpy": [
+ -1.58118736743927,
+ 0.507777750492096,
+ 1.5654311180114746
+ ],
+ "finger_dofs": [
+ 0.4621880352497101,
+ 0.021500812843441963,
+ -0.11608234792947769,
+ -0.0840034931898117,
+ 0.019375799223780632,
+ -0.002675623632967472,
+ 1.1033618450164795,
+ -0.003942585550248623,
+ 0.0008806681726127863,
+ 0.5790644288063049,
+ -0.003851625369861722,
+ 0.06992267817258835,
+ -0.06715887039899826,
+ -0.04492717981338501,
+ 0.0043004294857382774,
+ 1.1528279781341553,
+ 0.002435234608128667,
+ 0.0018758916994556785,
+ 1.3835285902023315,
+ 0.0006425449391826987,
+ 0.03487619385123253,
+ 1.533554196357727,
+ -0.0019287389004603028,
+ -0.003105168929323554,
+ 1.2123428583145142,
+ 0.0023568817414343357,
+ 0.002602194668725133,
+ 1.41851007938385,
+ 0.0018810868496075273,
+ 0.018488924950361252,
+ 1.544481635093689,
+ 0.0003219979989808053,
+ -0.002318582497537136,
+ 1.2411653995513916,
+ 0.002028817543759942,
+ 0.0025088817346841097,
+ 0.1112268790602684,
+ 1.349589467048645,
+ -0.3852289617061615,
+ 0.0020066029392182827,
+ 0.002182635013014078,
+ -0.5372308492660522,
+ -0.001927893958054483,
+ -0.0019398905569687486,
+ -0.6164408326148987
+ ],
+ "wrist_pos": [
+ 0.09803077578544617,
+ 0.01239093393087387,
+ 0.6452734470367432
+ ],
+ "wrist_rot": [
+ -0.36318743228912354,
+ 0.6104380488395691,
+ 0.35358312726020813,
+ 0.6086371541023254
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.28440889716148376
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 62,
+ "virtual_xyz": [
+ 0.09691056609153748,
+ 0.01417282409965992,
+ 0.6452739238739014
+ ],
+ "wrist_rpy": [
+ -1.5818023681640625,
+ 0.5166416168212891,
+ 1.5652128458023071
+ ],
+ "finger_dofs": [
+ 0.45588523149490356,
+ 0.02200070209801197,
+ -0.11326182633638382,
+ -0.08785204589366913,
+ 0.020109836012125015,
+ -0.00328300753608346,
+ 1.0981743335723877,
+ -0.004227011930197477,
+ 0.0009448720375075936,
+ 0.5745724439620972,
+ -0.0038995230570435524,
+ 0.07162360101938248,
+ -0.07246986776590347,
+ -0.04487912729382515,
+ 0.004418127238750458,
+ 1.1472662687301636,
+ 0.002149045467376709,
+ 0.0018824225990101695,
+ 1.3811004161834717,
+ 0.0009390307241119444,
+ 0.03594713285565376,
+ 1.5331802368164062,
+ -0.0019283001311123371,
+ -0.0030806513968855143,
+ 1.2127394676208496,
+ 0.0023399926722049713,
+ 0.0025711124762892723,
+ 1.4182595014572144,
+ 0.0018987155053764582,
+ 0.019316067919135094,
+ 1.545052170753479,
+ 0.0003912196261808276,
+ -0.0023094292264431715,
+ 1.2406641244888306,
+ 0.0020239832811057568,
+ 0.002486312063410878,
+ 0.10535869747400284,
+ 1.3495242595672607,
+ -0.3821861743927002,
+ 0.0019996033515781164,
+ 0.0021826806478202343,
+ -0.537970244884491,
+ -0.0019270677585154772,
+ -0.0019427643856033683,
+ -0.6157244443893433
+ ],
+ "wrist_pos": [
+ 0.09691067039966583,
+ 0.014172820374369621,
+ 0.6452738642692566
+ ],
+ "wrist_rot": [
+ -0.36074942350387573,
+ 0.6120820045471191,
+ 0.3506109118461609,
+ 0.6101536154747009
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.290927916765213
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 63,
+ "virtual_xyz": [
+ 0.09579978138208389,
+ 0.01597222127020359,
+ 0.6452740430831909
+ ],
+ "wrist_rpy": [
+ -1.5823991298675537,
+ 0.5256003141403198,
+ 1.565094232559204
+ ],
+ "finger_dofs": [
+ 0.45463499426841736,
+ 0.022827977314591408,
+ -0.11050540208816528,
+ -0.09546523541212082,
+ 0.021151084452867508,
+ -0.003761393716558814,
+ 1.0859124660491943,
+ -0.004589316435158253,
+ 0.0010000619804486632,
+ 0.5669066309928894,
+ -0.003934907726943493,
+ 0.07306084781885147,
+ -0.07288645952939987,
+ -0.04562923312187195,
+ 0.004362179432064295,
+ 1.141929268836975,
+ 0.0022245855070650578,
+ 0.0018934616819024086,
+ 1.3789334297180176,
+ 0.001026979647576809,
+ 0.03686848282814026,
+ 1.5318193435668945,
+ -0.001931988401338458,
+ -0.0031091447453945875,
+ 1.212883472442627,
+ 0.0023508796002715826,
+ 0.0025828112848103046,
+ 1.4181630611419678,
+ 0.00192507344763726,
+ 0.01991620473563671,
+ 1.5451668500900269,
+ 0.00042423183913342655,
+ -0.0023191526997834444,
+ 1.2403175830841064,
+ 0.002027769573032856,
+ 0.0024928590282797813,
+ 0.09984119236469269,
+ 1.349350929260254,
+ -0.38005584478378296,
+ 0.002013472141698003,
+ 0.0021918744314461946,
+ -0.5385245084762573,
+ -0.0019345342880114913,
+ -0.001950123580172658,
+ -0.6151465773582458
+ ],
+ "wrist_pos": [
+ 0.09579987078905106,
+ 0.015972215682268143,
+ 0.6452739834785461
+ ],
+ "wrist_rot": [
+ -0.3582404553890228,
+ 0.6137441396713257,
+ 0.3476373851299286,
+ 0.6116616725921631
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.2976822555065155
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 64,
+ "virtual_xyz": [
+ 0.09467446058988571,
+ 0.017855869606137276,
+ 0.6452741622924805
+ ],
+ "wrist_rpy": [
+ -1.581283688545227,
+ 0.5330160856246948,
+ 1.565082311630249
+ ],
+ "finger_dofs": [
+ 0.4220638573169708,
+ 0.02723558433353901,
+ -0.10990872979164124,
+ -0.0755326896905899,
+ 0.03427822142839432,
+ -0.0036673517897725105,
+ 1.1035470962524414,
+ -0.005344695877283812,
+ 0.0008869672892615199,
+ 0.5666667819023132,
+ -0.003992125857621431,
+ 0.07085814327001572,
+ -0.0784737765789032,
+ -0.046811021864414215,
+ 0.004669913090765476,
+ 1.1267764568328857,
+ 0.002134420908987522,
+ 0.0018513770774006844,
+ 1.383672833442688,
+ -0.0002944146981462836,
+ 0.03413036838173866,
+ 1.5290799140930176,
+ -0.001844034530222416,
+ -0.0031630732119083405,
+ 1.2126390933990479,
+ 0.002369931899011135,
+ 0.0026427139528095722,
+ 1.4201058149337769,
+ 0.0018655494786798954,
+ 0.017723100259900093,
+ 1.5424059629440308,
+ 0.0008716167649254203,
+ -0.00233750999905169,
+ 1.2421894073486328,
+ 0.0020299656316637993,
+ 0.0025420875754207373,
+ 0.107908695936203,
+ 1.350367784500122,
+ -0.38657480478286743,
+ 0.002011306816712022,
+ 0.0021844585426151752,
+ -0.5384226441383362,
+ -0.001924779498949647,
+ -0.0019326937617734075,
+ -0.6156356334686279
+ ],
+ "wrist_pos": [
+ 0.09467455744743347,
+ 0.017855864018201828,
+ 0.6452741026878357
+ ],
+ "wrist_rot": [
+ -0.3556390404701233,
+ 0.6148470044136047,
+ 0.345691055059433,
+ 0.6131733655929565
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3041802942752838
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 65,
+ "virtual_xyz": [
+ 0.0935940071940422,
+ 0.01970892958343029,
+ 0.6452687382698059
+ ],
+ "wrist_rpy": [
+ -1.5813705921173096,
+ 0.5405870676040649,
+ 1.5650608539581299
+ ],
+ "finger_dofs": [
+ 0.42097002267837524,
+ 0.027116432785987854,
+ -0.10932324826717377,
+ -0.08377343416213989,
+ 0.032624244689941406,
+ -0.003934934269636869,
+ 1.099602222442627,
+ -0.005558397620916367,
+ 0.0008612880483269691,
+ 0.542616069316864,
+ -0.0037499337922781706,
+ 0.06984918564558029,
+ -0.0677414983510971,
+ -0.044910602271556854,
+ 0.004302248824387789,
+ 1.143605351448059,
+ 0.0024410707410424948,
+ 0.0018744848202914,
+ 1.3869242668151855,
+ 8.513387729180977e-05,
+ 0.03538786247372627,
+ 1.528804898262024,
+ -0.001897250534966588,
+ -0.003211320610716939,
+ 1.2132349014282227,
+ 0.0024038583505898714,
+ 0.0026890533044934273,
+ 1.4215455055236816,
+ 0.0018663941882550716,
+ 0.018342329189181328,
+ 1.539922833442688,
+ 0.001023549004457891,
+ -0.002355137374252081,
+ 1.2445889711380005,
+ 0.0020435599144548178,
+ 0.0025710167828947306,
+ 0.10910296440124512,
+ 1.3506165742874146,
+ -0.3859429955482483,
+ 0.0020054851192981005,
+ 0.0021822249982506037,
+ -0.5394930839538574,
+ -0.0019279244588688016,
+ -0.0019443536875769496,
+ -0.6151479482650757
+ ],
+ "wrist_pos": [
+ 0.09359410405158997,
+ 0.019708922132849693,
+ 0.6452686786651611
+ ],
+ "wrist_rot": [
+ -0.35335609316825867,
+ 0.616175651550293,
+ 0.34332001209259033,
+ 0.614490270614624
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.310625284910202
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 66,
+ "virtual_xyz": [
+ 0.09250076860189438,
+ 0.021662000566720963,
+ 0.6452738046646118
+ ],
+ "wrist_rpy": [
+ -1.57913076877594,
+ 0.5454005599021912,
+ 1.5649614334106445
+ ],
+ "finger_dofs": [
+ 0.35514402389526367,
+ 0.028775829821825027,
+ -0.10913320630788803,
+ -0.020204801112413406,
+ 0.03932327404618263,
+ -0.006164491176605225,
+ 1.120162010192871,
+ -0.00545383058488369,
+ 0.0007015384035184979,
+ 0.5440551042556763,
+ -0.0032260457519441843,
+ 0.0661531314253807,
+ -0.07675721496343613,
+ -0.04021395370364189,
+ 0.005137343425303698,
+ 1.1211220026016235,
+ 0.0008388667483814061,
+ 0.0016041712369769812,
+ 1.3916882276535034,
+ -0.0012904091272503138,
+ 0.0315302349627018,
+ 1.5206730365753174,
+ 0.0018172577256336808,
+ -0.003274365561082959,
+ 1.2149327993392944,
+ 0.002400811528787017,
+ 0.0027597234584391117,
+ 1.4256240129470825,
+ 0.0018981065368279815,
+ 0.014631446450948715,
+ 1.5317232608795166,
+ 0.0019741493742913008,
+ -0.0023820220958441496,
+ 1.2504262924194336,
+ 0.0020224384497851133,
+ 0.0026266861241310835,
+ 0.12580819427967072,
+ 1.3528268337249756,
+ -0.3953230679035187,
+ 0.001967908814549446,
+ 0.002112904330715537,
+ -0.5390055775642395,
+ -0.0018940928857773542,
+ -0.0019236153457313776,
+ -0.6157822608947754
+ ],
+ "wrist_pos": [
+ 0.09250086545944214,
+ 0.021661993116140366,
+ 0.645273745059967
+ ],
+ "wrist_rot": [
+ -0.351222425699234,
+ 0.6166079640388489,
+ 0.3424912989139557,
+ 0.6157411336898804
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3165050148963928
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 67,
+ "virtual_xyz": [
+ 0.09144064038991928,
+ 0.02354768104851246,
+ 0.6452715396881104
+ ],
+ "wrist_rpy": [
+ -1.5773577690124512,
+ 0.552619218826294,
+ 1.5648804903030396
+ ],
+ "finger_dofs": [
+ 0.35115134716033936,
+ 0.022444896399974823,
+ -0.11865288764238358,
+ -0.025013817474246025,
+ 0.022811030969023705,
+ -0.004256867803633213,
+ 1.135411024093628,
+ -0.0037465307395905256,
+ 0.0005840908270329237,
+ 0.5440447330474854,
+ -0.003171641146764159,
+ 0.06287337094545364,
+ -0.08495362102985382,
+ -0.04057043045759201,
+ 0.005966448225080967,
+ 1.0928975343704224,
+ -0.0018490597140043974,
+ 0.001773753436282277,
+ 1.3944809436798096,
+ -0.0009234988829120994,
+ 0.028403110802173615,
+ 1.5230300426483154,
+ 0.0007728932541795075,
+ -0.0032313773408532143,
+ 1.2149308919906616,
+ 0.0023923981934785843,
+ 0.0027273993473500013,
+ 1.4263989925384521,
+ 0.0018966037314385176,
+ 0.012529127299785614,
+ 1.531962275505066,
+ 0.0019130847649648786,
+ -0.0023660738952457905,
+ 1.2513552904129028,
+ 0.0020270489621907473,
+ 0.002603196306154132,
+ 0.13349616527557373,
+ 1.3549405336380005,
+ -0.40084409713745117,
+ 0.00196053902618587,
+ 0.002112686401233077,
+ -0.5379847884178162,
+ -0.001896095578558743,
+ -0.0019223549170419574,
+ -0.6168806552886963
+ ],
+ "wrist_pos": [
+ 0.09144073724746704,
+ 0.023547673597931862,
+ 0.6452714800834656
+ ],
+ "wrist_rot": [
+ -0.3484828472137451,
+ 0.6175370812416077,
+ 0.34077882766723633,
+ 0.6173146963119507
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.32159852981567383
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 68,
+ "virtual_xyz": [
+ 0.09040199965238571,
+ 0.025456419214606285,
+ 0.6452618837356567
+ ],
+ "wrist_rpy": [
+ -1.5762169361114502,
+ 0.5586496591567993,
+ 1.5648338794708252
+ ],
+ "finger_dofs": [
+ 0.3364424705505371,
+ 0.02385719306766987,
+ -0.11718418449163437,
+ -0.023892516270279884,
+ 0.025140609592199326,
+ -0.00426058191806078,
+ 1.1413750648498535,
+ -0.0038424429949373007,
+ 0.0004953363677486777,
+ 0.5205778479576111,
+ -0.002663264749571681,
+ 0.060893140733242035,
+ -0.07872635871171951,
+ -0.036485180258750916,
+ 0.005077375564724207,
+ 1.1011537313461304,
+ -0.0019513473380357027,
+ 0.0017776296008378267,
+ 1.3953847885131836,
+ -0.0007351289386861026,
+ 0.027906635776162148,
+ 1.5186911821365356,
+ 0.001671587466262281,
+ -0.00329916225746274,
+ 1.216433048248291,
+ 0.0024214338045567274,
+ 0.0027834323700517416,
+ 1.4286917448043823,
+ 0.0018972780089825392,
+ 0.011589501984417439,
+ 1.5272996425628662,
+ 0.0019398668082430959,
+ -0.0023899744264781475,
+ 1.255202054977417,
+ 0.0020374797750264406,
+ 0.0026463179383426905,
+ 0.138991579413414,
+ 1.3559560775756836,
+ -0.4024294912815094,
+ 0.0019606328569352627,
+ 0.002111455425620079,
+ -0.538434624671936,
+ -0.0018965514609590173,
+ -0.001926457742229104,
+ -0.6165688037872314
+ ],
+ "wrist_pos": [
+ 0.09040210396051407,
+ 0.025456411764025688,
+ 0.645261824131012
+ ],
+ "wrist_rot": [
+ -0.34628745913505554,
+ 0.618371307849884,
+ 0.3392474949359894,
+ 0.6185572147369385
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3263195753097534
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 69,
+ "virtual_xyz": [
+ 0.08937986195087433,
+ 0.027345729991793633,
+ 0.6452555060386658
+ ],
+ "wrist_rpy": [
+ -1.5745306015014648,
+ 0.5649666786193848,
+ 1.564569115638733
+ ],
+ "finger_dofs": [
+ 0.2813991606235504,
+ 0.02400125376880169,
+ -0.11263303458690643,
+ 0.050246480852365494,
+ 0.016448238864541054,
+ -0.004129170905798674,
+ 1.1468665599822998,
+ -0.003309171414002776,
+ 0.0003922258911188692,
+ 0.5193553566932678,
+ -0.002615344012156129,
+ 0.05789594352245331,
+ -0.0886615663766861,
+ -0.03730035573244095,
+ 0.004611283075064421,
+ 1.0844697952270508,
+ -0.0025206487625837326,
+ 0.0010975899640470743,
+ 1.3981318473815918,
+ -0.0011271724943071604,
+ 0.025551747530698776,
+ 1.5153121948242188,
+ 0.0018889025086537004,
+ -0.0034131212159991264,
+ 1.2172935009002686,
+ 0.0024473017547279596,
+ 0.0028560005594044924,
+ 1.4313195943832397,
+ 0.0018770269816741347,
+ 0.009822026826441288,
+ 1.5237818956375122,
+ 0.0020162693690508604,
+ -0.0024389359168708324,
+ 1.2577422857284546,
+ 0.0020481727551668882,
+ 0.0027188120875507593,
+ 0.14550983905792236,
+ 1.3573192358016968,
+ -0.40522629022598267,
+ 0.00195233931299299,
+ 0.002109966706484556,
+ -0.539814293384552,
+ -0.0018929445650428534,
+ -0.0019282574066892266,
+ -0.615973949432373
+ ],
+ "wrist_pos": [
+ 0.08937996625900269,
+ 0.027345720678567886,
+ 0.645255446434021
+ ],
+ "wrist_rot": [
+ -0.3438980281352997,
+ 0.6191211938858032,
+ 0.33772629499435425,
+ 0.6199709177017212
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.33094319701194763
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 70,
+ "virtual_xyz": [
+ 0.08837360143661499,
+ 0.029288459569215775,
+ 0.6452383995056152
+ ],
+ "wrist_rpy": [
+ -1.571339726448059,
+ 0.5674974918365479,
+ 1.5636310577392578
+ ],
+ "finger_dofs": [
+ 0.1910441815853119,
+ 0.020654229447245598,
+ -0.10364533960819244,
+ 0.24046441912651062,
+ -0.004290593322366476,
+ -0.0022123537492007017,
+ 1.1591203212738037,
+ -0.0012983985943719745,
+ 0.00023945975408423692,
+ 0.5018198490142822,
+ -0.002035804558545351,
+ 0.05475928261876106,
+ -0.0878395289182663,
+ -0.0332019068300724,
+ 0.005152915604412556,
+ 1.0795613527297974,
+ -0.002642157021909952,
+ -0.0001873221917776391,
+ 1.4100209474563599,
+ -0.002689689164981246,
+ 0.022918786853551865,
+ 1.5067998170852661,
+ 0.0018994190031662583,
+ -0.0035852286964654922,
+ 1.218665361404419,
+ 0.002539406530559063,
+ 0.003041846677660942,
+ 1.4392328262329102,
+ 0.0017770471749827266,
+ 0.0072519415989518166,
+ 1.5118193626403809,
+ 0.0021031980868428946,
+ -0.002529207384213805,
+ 1.2663853168487549,
+ 0.0020846696570515633,
+ 0.0028748882468789816,
+ 0.16595248878002167,
+ 1.3598271608352661,
+ -0.4108104109764099,
+ 0.0019255848601460457,
+ 0.002089116023853421,
+ -0.5450314879417419,
+ -0.0018807003507390618,
+ -0.001935699488967657,
+ -0.6136695146560669
+ ],
+ "wrist_pos": [
+ 0.08837370574474335,
+ 0.02928845025599003,
+ 0.6452383399009705
+ ],
+ "wrist_rot": [
+ -0.34241583943367004,
+ 0.6188539266586304,
+ 0.3376367688179016,
+ 0.6211058497428894
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3354235291481018
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 71,
+ "virtual_xyz": [
+ 0.08743647485971451,
+ 0.03126920759677887,
+ 0.6452313661575317
+ ],
+ "wrist_rpy": [
+ -1.568119764328003,
+ 0.571182131767273,
+ 1.5624750852584839
+ ],
+ "finger_dofs": [
+ 0.312348335981369,
+ 0.009119728580117226,
+ -0.09225521981716156,
+ 0.574205219745636,
+ 0.006510917562991381,
+ 0.0009458448621444404,
+ 1.180869221687317,
+ -0.0006942948675714433,
+ 0.0001378915912937373,
+ 0.4914363920688629,
+ 0.000713496410753578,
+ 0.05142469331622124,
+ -0.08081753551959991,
+ -0.030971631407737732,
+ 0.004426533356308937,
+ 1.0424619913101196,
+ -0.0024433908984065056,
+ -0.001037723384797573,
+ 1.4100558757781982,
+ -0.002454291796311736,
+ 0.019624730572104454,
+ 1.5006649494171143,
+ 0.0010069976560771465,
+ -0.002569652860984206,
+ 1.2205252647399902,
+ 0.0021937445271760225,
+ 0.00235969596542418,
+ 1.443298578262329,
+ 0.0016487421235069633,
+ 0.004740715958178043,
+ 1.5053719282150269,
+ 0.0013831969117745757,
+ -0.0020916659850627184,
+ 1.2711272239685059,
+ 0.0019575906917452812,
+ 0.0022604556288570166,
+ 0.1816006451845169,
+ 1.363048791885376,
+ -0.415165513753891,
+ 0.001911416184157133,
+ 0.00204057851806283,
+ -0.5475157499313354,
+ -0.0017946563893929124,
+ -0.0018767492147162557,
+ -0.612270176410675
+ ],
+ "wrist_pos": [
+ 0.08743657171726227,
+ 0.031269196420907974,
+ 0.645231306552887
+ ],
+ "wrist_rot": [
+ -0.34063178300857544,
+ 0.6187437772750854,
+ 0.3371286690235138,
+ 0.6224710941314697
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3398125469684601
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 72,
+ "virtual_xyz": [
+ 0.0863887220621109,
+ 0.03302040696144104,
+ 0.6452649831771851
+ ],
+ "wrist_rpy": [
+ -1.570959210395813,
+ 0.5949780344963074,
+ 1.5661405324935913
+ ],
+ "finger_dofs": [
+ 0.8100608587265015,
+ 0.002035033656284213,
+ -0.037682175636291504,
+ 1.0480445623397827,
+ -0.00074546824907884,
+ 0.0014775878516957164,
+ 1.1930792331695557,
+ 0.001599229988642037,
+ 0.0001438784966012463,
+ 0.432681143283844,
+ -0.0013913611182942986,
+ 0.04750124365091324,
+ -0.08753116428852081,
+ -0.029726747423410416,
+ 0.0038707456551492214,
+ 1.0598574876785278,
+ -0.0035280887968838215,
+ 0.00045986115583218634,
+ 1.3855550289154053,
+ 0.0021159688476473093,
+ 0.012973913922905922,
+ 1.5328776836395264,
+ 0.0018918872810900211,
+ -0.0025281915441155434,
+ 1.218031644821167,
+ 0.0020317998714745045,
+ 0.0022199631202965975,
+ 1.4213591814041138,
+ 0.0020849951542913914,
+ 0.0022586544509977102,
+ 1.5431398153305054,
+ 0.001959156012162566,
+ -0.0020288850646466017,
+ 1.2457276582717896,
+ 0.0018447297625243664,
+ 0.002117716707289219,
+ 0.14170542359352112,
+ 1.359233021736145,
+ -0.4208894371986389,
+ 0.0019242758862674236,
+ 0.0016894263681024313,
+ -0.5265806913375854,
+ -0.0018424351001158357,
+ -0.001847567385993898,
+ -0.6227000951766968
+ ],
+ "wrist_pos": [
+ 0.08638883382081985,
+ 0.033020395785570145,
+ 0.6452649235725403
+ ],
+ "wrist_rot": [
+ -0.3329814374446869,
+ 0.6238513588905334,
+ 0.3299720287322998,
+ 0.62534099817276
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.34271806478500366
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 73,
+ "virtual_xyz": [
+ 0.08532863855361938,
+ 0.034833602607250214,
+ 0.6452621817588806
+ ],
+ "wrist_rpy": [
+ -1.5717047452926636,
+ 0.6139020919799805,
+ 1.569085717201233
+ ],
+ "finger_dofs": [
+ 1.1291424036026,
+ 0.0017741740448400378,
+ -0.014059972949326038,
+ 1.352883219718933,
+ -0.0012025092728435993,
+ 0.001259727869182825,
+ 1.1979745626449585,
+ 0.001220905571244657,
+ 2.922613020928111e-05,
+ 0.3721037805080414,
+ 0.002188724698498845,
+ 0.04233362153172493,
+ -0.0795942172408104,
+ -0.02675919607281685,
+ 0.003903807606548071,
+ 1.0626890659332275,
+ -0.003251589834690094,
+ 0.0005546497995965183,
+ 1.3843576908111572,
+ 0.0011789961718022823,
+ 0.009837142191827297,
+ 1.5466421842575073,
+ 0.0019039978506043553,
+ -0.0025357527192682028,
+ 1.2138365507125854,
+ 0.002038789913058281,
+ 0.002246435731649399,
+ 1.411424994468689,
+ 0.0018314014887437224,
+ 0.0011815909529104829,
+ 1.558260440826416,
+ 0.0019628903828561306,
+ -0.00203100242651999,
+ 1.2330405712127686,
+ 0.0018380075925961137,
+ 0.0021396614611148834,
+ 0.1212242916226387,
+ 1.3565768003463745,
+ -0.42472898960113525,
+ 0.0019421839388087392,
+ 0.002049181843176484,
+ -0.517593502998352,
+ -0.0018546066712588072,
+ -0.0018197715980932117,
+ -0.628511905670166
+ ],
+ "wrist_pos": [
+ 0.08532874286174774,
+ 0.03483359143137932,
+ 0.6452621221542358
+ ],
+ "wrist_rot": [
+ -0.3263746201992035,
+ 0.6275752186775208,
+ 0.32473087310791016,
+ 0.6278365254402161
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.34569621086120605
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 74,
+ "virtual_xyz": [
+ 0.0843726396560669,
+ 0.03672635927796364,
+ 0.6452583074569702
+ ],
+ "wrist_rpy": [
+ -1.5715328454971313,
+ 0.6280970573425293,
+ 1.5708271265029907
+ ],
+ "finger_dofs": [
+ 1.3017902374267578,
+ 0.0017482027178630233,
+ -0.005790588911622763,
+ 1.523569107055664,
+ -0.0009868324268609285,
+ 0.001061469898559153,
+ 1.199965000152588,
+ 0.0006897929706610739,
+ -8.975707169156522e-05,
+ 0.34560999274253845,
+ 0.00329385744407773,
+ 0.041834473609924316,
+ -0.08337718993425369,
+ -0.016070440411567688,
+ 0.00320298015139997,
+ 1.0344849824905396,
+ -0.004677333869040012,
+ 0.000356196949724108,
+ 1.3832567930221558,
+ 0.0010895307641476393,
+ 0.008210324682295322,
+ 1.551596999168396,
+ 0.0019167739665135741,
+ -0.002542599104344845,
+ 1.2119948863983154,
+ 0.002037686761468649,
+ 0.002247026888653636,
+ 1.4073079824447632,
+ 0.0018215257441625,
+ 0.0004856362647842616,
+ 1.563637375831604,
+ 0.001968685071915388,
+ -0.002034371718764305,
+ 1.2279212474822998,
+ 0.0018357721855863929,
+ 0.002141397213563323,
+ 0.11335603147745132,
+ 1.3550530672073364,
+ -0.4250235855579376,
+ 0.0019441070035099983,
+ 0.0020667463541030884,
+ -0.513721227645874,
+ -0.0018598122987896204,
+ -0.0018207596149295568,
+ -0.6310049295425415
+ ],
+ "wrist_pos": [
+ 0.08437274396419525,
+ 0.03672634810209274,
+ 0.6452582478523254
+ ],
+ "wrist_rot": [
+ -0.3213118016719818,
+ 0.6301241517066956,
+ 0.32086724042892456,
+ 0.6298779845237732
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.34865695238113403
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 75,
+ "virtual_xyz": [
+ 0.0834311842918396,
+ 0.03868336230516434,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.5714749097824097,
+ 0.6380119323730469,
+ 1.571717619895935
+ ],
+ "finger_dofs": [
+ 1.359997034072876,
+ 0.0016049363184720278,
+ -0.0026053788606077433,
+ 1.5796188116073608,
+ -0.0006910620722919703,
+ 0.0007540934602729976,
+ 1.2006980180740356,
+ 0.00025174746406264603,
+ -0.00014217781426850706,
+ 0.2932771146297455,
+ 0.0018409134354442358,
+ 0.032888013869524,
+ -0.06620261818170547,
+ -0.02759559266269207,
+ 0.00539197726175189,
+ 1.043260931968689,
+ -0.0009636657778173685,
+ 0.000169903869391419,
+ 1.3833078145980835,
+ -6.362174462992698e-05,
+ 0.009712445549666882,
+ 1.5493829250335693,
+ 0.001860668184235692,
+ -0.0026354293804615736,
+ 1.212175726890564,
+ 0.0021115632262080908,
+ 0.0023513284977525473,
+ 1.407143473625183,
+ 0.0016364473849534988,
+ 0.0011683551128953695,
+ 1.5613815784454346,
+ 0.001916971756145358,
+ -0.002070826943963766,
+ 1.2294455766677856,
+ 0.0018644602969288826,
+ 0.0022239889949560165,
+ 0.1124802976846695,
+ 1.3539968729019165,
+ -0.42269259691238403,
+ 0.00193936622235924,
+ 0.002072654664516449,
+ -0.512718141078949,
+ -0.0018646512180566788,
+ -0.001826437539421022,
+ -0.6316648721694946
+ ],
+ "wrist_pos": [
+ 0.08343128859996796,
+ 0.03868335112929344,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.3178855776786804,
+ 0.6318393349647522,
+ 0.3180389702320099,
+ 0.6313309669494629
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.35145944356918335
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 76,
+ "virtual_xyz": [
+ 0.08250302076339722,
+ 0.040646567940711975,
+ 0.6452472805976868
+ ],
+ "wrist_rpy": [
+ -1.570936918258667,
+ 0.6468703150749207,
+ 1.5723451375961304
+ ],
+ "finger_dofs": [
+ 1.3763891458511353,
+ 0.0009477304411120713,
+ -0.0019878612365573645,
+ 1.5942754745483398,
+ 0.0004489801940508187,
+ 0.0006071702227927744,
+ 1.2014784812927246,
+ -9.471805242355913e-05,
+ -0.00026262603932991624,
+ 0.269622266292572,
+ 0.0037240395322442055,
+ 0.04022068902850151,
+ -0.06489700824022293,
+ -0.01307921763509512,
+ 0.0053180824033916,
+ 1.0563201904296875,
+ -0.00289799808524549,
+ 4.866358358412981e-05,
+ 1.388855218887329,
+ -0.0019990112632513046,
+ 0.009059007279574871,
+ 1.5522180795669556,
+ 0.0018192532006651163,
+ -0.0026115139480680227,
+ 1.2114654779434204,
+ 0.002108303364366293,
+ 0.002357299206778407,
+ 1.4077515602111816,
+ 0.0016591307939961553,
+ 0.0007470896234735847,
+ 1.560887336730957,
+ 0.001972588710486889,
+ -0.00206607673317194,
+ 1.2306792736053467,
+ 0.0018554345006123185,
+ 0.002218378009274602,
+ 0.12012944370508194,
+ 1.3530677556991577,
+ -0.42431744933128357,
+ 0.0019455108558759093,
+ 0.0020763506181538105,
+ -0.511909544467926,
+ -0.0018670473946258426,
+ -0.001822970574721694,
+ -0.6325245499610901
+ ],
+ "wrist_pos": [
+ 0.08250312507152557,
+ 0.04064655303955078,
+ 0.645247220993042
+ ],
+ "wrist_rot": [
+ -0.3147159516811371,
+ 0.633253276348114,
+ 0.31560733914375305,
+ 0.6327210664749146
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.35366877913475037
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 77,
+ "virtual_xyz": [
+ 0.08160679787397385,
+ 0.04261113330721855,
+ 0.6452436447143555
+ ],
+ "wrist_rpy": [
+ -1.570618748664856,
+ 0.6548551917076111,
+ 1.5726429224014282
+ ],
+ "finger_dofs": [
+ 1.380852460861206,
+ 0.00033410312607884407,
+ -0.0018480506259948015,
+ 1.5981084108352661,
+ 0.0005880829994566739,
+ 0.0006121019832789898,
+ 1.2018400430679321,
+ -0.00020396702166181058,
+ -0.00032028835266828537,
+ 0.23460188508033752,
+ 0.0033635031431913376,
+ 0.03693681210279465,
+ -0.060613855719566345,
+ -0.01948663219809532,
+ 0.00404121819883585,
+ 1.0896981954574585,
+ -0.002598684513941407,
+ 3.1768338430993026e-06,
+ 1.3907966613769531,
+ -0.0022303105797618628,
+ 0.009535819292068481,
+ 1.551578164100647,
+ 0.0017192834056913853,
+ -0.0026155789382755756,
+ 1.2120059728622437,
+ 0.00212917011231184,
+ 0.0023860435467213392,
+ 1.4086321592330933,
+ 0.0016989298164844513,
+ 0.0008476654766127467,
+ 1.5589195489883423,
+ 0.0019719847477972507,
+ -0.002077098935842514,
+ 1.2327632904052734,
+ 0.0018627106910571456,
+ 0.0022395991254597902,
+ 0.12747681140899658,
+ 1.3524607419967651,
+ -0.42377805709838867,
+ 0.0019436044385656714,
+ 0.00207611289806664,
+ -0.5118332505226135,
+ -0.0018673916347324848,
+ -0.001825811224989593,
+ -0.6325626969337463
+ ],
+ "wrist_pos": [
+ 0.0816068947315216,
+ 0.04261111840605736,
+ 0.6452435851097107
+ ],
+ "wrist_rot": [
+ -0.31199023127555847,
+ 0.6345010995864868,
+ 0.3132738769054413,
+ 0.6339794993400574
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3555901050567627
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 78,
+ "virtual_xyz": [
+ 0.08071444183588028,
+ 0.04459141567349434,
+ 0.6452393531799316
+ ],
+ "wrist_rpy": [
+ -1.5706557035446167,
+ 0.6624651551246643,
+ 1.5728639364242554
+ ],
+ "finger_dofs": [
+ 1.3820878267288208,
+ -1.2137466910644434e-05,
+ -0.0018509668298065662,
+ 1.5989669561386108,
+ 0.00041418414912186563,
+ 0.0006422464502975345,
+ 1.2020273208618164,
+ -0.00023496798530686647,
+ -0.0003532339178491384,
+ 0.20261652767658234,
+ 0.0038579837419092655,
+ 0.03148292750120163,
+ -0.04661758616566658,
+ -0.012315087020397186,
+ 0.003439929336309433,
+ 1.1144912242889404,
+ -0.0023911206517368555,
+ -1.8059608919429593e-05,
+ 1.394148588180542,
+ -0.002193193417042494,
+ 0.010767153464257717,
+ 1.5518189668655396,
+ 0.001248310087248683,
+ -0.0026060056407004595,
+ 1.2124329805374146,
+ 0.0021505020558834076,
+ 0.0024044110905379057,
+ 1.4095155000686646,
+ 0.0013867156812921166,
+ 0.0013903719373047352,
+ 1.5566918849945068,
+ 0.0019530048593878746,
+ -0.0020848920103162527,
+ 1.2352324724197388,
+ 0.0018744847038760781,
+ 0.002262315945699811,
+ 0.13632263243198395,
+ 1.3515007495880127,
+ -0.4234352111816406,
+ 0.0019433379638940096,
+ 0.002069134498015046,
+ -0.5117184519767761,
+ -0.001866366364993155,
+ -0.0018239760538563132,
+ -0.6326834559440613
+ ],
+ "wrist_pos": [
+ 0.08071453869342804,
+ 0.044591400772333145,
+ 0.6452392935752869
+ ],
+ "wrist_rot": [
+ -0.3095150291919708,
+ 0.635723888874054,
+ 0.31091800332069397,
+ 0.6351263523101807
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.35703739523887634
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 79,
+ "virtual_xyz": [
+ 0.07984011620283127,
+ 0.04656856879591942,
+ 0.6452366709709167
+ ],
+ "wrist_rpy": [
+ -1.570773959159851,
+ 0.6703581213951111,
+ 1.5730674266815186
+ ],
+ "finger_dofs": [
+ 1.3824694156646729,
+ -4.399249883135781e-05,
+ -0.001951710437424481,
+ 1.5989991426467896,
+ 0.00036035405355505645,
+ 0.0006579717737622559,
+ 1.2021712064743042,
+ -0.00025864335475489497,
+ -0.0003811726055573672,
+ 0.18295571208000183,
+ 0.00451955571770668,
+ 0.027318770065903664,
+ -0.03612137213349342,
+ -0.007162727415561676,
+ 0.0032691238448023796,
+ 1.1276817321777344,
+ -0.0021985378116369247,
+ -3.171882053720765e-05,
+ 1.3990665674209595,
+ -0.001975345192477107,
+ 0.01144840195775032,
+ 1.5536346435546875,
+ 0.0007780374144203961,
+ -0.0026722480542957783,
+ 1.2128316164016724,
+ 0.0021798580419272184,
+ 0.002459655050188303,
+ 1.4101684093475342,
+ 0.0009854371892288327,
+ 0.0018180310726165771,
+ 1.5554165840148926,
+ 0.001958294305950403,
+ -0.002094306517392397,
+ 1.2369015216827393,
+ 0.001879935385659337,
+ 0.002291811862960458,
+ 0.14866842329502106,
+ 1.350226879119873,
+ -0.42414966225624084,
+ 0.0019449752289801836,
+ 0.002053068717941642,
+ -0.5116154551506042,
+ -0.0018646616954356432,
+ -0.0018290256848558784,
+ -0.6329238414764404
+ ],
+ "wrist_pos": [
+ 0.07984022051095963,
+ 0.046568553894758224,
+ 0.645236611366272
+ ],
+ "wrist_rot": [
+ -0.3069764971733093,
+ 0.6369902491569519,
+ 0.30843648314476013,
+ 0.6362983584403992
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3580710291862488
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 80,
+ "virtual_xyz": [
+ 0.07899010181427002,
+ 0.048547301441431046,
+ 0.6452339291572571
+ ],
+ "wrist_rpy": [
+ -1.5709121227264404,
+ 0.6782317161560059,
+ 1.5732243061065674
+ ],
+ "finger_dofs": [
+ 1.3826247453689575,
+ 6.881880108267069e-05,
+ -0.0020751783158630133,
+ 1.5987732410430908,
+ 0.00036965153412893414,
+ 0.0006509210215881467,
+ 1.2022960186004639,
+ -0.00028729523182846606,
+ -0.0004073696618434042,
+ 0.16126714646816254,
+ 0.004816088825464249,
+ 0.022834939882159233,
+ 0.0016550873406231403,
+ -0.004684972111135721,
+ 0.0035500258672982454,
+ 1.1328312158584595,
+ -0.002259836532175541,
+ -4.7913650632835925e-05,
+ 1.4042904376983643,
+ -0.002116246847435832,
+ 0.012129219248890877,
+ 1.5550546646118164,
+ 0.0003803603758569807,
+ -0.002675642492249608,
+ 1.2133102416992188,
+ 0.0021865314338356256,
+ 0.0024674604646861553,
+ 1.4112216234207153,
+ 0.00010300675785401836,
+ 0.002278201514855027,
+ 1.5539722442626953,
+ 0.001954616978764534,
+ -0.002104198792949319,
+ 1.238591194152832,
+ 0.0018860637210309505,
+ 0.0023024880792945623,
+ 0.16500940918922424,
+ 1.3485736846923828,
+ -0.4247662425041199,
+ 0.0019463881617411971,
+ 0.0020549504552036524,
+ -0.5122178792953491,
+ -0.0018666211981326342,
+ -0.0018324482953175902,
+ -0.6328005194664001
+ ],
+ "wrist_pos": [
+ 0.07899020612239838,
+ 0.04854728654026985,
+ 0.6452338695526123
+ ],
+ "wrist_rot": [
+ -0.3044603765010834,
+ 0.638238787651062,
+ 0.3059350252151489,
+ 0.6374627351760864
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.3587718904018402
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 81,
+ "virtual_xyz": [
+ 0.07817231863737106,
+ 0.05052659660577774,
+ 0.6452323794364929
+ ],
+ "wrist_rpy": [
+ -1.5710556507110596,
+ 0.6859428882598877,
+ 1.5732933282852173
+ ],
+ "finger_dofs": [
+ 1.382533073425293,
+ 3.369980549905449e-05,
+ -0.0021312255412340164,
+ 1.5988233089447021,
+ 0.00016781155136413872,
+ 0.0007114212494343519,
+ 1.202364206314087,
+ -0.00027109746588394046,
+ -0.00041781284380704165,
+ 0.14198677241802216,
+ 0.004702137783169746,
+ 0.017132852226495743,
+ 0.0572873093187809,
+ -0.005403682589530945,
+ 0.0034070846159011126,
+ 1.1482198238372803,
+ -0.0020431310404092073,
+ -4.116824493394233e-05,
+ 1.4030461311340332,
+ -0.00207719299942255,
+ 0.013292763382196426,
+ 1.5528223514556885,
+ 0.0006629963754676282,
+ -0.00274250702932477,
+ 1.214271068572998,
+ 0.002213210565969348,
+ 0.0025127166882157326,
+ 1.411874532699585,
+ 0.0006662430241703987,
+ 0.0027415151707828045,
+ 1.5517479181289673,
+ 0.001987998839467764,
+ -0.0021292392630130053,
+ 1.2404520511627197,
+ 0.0018930184887722135,
+ 0.0023354915902018547,
+ 0.17430569231510162,
+ 1.3480496406555176,
+ -0.4235202968120575,
+ 0.001951198442839086,
+ 0.0020645330660045147,
+ -0.5125872492790222,
+ -0.0018706038827076554,
+ -0.0018383266869932413,
+ -0.6323290467262268
+ ],
+ "wrist_pos": [
+ 0.07817243039608002,
+ 0.05052658170461655,
+ 0.6452323198318481
+ ],
+ "wrist_rot": [
+ -0.30202099680900574,
+ 0.6394398808479309,
+ 0.3034510314464569,
+ 0.6386056542396545
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.35932284593582153
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 82,
+ "virtual_xyz": [
+ 0.077359639108181,
+ 0.052509475499391556,
+ 0.6452298760414124
+ ],
+ "wrist_rpy": [
+ -1.5710196495056152,
+ 0.6941922903060913,
+ 1.573409080505371
+ ],
+ "finger_dofs": [
+ 1.3826011419296265,
+ 0.0001497169432695955,
+ -0.002336186356842518,
+ 1.598602533340454,
+ 0.0003633808228187263,
+ 0.0007270719506777823,
+ 1.2025747299194336,
+ -0.00032043663668446243,
+ -0.00045751704601570964,
+ 0.14709407091140747,
+ 0.006761057768017054,
+ 0.016877640038728714,
+ 0.09963466972112656,
+ 0.002302435925230384,
+ 0.002531268633902073,
+ 1.1396807432174683,
+ -0.002861375454813242,
+ -5.389088983065449e-05,
+ 1.4043892621994019,
+ -0.0018564511556178331,
+ 0.013290788047015667,
+ 1.5524170398712158,
+ 0.0005552599905058742,
+ -0.002804294927045703,
+ 1.2143657207489014,
+ 0.0022375117987394333,
+ 0.0025544208474457264,
+ 1.4124829769134521,
+ 0.0007788483635522425,
+ 0.0026123481802642345,
+ 1.5508986711502075,
+ 0.0019864316564053297,
+ -0.0021398772951215506,
+ 1.2410188913345337,
+ 0.0019005000358447433,
+ 0.0023636934347450733,
+ 0.18401850759983063,
+ 1.3471324443817139,
+ -0.4236602187156677,
+ 0.0019662536215037107,
+ 0.0020753273274749517,
+ -0.5131151676177979,
+ -0.0018777569057419896,
+ -0.0018405178561806679,
+ -0.6320710778236389
+ ],
+ "wrist_pos": [
+ 0.07735975086688995,
+ 0.05250946059823036,
+ 0.6452298164367676
+ ],
+ "wrist_rot": [
+ -0.2993326187133789,
+ 0.6406914591789246,
+ 0.300862580537796,
+ 0.6398406028747559
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.35979852080345154
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 83,
+ "virtual_xyz": [
+ 0.0765727236866951,
+ 0.0544881746172905,
+ 0.6452275514602661
+ ],
+ "wrist_rpy": [
+ -1.5708709955215454,
+ 0.7040998339653015,
+ 1.5733683109283447
+ ],
+ "finger_dofs": [
+ 1.3826699256896973,
+ -5.622336902888492e-05,
+ -0.002412035595625639,
+ 1.59868586063385,
+ 0.0005860551027581096,
+ 0.0007528840214945376,
+ 1.202731966972351,
+ -0.00036263023503124714,
+ -0.000482872681459412,
+ 0.20957450568675995,
+ 0.008995408192276955,
+ 0.01131976768374443,
+ 0.044971439987421036,
+ 0.008758645504713058,
+ 0.0013157450594007969,
+ 1.106131672859192,
+ -0.004033629782497883,
+ -5.513468204298988e-05,
+ 1.4005872011184692,
+ -0.002049321075901389,
+ 0.012121584266424179,
+ 1.554526925086975,
+ 0.0009141326299868524,
+ -0.002684082603082061,
+ 1.2137144804000854,
+ 0.002195300767198205,
+ 0.0024711990263313055,
+ 1.410744071006775,
+ 0.0012881148140877485,
+ 0.002233615843579173,
+ 1.5541542768478394,
+ 0.0019213499035686255,
+ -0.0021026546601206064,
+ 1.2384114265441895,
+ 0.0018928147619590163,
+ 0.002307579154148698,
+ 0.18784399330615997,
+ 1.3469170331954956,
+ -0.42362767457962036,
+ 0.0019498002948239446,
+ 0.002057537669315934,
+ -0.5124557614326477,
+ -0.001871571410447359,
+ -0.001834586262702942,
+ -0.6323774456977844
+ ],
+ "wrist_pos": [
+ 0.07657282054424286,
+ 0.0544881597161293,
+ 0.6452274918556213
+ ],
+ "wrist_rot": [
+ -0.296120822429657,
+ 0.6421375274658203,
+ 0.29772359132766724,
+ 0.6413519382476807
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36013293266296387
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 84,
+ "virtual_xyz": [
+ 0.07587948441505432,
+ 0.056447479873895645,
+ 0.6452361345291138
+ ],
+ "wrist_rpy": [
+ -1.5703908205032349,
+ 0.7193729281425476,
+ 1.572558045387268
+ ],
+ "finger_dofs": [
+ 1.3825746774673462,
+ -0.0018396214582026005,
+ -0.0015517016872763634,
+ 1.6014775037765503,
+ 0.0009807677706703544,
+ 0.0009493323159404099,
+ 1.2023587226867676,
+ -0.0002706501982174814,
+ -0.00037291046464815736,
+ 0.5712659955024719,
+ 0.0020643780007958412,
+ 0.009121875278651714,
+ 0.4755502939224243,
+ 0.0016482181381434202,
+ 0.0017853572499006987,
+ 1.1549643278121948,
+ -0.0018788652960211039,
+ 8.320649794768542e-05,
+ 1.3670862913131714,
+ 0.002412067726254463,
+ 0.00574818579480052,
+ 1.5613492727279663,
+ 0.0018988329684361815,
+ -0.001935936976224184,
+ 1.2155123949050903,
+ 0.0017881781095638871,
+ 0.001833400223404169,
+ 1.3984153270721436,
+ 0.002061939099803567,
+ -0.0009091607644222677,
+ 1.5713632106781006,
+ 0.0018379808170720935,
+ -0.0018178218742832541,
+ 1.2257778644561768,
+ 0.0017636154079809785,
+ 0.0018260416109114885,
+ 0.1703568696975708,
+ 1.3499377965927124,
+ -0.42502060532569885,
+ 0.00026797212194651365,
+ 0.00014921948604751378,
+ -0.5027117133140564,
+ -0.0015179895563051105,
+ -0.0017613975796848536,
+ -0.6362346410751343
+ ],
+ "wrist_pos": [
+ 0.07587958872318268,
+ 0.05644746124744415,
+ 0.645236074924469
+ ],
+ "wrist_rot": [
+ -0.29131561517715454,
+ 0.6441914439201355,
+ 0.29271093010902405,
+ 0.6437956094741821
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 85,
+ "virtual_xyz": [
+ 0.0750708058476448,
+ 0.05837348848581314,
+ 0.6452431678771973
+ ],
+ "wrist_rpy": [
+ -1.569688320159912,
+ 0.7353872656822205,
+ 1.5718430280685425
+ ],
+ "finger_dofs": [
+ 1.3825442790985107,
+ -0.0018141120672225952,
+ -0.0010458541801199317,
+ 1.6021249294281006,
+ 0.0006956950528547168,
+ 0.0009423940209671855,
+ 1.2019709348678589,
+ -0.0001873113214969635,
+ -0.0002942167338915169,
+ 0.9168358445167542,
+ 0.0017337844474241138,
+ 0.007319822441786528,
+ 0.9038195013999939,
+ 0.0017511096084490418,
+ 0.00040260504465550184,
+ 1.1793125867843628,
+ -0.0017723499331623316,
+ 0.0001328159123659134,
+ 1.348510503768921,
+ 0.002321196487173438,
+ 0.0005732006975449622,
+ 1.5671536922454834,
+ 0.0019149442669004202,
+ -0.0018076138803735375,
+ 1.212463617324829,
+ 0.0014745995867997408,
+ 0.0017415558686479926,
+ 1.389400601387024,
+ 0.0020427152048796415,
+ -0.003291631583124399,
+ 1.5859497785568237,
+ 0.001840230543166399,
+ -0.0017720652977004647,
+ 1.213744044303894,
+ 0.0007942823576740921,
+ 0.0017519439570605755,
+ 0.15201078355312347,
+ 1.352517008781433,
+ -0.4291597306728363,
+ -0.0013098522322252393,
+ -0.0001473384181736037,
+ -0.49678584933280945,
+ -0.0007000420009717345,
+ -0.0017378836637362838,
+ -0.639593243598938
+ ],
+ "wrist_pos": [
+ 0.07507091760635376,
+ 0.05837346985936165,
+ 0.6452431082725525
+ ],
+ "wrist_rot": [
+ -0.286151260137558,
+ 0.6463021636009216,
+ 0.2875435948371887,
+ 0.6463199853897095
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 86,
+ "virtual_xyz": [
+ 0.07426347583532333,
+ 0.06033463031053543,
+ 0.6452479958534241
+ ],
+ "wrist_rpy": [
+ -1.5694154500961304,
+ 0.7497693300247192,
+ 1.5712809562683105
+ ],
+ "finger_dofs": [
+ 1.382454514503479,
+ -0.001782103325240314,
+ -0.000661858357489109,
+ 1.6017825603485107,
+ 7.335506961680949e-05,
+ 0.0007761117303743958,
+ 1.201406478881836,
+ -8.353175508091226e-05,
+ -0.00020389221026562154,
+ 1.1669261455535889,
+ -0.00016120834334287792,
+ 0.0044552916660904884,
+ 1.226380467414856,
+ 0.0016170945018529892,
+ -0.0005902369157411158,
+ 1.190666913986206,
+ -0.001729335286654532,
+ 0.00014389959687832743,
+ 1.3449457883834839,
+ 0.001989006530493498,
+ -0.0010101471561938524,
+ 1.5749636888504028,
+ 0.001840563490986824,
+ -0.0017582036089152098,
+ 1.2078841924667358,
+ 5.8773282944457605e-05,
+ 0.0007970521110109985,
+ 1.383834958076477,
+ 0.001908256788738072,
+ -0.003404918359592557,
+ 1.5945873260498047,
+ 0.0018048151396214962,
+ -0.001519026467576623,
+ 1.2060112953186035,
+ 2.3558875909657218e-05,
+ 0.0010547908022999763,
+ 0.14025764167308807,
+ 1.3538345098495483,
+ -0.4321652948856354,
+ -0.001484817243181169,
+ 0.00035752414260059595,
+ -0.4938940405845642,
+ -0.00021171609114389867,
+ -0.001311982050538063,
+ -0.642094075679779
+ ],
+ "wrist_pos": [
+ 0.07426358014345169,
+ 0.06033461168408394,
+ 0.6452479362487793
+ ],
+ "wrist_rot": [
+ -0.2815876603126526,
+ 0.6482306122779846,
+ 0.28279682993888855,
+ 0.6484837532043457
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 87,
+ "virtual_xyz": [
+ 0.07348636537790298,
+ 0.0623314194381237,
+ 0.6452527046203613
+ ],
+ "wrist_rpy": [
+ -1.5697616338729858,
+ 0.762106716632843,
+ 1.5709471702575684
+ ],
+ "finger_dofs": [
+ 1.3824803829193115,
+ -0.0012758529046550393,
+ -0.0002981993311550468,
+ 1.6010090112686157,
+ -0.00034978712210431695,
+ 0.0004633550997823477,
+ 1.200692892074585,
+ 5.263344519335078e-06,
+ -9.7008487500716e-05,
+ 1.3160532712936401,
+ -0.001757472287863493,
+ 0.0018851697677746415,
+ 1.4484281539916992,
+ 0.0006078050937503576,
+ -0.0002866347203962505,
+ 1.1966432332992554,
+ -0.0010803432669490576,
+ 9.619120828574523e-05,
+ 1.35849130153656,
+ -0.0006243147072382271,
+ -0.0005335068562999368,
+ 1.5860228538513184,
+ 0.001008865307085216,
+ -0.0005789938732050359,
+ 1.2037343978881836,
+ -0.00030699005583301187,
+ 8.516338129993528e-05,
+ 1.3820092678070068,
+ 0.001427536946721375,
+ -0.0018575009889900684,
+ 1.5981833934783936,
+ 0.0005353667074814439,
+ -0.0006427585030905902,
+ 1.2021340131759644,
+ -0.00014646670024376363,
+ 0.0003172309370711446,
+ 0.1455390751361847,
+ 1.3528939485549927,
+ -0.4364117980003357,
+ -0.0009033092064782977,
+ 0.0018835548544302583,
+ -0.49403977394104004,
+ -0.00015445923781953752,
+ -0.0002515020314604044,
+ -0.6436288356781006
+ ],
+ "wrist_pos": [
+ 0.07348647713661194,
+ 0.06233140081167221,
+ 0.6452526450157166
+ ],
+ "wrist_rot": [
+ -0.2778022885322571,
+ 0.6499627232551575,
+ 0.27857258915901184,
+ 0.6502088308334351
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 88,
+ "virtual_xyz": [
+ 0.07275848835706711,
+ 0.06435304880142212,
+ 0.6452558040618896
+ ],
+ "wrist_rpy": [
+ -1.5704134702682495,
+ 0.7728627324104309,
+ 1.5708179473876953
+ ],
+ "finger_dofs": [
+ 1.3827296495437622,
+ -0.0001470012794015929,
+ -2.15327090700157e-05,
+ 1.6002708673477173,
+ 4.360678212833591e-05,
+ 6.417334225261584e-05,
+ 1.2000733613967896,
+ 1.1813809805971687e-06,
+ -7.642525815754198e-06,
+ 1.365566611289978,
+ -0.00043498200830072165,
+ 0.0004820525646209717,
+ 1.560111403465271,
+ -0.0006971201510168612,
+ 5.785766461485764e-06,
+ 1.1992262601852417,
+ -0.00014195259427651763,
+ 1.9081388018094003e-05,
+ 1.381358027458191,
+ 0.0016251140041276813,
+ -0.0002628382353577763,
+ 1.599287509918213,
+ -0.000971385627053678,
+ 0.0006577905151061714,
+ 1.2014316320419312,
+ 0.0001094920007744804,
+ 0.0001290690415771678,
+ 1.382743239402771,
+ -0.0016392974648624659,
+ -0.00018719740910455585,
+ 1.5996845960617065,
+ -0.0014359216438606381,
+ 2.204777774750255e-05,
+ 1.200674057006836,
+ 5.3759937145514414e-05,
+ 0.00013258695253171027,
+ 0.19924160838127136,
+ 1.3449862003326416,
+ -0.44328898191452026,
+ 0.00020508815941866487,
+ 0.0018238321645185351,
+ -0.4955425560474396,
+ -0.00028012602706439793,
+ 0.000812371785286814,
+ -0.6443557143211365
+ ],
+ "wrist_pos": [
+ 0.07275859266519547,
+ 0.06435302644968033,
+ 0.6452557444572449
+ ],
+ "wrist_rot": [
+ -0.27455565333366394,
+ 0.6515228748321533,
+ 0.27481889724731445,
+ 0.6516222357749939
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 89,
+ "virtual_xyz": [
+ 0.07207472622394562,
+ 0.06637950241565704,
+ 0.6452555656433105
+ ],
+ "wrist_rpy": [
+ -1.5706989765167236,
+ 0.7825313806533813,
+ 1.5707941055297852
+ ],
+ "finger_dofs": [
+ 1.382813811302185,
+ 0.00010169090091949329,
+ 3.877888957504183e-05,
+ 1.6000463962554932,
+ 0.00011773075675591826,
+ -3.2979205570882186e-05,
+ 1.1999363899230957,
+ -1.937579554578406e-06,
+ 1.1051399269490503e-05,
+ 1.3783890008926392,
+ -0.0002660448953974992,
+ 0.00016158986545633525,
+ 1.5896450281143188,
+ -0.0006620082422159612,
+ 6.219269562279806e-05,
+ 1.1998283863067627,
+ 2.6898336727754213e-05,
+ -2.7152709662914276e-06,
+ 1.386549472808838,
+ 0.0014862851239740849,
+ -0.00018782654660753906,
+ 1.6023201942443848,
+ -0.0008841941016726196,
+ 0.0006937416037544608,
+ 1.200581431388855,
+ 0.00017303698405157775,
+ 0.00010462140926392749,
+ 1.3829851150512695,
+ -0.001732534496113658,
+ 0.0002024689456447959,
+ 1.6001026630401611,
+ -0.001499535166658461,
+ 0.0001797142467694357,
+ 1.200236201286316,
+ 9.075982961803675e-05,
+ 6.239363574422896e-05,
+ 0.2927725911140442,
+ 1.3297297954559326,
+ -0.44781190156936646,
+ 0.00018704829562921077,
+ 0.0013580198865383863,
+ -0.4951053857803345,
+ -0.00013529598072636873,
+ 0.00041154975770041347,
+ -0.6445409059524536
+ ],
+ "wrist_pos": [
+ 0.07207483053207397,
+ 0.06637948006391525,
+ 0.6452555060386658
+ ],
+ "wrist_rot": [
+ -0.2715030610561371,
+ 0.6528792977333069,
+ 0.2715652883052826,
+ 0.6529064774513245
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 90,
+ "virtual_xyz": [
+ 0.07140886038541794,
+ 0.06841174513101578,
+ 0.645255446434021
+ ],
+ "wrist_rpy": [
+ -1.5708105564117432,
+ 0.7917438745498657,
+ 1.5708292722702026
+ ],
+ "finger_dofs": [
+ 1.3828449249267578,
+ 0.00013423914788290858,
+ 2.498216781532392e-05,
+ 1.5999513864517212,
+ 0.00010693245712900534,
+ -4.5276065065991133e-05,
+ 1.1999415159225464,
+ -5.854605205968255e-06,
+ 8.488275852869265e-06,
+ 1.3817052841186523,
+ -0.0003947886871173978,
+ 7.950724830152467e-05,
+ 1.597277283668518,
+ -0.0006899827858433127,
+ 9.336989023722708e-05,
+ 1.1999708414077759,
+ 5.8850364439422265e-05,
+ -9.67601499723969e-06,
+ 1.3876030445098877,
+ 0.0014777184696868062,
+ -0.00023845478426665068,
+ 1.6029781103134155,
+ -0.0008480267133563757,
+ 0.000723138393368572,
+ 1.200307011604309,
+ 0.0001436272286809981,
+ 4.8302041250281036e-05,
+ 1.383044719696045,
+ -0.0017360051861032844,
+ 0.0002496078668627888,
+ 1.6002558469772339,
+ -0.0014719212194904685,
+ 0.00023232965031638741,
+ 1.2000890970230103,
+ 9.012722148327157e-05,
+ 1.8385950170340948e-05,
+ 0.37845951318740845,
+ 1.310440182685852,
+ -0.45278969407081604,
+ 0.00011524056026246399,
+ -0.0004463342484086752,
+ -0.4940870404243469,
+ 0.000107021231087856,
+ -9.09355585463345e-05,
+ -0.6445878148078918
+ ],
+ "wrist_pos": [
+ 0.0714089572429657,
+ 0.06841172277927399,
+ 0.6452553868293762
+ ],
+ "wrist_rot": [
+ -0.2685176730155945,
+ 0.6541429162025452,
+ 0.2685299813747406,
+ 0.6541306972503662
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 91,
+ "virtual_xyz": [
+ 0.07076196372509003,
+ 0.07045070827007294,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708394050598145,
+ 0.8007298111915588,
+ 1.5708599090576172
+ ],
+ "finger_dofs": [
+ 1.3828576803207397,
+ 0.00013094980386085808,
+ 4.6360778469534125e-06,
+ 1.5999071598052979,
+ 9.372389467898756e-05,
+ -4.230023841955699e-05,
+ 1.1999644041061401,
+ -9.016303920361679e-06,
+ 3.842761998384958e-06,
+ 1.3825650215148926,
+ -0.00047316873678937554,
+ 4.955744952894747e-05,
+ 1.5992498397827148,
+ -0.0007074906607158482,
+ 0.00010645031579770148,
+ 1.200005054473877,
+ 6.353001663228497e-05,
+ -1.2156934644735884e-05,
+ 1.3878015279769897,
+ 0.001475063618272543,
+ -0.0002930858463514596,
+ 1.603134036064148,
+ -0.0008442765683867037,
+ 0.0007370479288510978,
+ 1.200221061706543,
+ 0.00011429169535404071,
+ 8.080187399173155e-06,
+ 1.383059024810791,
+ -0.0017345055239275098,
+ 0.00023820088244974613,
+ 1.6003193855285645,
+ -0.0014783175429329276,
+ 0.0002536155516281724,
+ 1.200034737586975,
+ 8.545422315364704e-05,
+ -5.723465164919617e-06,
+ 0.4132145345211029,
+ 1.301396131515503,
+ -0.4553821086883545,
+ 0.00020822457736358047,
+ -0.0009636910981498659,
+ -0.49366438388824463,
+ 0.0002230248792329803,
+ -0.00013742105511482805,
+ -0.6445999145507812
+ ],
+ "wrist_pos": [
+ 0.07076206803321838,
+ 0.07045068591833115,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.2655753195285797,
+ 0.6553505659103394,
+ 0.2655888497829437,
+ 0.6553226113319397
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 92,
+ "virtual_xyz": [
+ 0.07013436406850815,
+ 0.07249590754508972,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708463191986084,
+ 0.8095759153366089,
+ 1.5708521604537964
+ ],
+ "finger_dofs": [
+ 1.3828599452972412,
+ 0.0001220762642333284,
+ 1.0064808520837687e-05,
+ 1.5999048948287964,
+ 8.22724323370494e-05,
+ -4.276062099961564e-05,
+ 1.1999599933624268,
+ -7.736429324722849e-06,
+ 4.578681000566576e-06,
+ 1.3827883005142212,
+ -0.0005062776035629213,
+ 5.184644032851793e-05,
+ 1.5997610092163086,
+ -0.0007163285044953227,
+ 0.00011032053589588031,
+ 1.2000129222869873,
+ 6.465160549851134e-05,
+ -1.231856003869325e-05,
+ 1.387837290763855,
+ 0.0014745568623766303,
+ -0.00028619804652407765,
+ 1.6031609773635864,
+ -0.000852345721796155,
+ 0.000720854674000293,
+ 1.2002012729644775,
+ 0.00011586593609536067,
+ 9.343822057417128e-06,
+ 1.3830647468566895,
+ -0.001733235432766378,
+ 0.0002454228524584323,
+ 1.6003303527832031,
+ -0.0014841670636087656,
+ 0.00025595768238417804,
+ 1.2000294923782349,
+ 8.671643445268273e-05,
+ -6.4294949879695196e-06,
+ 0.3978947103023529,
+ 1.305665373802185,
+ -0.454357773065567,
+ 0.00025766590260900557,
+ 0.00024820404360070825,
+ -0.4940165877342224,
+ 0.00014242604083847255,
+ 0.00013228043098933995,
+ -0.6446031928062439
+ ],
+ "wrist_pos": [
+ 0.0701344758272171,
+ 0.07249588519334793,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.26267921924591064,
+ 0.6565185785293579,
+ 0.2626829445362091,
+ 0.6564911007881165
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 93,
+ "virtual_xyz": [
+ 0.06952480971813202,
+ 0.07454650849103928,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708516836166382,
+ 0.818353533744812,
+ 1.5708215236663818
+ ],
+ "finger_dofs": [
+ 1.3828579187393188,
+ 0.00011731112317647785,
+ 2.9089735107845627e-05,
+ 1.5999231338500977,
+ 7.762104360153899e-05,
+ -4.6901208406779915e-05,
+ 1.1999393701553345,
+ -4.574988452077378e-06,
+ 8.377430276595987e-06,
+ 1.3828458786010742,
+ -0.0005156022380106151,
+ 6.754860078217462e-05,
+ 1.599894642829895,
+ -0.0007152839098125696,
+ 0.00010993082105414942,
+ 1.200013518333435,
+ 6.494011176982895e-05,
+ -1.1554942830116488e-05,
+ 1.3878459930419922,
+ 0.0014708731323480606,
+ -0.0002456792863085866,
+ 1.603148102760315,
+ -0.0008564093732275069,
+ 0.0007005410152487457,
+ 1.2002031803131104,
+ 0.00013393204426392913,
+ 3.180895873811096e-05,
+ 1.3830682039260864,
+ -0.0017324910731986165,
+ 0.00026628008345142007,
+ 1.6003175973892212,
+ -0.001484229345805943,
+ 0.00024931543157435954,
+ 1.20004403591156,
+ 9.097300062421709e-05,
+ 4.106259439140558e-06,
+ 0.36433079838752747,
+ 1.3149538040161133,
+ -0.4518936276435852,
+ 0.00025397984427399933,
+ 0.0015296025667339563,
+ -0.4946333169937134,
+ -9.839214726525825e-06,
+ 0.0004136415373068303,
+ -0.6446039080619812
+ ],
+ "wrist_pos": [
+ 0.06952491402626038,
+ 0.07454648613929749,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.25980713963508606,
+ 0.6576617360115051,
+ 0.2597874402999878,
+ 0.6576410531997681
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 94,
+ "virtual_xyz": [
+ 0.06893269717693329,
+ 0.07660205662250519,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708553791046143,
+ 0.827117383480072,
+ 1.5707944631576538
+ ],
+ "finger_dofs": [
+ 1.382856011390686,
+ 0.00011536436795722693,
+ 4.259614070178941e-05,
+ 1.5999363660812378,
+ 7.649268809473142e-05,
+ -5.005700950277969e-05,
+ 1.1999248266220093,
+ -2.4443063466605963e-06,
+ 1.1133544830954634e-05,
+ 1.3828604221343994,
+ -0.0005174463149160147,
+ 7.892603025538847e-05,
+ 1.5999302864074707,
+ -0.0007122759707272053,
+ 0.00010896042658714578,
+ 1.2000129222869873,
+ 6.48844288662076e-05,
+ -1.0959220162476413e-05,
+ 1.387847661972046,
+ 0.0014696108410134912,
+ -0.00021609272516798228,
+ 1.603135347366333,
+ -0.000857130391523242,
+ 0.000692419649567455,
+ 1.200207233428955,
+ 0.00014729492249898612,
+ 4.8525551392231137e-05,
+ 1.3830702304840088,
+ -0.0017318218015134335,
+ 0.00028114489396102726,
+ 1.6003055572509766,
+ -0.0014839123468846083,
+ 0.00024372698680963367,
+ 1.2000545263290405,
+ 9.380360279465094e-05,
+ 1.2112449439882766e-05,
+ 0.3392696678638458,
+ 1.3216476440429688,
+ -0.45015883445739746,
+ 0.0002693310962058604,
+ 0.0017330115661025047,
+ -0.49507105350494385,
+ -0.00011114469089079648,
+ 0.0005480700638145208,
+ -0.6446037888526917
+ ],
+ "wrist_pos": [
+ 0.06893281638622284,
+ 0.0766020342707634,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.25693294405937195,
+ 0.658790647983551,
+ 0.256893128156662,
+ 0.6587762236595154
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 95,
+ "virtual_xyz": [
+ 0.0683581680059433,
+ 0.07866241782903671,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708575248718262,
+ 0.8358892798423767,
+ 1.5707820653915405
+ ],
+ "finger_dofs": [
+ 1.3828555345535278,
+ 0.0001141605171142146,
+ 4.688285116571933e-05,
+ 1.5999414920806885,
+ 7.5517178629525e-05,
+ -5.094771404401399e-05,
+ 1.199920415878296,
+ -1.7298666534770746e-06,
+ 1.1985503988398705e-05,
+ 1.382864236831665,
+ -0.0005184204783290625,
+ 8.251526014646515e-05,
+ 1.5999391078948975,
+ -0.0007113137398846447,
+ 0.00010865529475267977,
+ 1.2000125646591187,
+ 6.478652358055115e-05,
+ -1.0779865078802686e-05,
+ 1.3878440856933594,
+ 0.0014699463499709964,
+ -0.00020679224689956754,
+ 1.6031299829483032,
+ -0.0008573906379751861,
+ 0.0006929698283784091,
+ 1.2002092599868774,
+ 0.00015138417074922472,
+ 5.3709773055743426e-05,
+ 1.3830703496932983,
+ -0.0017313193529844284,
+ 0.0002857824438251555,
+ 1.6003016233444214,
+ -0.001484692096710205,
+ 0.0002418494113953784,
+ 1.2000575065612793,
+ 9.454703103983775e-05,
+ 1.4572156032954808e-05,
+ 0.33177778124809265,
+ 1.3235810995101929,
+ -0.4496857523918152,
+ 0.00028292625211179256,
+ 0.0016997684724628925,
+ -0.495200514793396,
+ -0.0001380544708808884,
+ 0.0005438712541945279,
+ -0.6446037292480469
+ ],
+ "wrist_pos": [
+ 0.06835828721523285,
+ 0.07866238802671432,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.2540458142757416,
+ 0.6599098443984985,
+ 0.2539962828159332,
+ 0.6598981022834778
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 96,
+ "virtual_xyz": [
+ 0.06780152022838593,
+ 0.08072762936353683,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.570859432220459,
+ 0.8446711301803589,
+ 1.570783019065857
+ ],
+ "finger_dofs": [
+ 1.3828561305999756,
+ 0.0001130257296608761,
+ 4.497986810747534e-05,
+ 1.5999387502670288,
+ 7.429671677527949e-05,
+ -5.028033410781063e-05,
+ 1.1999222040176392,
+ -1.9617011730588274e-06,
+ 1.1540303603396751e-05,
+ 1.382865071296692,
+ -0.000519460707437247,
+ 8.074488141573966e-05,
+ 1.599941372871399,
+ -0.0007120470399968326,
+ 0.00010891344572883099,
+ 1.2000130414962769,
+ 6.469777872553095e-05,
+ -1.0889673831115942e-05,
+ 1.387837290763855,
+ 0.0014709476381540298,
+ -0.0002115284587489441,
+ 1.6031301021575928,
+ -0.0008576769614592195,
+ 0.000696888891980052,
+ 1.2002087831497192,
+ 0.00014912681945133954,
+ 5.096676613902673e-05,
+ 1.3830697536468506,
+ -0.001730657764710486,
+ 0.00028337936964817345,
+ 1.600302815437317,
+ -0.0014858049107715487,
+ 0.00024263652449008077,
+ 1.2000551223754883,
+ 9.393425716552883e-05,
+ 1.32068798848195e-05,
+ 0.33812910318374634,
+ 1.3219623565673828,
+ -0.45010244846343994,
+ 0.0002769079292193055,
+ 0.0015336343785747886,
+ -0.4950999915599823,
+ -0.00011409520084271207,
+ 0.00046619350905530155,
+ -0.6446037888526917
+ ],
+ "wrist_pos": [
+ 0.06780162453651428,
+ 0.08072759956121445,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.2511460483074188,
+ 0.6610191464424133,
+ 0.2510959506034851,
+ 0.6610068082809448
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 97,
+ "virtual_xyz": [
+ 0.06726302206516266,
+ 0.08279764652252197,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708613395690918,
+ 0.8534585237503052,
+ 1.5707916021347046
+ ],
+ "finger_dofs": [
+ 1.3828572034835815,
+ 0.0001124153786804527,
+ 4.081664519617334e-05,
+ 1.5999339818954468,
+ 7.36080328351818e-05,
+ -4.9163438234245405e-05,
+ 1.1999273300170898,
+ -2.580733280410641e-06,
+ 1.0639452739269473e-05,
+ 1.3828654289245605,
+ -0.0005199631559662521,
+ 7.698774425080046e-05,
+ 1.5999418497085571,
+ -0.0007127967546693981,
+ 0.00010931733413599432,
+ 1.2000131607055664,
+ 6.453342939494178e-05,
+ -1.1110903869848698e-05,
+ 1.3878291845321655,
+ 0.0014712808188050985,
+ -0.0002212562831118703,
+ 1.6031320095062256,
+ -0.0008582548471167684,
+ 0.000700529373716563,
+ 1.2002075910568237,
+ 0.00014461026876233518,
+ 4.542587339528836e-05,
+ 1.3830686807632446,
+ -0.0017296993173658848,
+ 0.00027827598387375474,
+ 1.600306749343872,
+ -0.0014873913023620844,
+ 0.00024442304857075214,
+ 1.200051188468933,
+ 9.289412992075086e-05,
+ 1.0501409633434378e-05,
+ 0.3494429886341095,
+ 1.3190557956695557,
+ -0.4508439302444458,
+ 0.0002619034785311669,
+ 0.0013419028837233782,
+ -0.49491608142852783,
+ -7.487464608857408e-05,
+ 0.0003821293357759714,
+ -0.6446037292480469
+ ],
+ "wrist_pos": [
+ 0.06726312637329102,
+ 0.08279761672019958,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.24823719263076782,
+ 0.6621174216270447,
+ 0.2481914609670639,
+ 0.6621026396751404
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 98,
+ "virtual_xyz": [
+ 0.06674284487962723,
+ 0.08487237989902496,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708625316619873,
+ 0.8622455596923828,
+ 1.570800542831421
+ ],
+ "finger_dofs": [
+ 1.382858157157898,
+ 0.00011111472849734128,
+ 3.725197530002333e-05,
+ 1.599929690361023,
+ 7.237219688249752e-05,
+ -4.809129313798621e-05,
+ 1.1999317407608032,
+ -3.094314024565392e-06,
+ 9.834255251917057e-06,
+ 1.382866382598877,
+ -0.0005209012306295335,
+ 7.366911449935287e-05,
+ 1.5999425649642944,
+ -0.0007143672555685043,
+ 0.00010976421617669985,
+ 1.200013279914856,
+ 6.451134686358273e-05,
+ -1.1304949111945461e-05,
+ 1.3878209590911865,
+ 0.0014710057293996215,
+ -0.00022984367387834936,
+ 1.6031335592269897,
+ -0.000859478022903204,
+ 0.0007028652471490204,
+ 1.2002065181732178,
+ 0.00014056125655770302,
+ 4.0473878470947966e-05,
+ 1.3830678462982178,
+ -0.0017285203794017434,
+ 0.00027380985557101667,
+ 1.6003100872039795,
+ -0.001490567228756845,
+ 0.00024617189774289727,
+ 1.2000484466552734,
+ 9.202116052620113e-05,
+ 8.068650458881166e-06,
+ 0.35786381363868713,
+ 1.3168644905090332,
+ -0.45140835642814636,
+ 0.0002543872396927327,
+ 0.0012331029865890741,
+ -0.4947798252105713,
+ -4.549446748569608e-05,
+ 0.0003393724618945271,
+ -0.6446039080619812
+ ],
+ "wrist_pos": [
+ 0.06674295663833618,
+ 0.08487235009670258,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.24532346427440643,
+ 0.6632025241851807,
+ 0.24528251588344574,
+ 0.6631855964660645
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 99,
+ "virtual_xyz": [
+ 0.0662410780787468,
+ 0.08695171028375626,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.570863127708435,
+ 0.8710275292396545,
+ 1.5708047151565552
+ ],
+ "finger_dofs": [
+ 1.3828586339950562,
+ 0.00010977665078826249,
+ 3.6639492464018986e-05,
+ 1.599928855895996,
+ 7.125651609385386e-05,
+ -4.774403350893408e-05,
+ 1.1999331712722778,
+ -3.1437896268471377e-06,
+ 9.652919288782869e-06,
+ 1.3828667402267456,
+ -0.0005213890690356493,
+ 7.287335029104725e-05,
+ 1.5999425649642944,
+ -0.0007154349586926401,
+ 0.00010995431512128562,
+ 1.2000130414962769,
+ 6.458019197452813e-05,
+ -1.135459569923114e-05,
+ 1.3878140449523926,
+ 0.0014696752186864614,
+ -0.00023168975894805044,
+ 1.6031322479248047,
+ -0.000861148233525455,
+ 0.0007017517928034067,
+ 1.2002055644989014,
+ 0.0001395845174556598,
+ 3.935518907383084e-05,
+ 1.3830678462982178,
+ -0.0017276251455768943,
+ 0.00027261165087111294,
+ 1.600311040878296,
+ -0.0014932036865502596,
+ 0.00024668389232829213,
+ 1.2000476121902466,
+ 9.185286762658507e-05,
+ 7.514137450925773e-06,
+ 0.36018049716949463,
+ 1.3162504434585571,
+ -0.45156699419021606,
+ 0.00025417731376364827,
+ 0.0012546057114377618,
+ -0.4947436451911926,
+ -3.762797132367268e-05,
+ 0.00034374502138234675,
+ -0.6446039080619812
+ ],
+ "wrist_pos": [
+ 0.06624118983745575,
+ 0.08695168048143387,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.24240803718566895,
+ 0.664273738861084,
+ 0.24236924946308136,
+ 0.6642557978630066
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 100,
+ "virtual_xyz": [
+ 0.06575766205787659,
+ 0.08903541415929794,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708645582199097,
+ 0.8798047304153442,
+ 1.5708039999008179
+ ],
+ "finger_dofs": [
+ 1.3828591108322144,
+ 0.00010829108214238659,
+ 3.868383282679133e-05,
+ 1.5999305248260498,
+ 6.998246681177989e-05,
+ -4.8030695324996486e-05,
+ 1.199931025505066,
+ -2.76383957498183e-06,
+ 1.002580211206805e-05,
+ 1.3828670978546143,
+ -0.000521780748385936,
+ 7.435512816300616e-05,
+ 1.5999428033828735,
+ -0.0007162574329413474,
+ 0.0001099481014534831,
+ 1.2000128030776978,
+ 6.472839595517144e-05,
+ -1.1287399502180051e-05,
+ 1.3878085613250732,
+ 0.0014686634531244636,
+ -0.00022749952040612698,
+ 1.6031279563903809,
+ -0.0008635572739876807,
+ 0.0006989389657974243,
+ 1.2002063989639282,
+ 0.0001413621212122962,
+ 4.1646348108770326e-05,
+ 1.383068323135376,
+ -0.0017268240917474031,
+ 0.00027443646104075015,
+ 1.6003094911575317,
+ -0.0014955222140997648,
+ 0.0002461367112118751,
+ 1.2000490427017212,
+ 9.229523129761219e-05,
+ 8.60111049405532e-06,
+ 0.35776230692863464,
+ 1.316882848739624,
+ -0.451401025056839,
+ 0.0002559233980719,
+ 0.001339488779194653,
+ -0.4947848916053772,
+ -4.776930290972814e-05,
+ 0.00037320476258173585,
+ -0.644603967666626
+ ],
+ "wrist_pos": [
+ 0.06575777381658554,
+ 0.08903538435697556,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.23949120938777924,
+ 0.6653311252593994,
+ 0.23945081233978271,
+ 0.665313184261322
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 101,
+ "virtual_xyz": [
+ 0.06529255956411362,
+ 0.09112326055765152,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708661079406738,
+ 0.8885797262191772,
+ 1.570800542831421
+ ],
+ "finger_dofs": [
+ 1.382859230041504,
+ 0.00010697446123231202,
+ 4.1642408177722245e-05,
+ 1.5999330282211304,
+ 6.890441727591679e-05,
+ -4.856472151004709e-05,
+ 1.199927568435669,
+ -2.2438518954004394e-06,
+ 1.0599116649245843e-05,
+ 1.3828675746917725,
+ -0.0005219055456109345,
+ 7.664299482712522e-05,
+ 1.5999432802200317,
+ -0.0007166447467170656,
+ 0.00010982841195072979,
+ 1.2000126838684082,
+ 6.486663914984092e-05,
+ -1.1173288839927409e-05,
+ 1.3878034353256226,
+ 0.001468102214857936,
+ -0.00022114368039183319,
+ 1.6031237840652466,
+ -0.00086619658395648,
+ 0.000696483941283077,
+ 1.2002071142196655,
+ 0.0001441673666704446,
+ 4.516886474448256e-05,
+ 1.3830687999725342,
+ -0.0017262481851503253,
+ 0.00027737041818909347,
+ 1.6003069877624512,
+ -0.0014974193181842566,
+ 0.0002451234613545239,
+ 1.20005202293396,
+ 9.292986214859411e-05,
+ 1.0291533726558555e-05,
+ 0.3539106249809265,
+ 1.3178948163986206,
+ -0.45113304257392883,
+ 0.0002586267946753651,
+ 0.001416070619598031,
+ -0.49484869837760925,
+ -6.159256008686498e-05,
+ 0.00040204302058555186,
+ -0.6446040868759155
+ ],
+ "wrist_pos": [
+ 0.06529267132282257,
+ 0.09112323075532913,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.2365715503692627,
+ 0.6663750410079956,
+ 0.23652787506580353,
+ 0.6663577556610107
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 102,
+ "virtual_xyz": [
+ 0.06484577059745789,
+ 0.09321507066488266,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708686113357544,
+ 0.8973549008369446,
+ 1.5707978010177612
+ ],
+ "finger_dofs": [
+ 1.3828589916229248,
+ 0.00010564209514996037,
+ 4.4071970478398725e-05,
+ 1.5999354124069214,
+ 6.793370994273573e-05,
+ -4.898370025330223e-05,
+ 1.1999250650405884,
+ -1.8244461443828186e-06,
+ 1.1057398296543397e-05,
+ 1.3828679323196411,
+ -0.0005219892482273281,
+ 7.845030631870031e-05,
+ 1.5999436378479004,
+ -0.0007169460295699537,
+ 0.00010973070311592892,
+ 1.2000126838684082,
+ 6.496663263533264e-05,
+ -1.108385458792327e-05,
+ 1.3877973556518555,
+ 0.0014667616924270988,
+ -0.0002160733420168981,
+ 1.6031196117401123,
+ -0.0008678104495629668,
+ 0.0006947668152861297,
+ 1.200208306312561,
+ 0.00014637807908002287,
+ 4.7989240556489676e-05,
+ 1.3830690383911133,
+ -0.0017256556311622262,
+ 0.0002796318440232426,
+ 1.600305199623108,
+ -0.0014987518079578876,
+ 0.00024424438015557826,
+ 1.2000540494918823,
+ 9.341149416286498e-05,
+ 1.1641394848993514e-05,
+ 0.3512546420097351,
+ 1.3185908794403076,
+ -0.45094773173332214,
+ 0.00026033163885585964,
+ 0.0014472603797912598,
+ -0.4948922097682953,
+ -7.07994622644037e-05,
+ 0.0004153320915065706,
+ -0.6446040868759155
+ ],
+ "wrist_pos": [
+ 0.06484588235616684,
+ 0.09321504086256027,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.23364722728729248,
+ 0.6674063205718994,
+ 0.23359999060630798,
+ 0.667389452457428
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 103,
+ "virtual_xyz": [
+ 0.0644172951579094,
+ 0.09531071037054062,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708705186843872,
+ 0.9061317443847656,
+ 1.5707958936691284
+ ],
+ "finger_dofs": [
+ 1.3828589916229248,
+ 0.00010421100887469947,
+ 4.5402866817312315e-05,
+ 1.5999364852905273,
+ 6.688995199510828e-05,
+ -4.913069642498158e-05,
+ 1.1999238729476929,
+ -1.5849773262743838e-06,
+ 1.1278250894974917e-05,
+ 1.3828682899475098,
+ -0.0005222415784373879,
+ 7.927203114377335e-05,
+ 1.5999443531036377,
+ -0.0007175870705395937,
+ 0.00010975128680001944,
+ 1.2000125646591187,
+ 6.505112105514854e-05,
+ -1.1054386959585827e-05,
+ 1.3877918720245361,
+ 0.0014659480657428503,
+ -0.00021363831183407456,
+ 1.6031160354614258,
+ -0.0008694163989275694,
+ 0.0006944183842279017,
+ 1.2002087831497192,
+ 0.0001474260789109394,
+ 4.93500119773671e-05,
+ 1.3830692768096924,
+ -0.0017248605145141482,
+ 0.0002806387492455542,
+ 1.6003038883209229,
+ -0.0015007270267233253,
+ 0.00024388250312767923,
+ 1.20005464553833,
+ 9.363844583276659e-05,
+ 1.2274666005396284e-05,
+ 0.35066190361976624,
+ 1.31874680519104,
+ -0.45090338587760925,
+ 0.00025999717763625085,
+ 0.0014371805591508746,
+ -0.4949010908603668,
+ -7.268798799486831e-05,
+ 0.00041306702769361436,
+ -0.6446040868759155
+ ],
+ "wrist_pos": [
+ 0.06441740691661835,
+ 0.09531068056821823,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.23071737587451935,
+ 0.6684250235557556,
+ 0.23066793382167816,
+ 0.668408215045929
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 104,
+ "virtual_xyz": [
+ 0.06400720030069351,
+ 0.09741003066301346,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708717107772827,
+ 0.9149101972579956,
+ 1.5707964897155762
+ ],
+ "finger_dofs": [
+ 1.382859230041504,
+ 0.00010264444426866248,
+ 4.58798385807313e-05,
+ 1.5999363660812378,
+ 6.575308361789212e-05,
+ -4.90590937261004e-05,
+ 1.1999237537384033,
+ -1.4877601870466606e-06,
+ 1.1310092304483987e-05,
+ 1.3828684091567993,
+ -0.0005226934445090592,
+ 7.932395965326577e-05,
+ 1.5999451875686646,
+ -0.000718544761184603,
+ 0.00010985964036080986,
+ 1.2000130414962769,
+ 6.512698746519163e-05,
+ -1.1071877452195622e-05,
+ 1.3878017663955688,
+ 0.0014728247188031673,
+ -0.00021436285169329494,
+ 1.6031115055084229,
+ -0.0008750267443247139,
+ 0.000692525296472013,
+ 1.200211524963379,
+ 0.00014729150279890746,
+ 4.9538546591065824e-05,
+ 1.3830698728561401,
+ -0.0017242343164980412,
+ 0.00028067713719792664,
+ 1.6003044843673706,
+ -0.0015028296038508415,
+ 0.00024390561156906188,
+ 1.2000553607940674,
+ 9.3686263426207e-05,
+ 1.2346043149591424e-05,
+ 0.35156187415122986,
+ 1.3185118436813354,
+ -0.4509600102901459,
+ 0.0002582161105237901,
+ 0.0014086036244407296,
+ -0.4948855936527252,
+ -6.93628826411441e-05,
+ 0.00040321043343283236,
+ -0.6446042060852051
+ ],
+ "wrist_pos": [
+ 0.06400731205940247,
+ 0.09741000086069107,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.22778189182281494,
+ 0.669431209564209,
+ 0.22773145139217377,
+ 0.6694142818450928
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 105,
+ "virtual_xyz": [
+ 0.063615582883358,
+ 0.09951283782720566,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708732604980469,
+ 0.9236892461776733,
+ 1.5707980394363403
+ ],
+ "finger_dofs": [
+ 1.382859468460083,
+ 0.0001009757470455952,
+ 4.606544825946912e-05,
+ 1.5999362468719482,
+ 6.455816765083e-05,
+ -4.889754927717149e-05,
+ 1.199924111366272,
+ -1.4326699329103576e-06,
+ 1.127793984778691e-05,
+ 1.3828688859939575,
+ -0.0005230755778029561,
+ 7.908549014246091e-05,
+ 1.5999455451965332,
+ -0.0007196546066552401,
+ 0.00011001379607478157,
+ 1.2000131607055664,
+ 6.523040065076202e-05,
+ -1.11001318146009e-05,
+ 1.38779616355896,
+ 0.0014691114192828536,
+ -0.00021496345289051533,
+ 1.6031054258346558,
+ -0.0008754038135521114,
+ 0.0006931427051313221,
+ 1.2002123594284058,
+ 0.0001469198177801445,
+ 4.934505341225304e-05,
+ 1.3830695152282715,
+ -0.0017233701655641198,
+ 0.0002802565286401659,
+ 1.6003048419952393,
+ -0.0015047277556732297,
+ 0.0002440813696011901,
+ 1.2000553607940674,
+ 9.368018800159916e-05,
+ 1.2232056178618222e-05,
+ 0.3528538644313812,
+ 1.3181735277175903,
+ -0.4510432183742523,
+ 0.0002561385335866362,
+ 0.0013841802719980478,
+ -0.4948637783527374,
+ -6.479823059635237e-05,
+ 0.0003941553586628288,
+ -0.6446043848991394
+ ],
+ "wrist_pos": [
+ 0.06361569464206696,
+ 0.09951280802488327,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.22484122216701508,
+ 0.6704246997833252,
+ 0.2247907668352127,
+ 0.6704073548316956
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 106,
+ "virtual_xyz": [
+ 0.06324244290590286,
+ 0.10161903500556946,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.570874810218811,
+ 0.932468056678772,
+ 1.5707993507385254
+ ],
+ "finger_dofs": [
+ 1.3828598260879517,
+ 9.938739094650373e-05,
+ 4.648174945032224e-05,
+ 1.5999362468719482,
+ 6.350214971462265e-05,
+ -4.8820376832736656e-05,
+ 1.1999238729476929,
+ -1.353246489088633e-06,
+ 1.1295961485302541e-05,
+ 1.3828693628311157,
+ -0.0005233619012869895,
+ 7.903256482677534e-05,
+ 1.5999459028244019,
+ -0.0007206593290902674,
+ 0.00011014007031917572,
+ 1.2000131607055664,
+ 6.5323241869919e-05,
+ -1.1122492651338689e-05,
+ 1.3877904415130615,
+ 0.001468137139454484,
+ -0.0002148511412087828,
+ 1.6031033992767334,
+ -0.0008774005109444261,
+ 0.0006928072543814778,
+ 1.2002131938934326,
+ 0.00014694432320538908,
+ 4.94516862090677e-05,
+ 1.383069634437561,
+ -0.001722774701192975,
+ 0.00028010550886392593,
+ 1.600305199623108,
+ -0.0015067127533257008,
+ 0.0002441398100927472,
+ 1.2000555992126465,
+ 9.370496263727546e-05,
+ 1.2259994036867283e-05,
+ 0.3536953926086426,
+ 1.3179528713226318,
+ -0.45109641551971436,
+ 0.00025477458257228136,
+ 0.0013751275837421417,
+ -0.49484965205192566,
+ -6.191599095473066e-05,
+ 0.0003905070770997554,
+ -0.644604504108429
+ ],
+ "wrist_pos": [
+ 0.06324255466461182,
+ 0.10161900520324707,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.22189633548259735,
+ 0.6714053153991699,
+ 0.2218455970287323,
+ 0.6713875532150269
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 107,
+ "virtual_xyz": [
+ 0.06288782507181168,
+ 0.10372842848300934,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.570876121520996,
+ 0.9412464499473572,
+ 1.5707998275756836
+ ],
+ "finger_dofs": [
+ 1.3828603029251099,
+ 9.750245226314291e-05,
+ 4.724759855889715e-05,
+ 1.5999364852905273,
+ 6.210083665791899e-05,
+ -4.877471292275004e-05,
+ 1.1999233961105347,
+ -1.199329631162982e-06,
+ 1.1376972906873561e-05,
+ 1.382869839668274,
+ -0.0005238227313384414,
+ 7.924880628706887e-05,
+ 1.5999468564987183,
+ -0.0007220166735351086,
+ 0.00011028930748580024,
+ 1.2000131607055664,
+ 6.548518285853788e-05,
+ -1.1131807696074247e-05,
+ 1.3877835273742676,
+ 0.001466670073568821,
+ -0.00021403950813692063,
+ 1.6031007766723633,
+ -0.000879119907040149,
+ 0.0006924276240170002,
+ 1.2002140283584595,
+ 0.0001472937292419374,
+ 4.993875336367637e-05,
+ 1.3830698728561401,
+ -0.0017219940200448036,
+ 0.0002803228853736073,
+ 1.6003055572509766,
+ -0.0015088127693161368,
+ 0.0002441270771669224,
+ 1.2000559568405151,
+ 9.382488497067243e-05,
+ 1.2469879948184825e-05,
+ 0.3538355529308319,
+ 1.3179148435592651,
+ -0.45110106468200684,
+ 0.00025398365687578917,
+ 0.0013798618456348777,
+ -0.4948470890522003,
+ -6.151150591904297e-05,
+ 0.0003919825830962509,
+ -0.6446046829223633
+ ],
+ "wrist_pos": [
+ 0.06288793683052063,
+ 0.10372839868068695,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.21894754469394684,
+ 0.6723728179931641,
+ 0.21889644861221313,
+ 0.6723548769950867
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 108,
+ "virtual_xyz": [
+ 0.06255177408456802,
+ 0.10584086924791336,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708777904510498,
+ 0.9500243663787842,
+ 1.5708000659942627
+ ],
+ "finger_dofs": [
+ 1.3828610181808472,
+ 9.570646216161549e-05,
+ 4.8328187403967604e-05,
+ 1.599936604499817,
+ 6.09366106800735e-05,
+ -4.88432779093273e-05,
+ 1.1999226808547974,
+ -1.0199229336649296e-06,
+ 1.1524633009685203e-05,
+ 1.3828701972961426,
+ -0.0005240703467279673,
+ 7.97117900219746e-05,
+ 1.599947452545166,
+ -0.0007230589399114251,
+ 0.00011037889635190368,
+ 1.2000133991241455,
+ 6.561649206560105e-05,
+ -1.1126854587928392e-05,
+ 1.3877769708633423,
+ 0.00146483036223799,
+ -0.00021251260477583855,
+ 1.6030981540679932,
+ -0.0008809425635263324,
+ 0.0006918410072103143,
+ 1.2002145051956177,
+ 0.00014797969197388738,
+ 5.084526856080629e-05,
+ 1.3830701112747192,
+ -0.001721500651910901,
+ 0.00028084329096600413,
+ 1.600305199623108,
+ -0.001510756672360003,
+ 0.00024394401407334954,
+ 1.200056791305542,
+ 9.400314593221992e-05,
+ 1.2881827387900557e-05,
+ 0.3534981608390808,
+ 1.318001627922058,
+ -0.45107513666152954,
+ 0.00025228256708942354,
+ 0.0013901387574151158,
+ -0.4948525130748749,
+ -6.47800843580626e-05,
+ 0.0003953588311560452,
+ -0.6446049213409424
+ ],
+ "wrist_pos": [
+ 0.06255188584327698,
+ 0.10584083944559097,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.2159952074289322,
+ 0.6733271479606628,
+ 0.21594282984733582,
+ 0.6733091473579407
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 109,
+ "virtual_xyz": [
+ 0.06223425269126892,
+ 0.1079561710357666,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708794593811035,
+ 0.9588020443916321,
+ 1.5707993507385254
+ ],
+ "finger_dofs": [
+ 1.382861614227295,
+ 9.367970051243901e-05,
+ 4.944898319081403e-05,
+ 1.5999375581741333,
+ 5.9492002037586644e-05,
+ -4.887234535999596e-05,
+ 1.1999220848083496,
+ -8.159340154634265e-07,
+ 1.1673223525576759e-05,
+ 1.3828704357147217,
+ -0.0005245257052592933,
+ 8.019078086363152e-05,
+ 1.5999480485916138,
+ -0.0007244847365655005,
+ 0.0001105222399928607,
+ 1.2000131607055664,
+ 6.580311310244724e-05,
+ -1.1123312106064986e-05,
+ 1.3877702951431274,
+ 0.0014615861000493169,
+ -0.00021099897276144475,
+ 1.6030943393707275,
+ -0.0008815273176878691,
+ 0.0006913993274793029,
+ 1.200215458869934,
+ 0.00014865024422761053,
+ 5.175413389224559e-05,
+ 1.3830705881118774,
+ -0.00172096723690629,
+ 0.0002814139879774302,
+ 1.6003055572509766,
+ -0.001513318857178092,
+ 0.00024375293287448585,
+ 1.2000575065612793,
+ 9.41681646509096e-05,
+ 1.3293531992530916e-05,
+ 0.35305681824684143,
+ 1.318116307258606,
+ -0.4510402977466583,
+ 0.0002515959204174578,
+ 0.0013986084377393126,
+ -0.49485957622528076,
+ -6.690694863209501e-05,
+ 0.00039867142913863063,
+ -0.6446050405502319
+ ],
+ "wrist_pos": [
+ 0.062234364449977875,
+ 0.10795614123344421,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.21303890645503998,
+ 0.6742685437202454,
+ 0.21298494935035706,
+ 0.6742504835128784
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 110,
+ "virtual_xyz": [
+ 0.06193532794713974,
+ 0.11007416993379593,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708813667297363,
+ 0.9675798416137695,
+ 1.570799469947815
+ ],
+ "finger_dofs": [
+ 1.3828622102737427,
+ 9.169414261123165e-05,
+ 5.039102688897401e-05,
+ 1.599938154220581,
+ 5.817860801471397e-05,
+ -4.888237526756711e-05,
+ 1.1999211311340332,
+ -6.55961400752858e-07,
+ 1.1783546142396517e-05,
+ 1.3828709125518799,
+ -0.0005248314118944108,
+ 8.04848677944392e-05,
+ 1.5999488830566406,
+ -0.0007257654797285795,
+ 0.00011065097351092845,
+ 1.200013279914856,
+ 6.59611978335306e-05,
+ -1.1128679034300148e-05,
+ 1.387763261795044,
+ 0.0014588009798899293,
+ -0.00020993973885197192,
+ 1.6030914783477783,
+ -0.0008824652177281678,
+ 0.000691104622092098,
+ 1.2002161741256714,
+ 0.0001491476286901161,
+ 5.242471524979919e-05,
+ 1.3830713033676147,
+ -0.0017207671189680696,
+ 0.00028172615566290915,
+ 1.600305438041687,
+ -0.0015156988520175219,
+ 0.00024359529197681695,
+ 1.2000579833984375,
+ 9.427218174096197e-05,
+ 1.3591124115919229e-05,
+ 0.35278284549713135,
+ 1.3181869983673096,
+ -0.45101678371429443,
+ 0.0002510588092263788,
+ 0.0014018069487065077,
+ -0.49486374855041504,
+ -6.802810094086453e-05,
+ 0.0004001170746050775,
+ -0.6446051597595215
+ ],
+ "wrist_pos": [
+ 0.061935439705848694,
+ 0.11007413268089294,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.21007806062698364,
+ 0.6751970052719116,
+ 0.21002304553985596,
+ 0.6751788258552551
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 111,
+ "virtual_xyz": [
+ 0.06165499985218048,
+ 0.11219470947980881,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708829164505005,
+ 0.9763577580451965,
+ 1.5707998275756836
+ ],
+ "finger_dofs": [
+ 1.3828630447387695,
+ 8.958411490311846e-05,
+ 5.115323074278422e-05,
+ 1.5999377965927124,
+ 5.676881119143218e-05,
+ -4.8828045692062005e-05,
+ 1.1999211311340332,
+ -5.216758722781378e-07,
+ 1.1849841939692851e-05,
+ 1.3828716278076172,
+ -0.0005252379924058914,
+ 8.059700485318899e-05,
+ 1.5999499559402466,
+ -0.0007272831862792373,
+ 0.00011082907440140843,
+ 1.2000137567520142,
+ 6.614455196540803e-05,
+ -1.1146355973323807e-05,
+ 1.3877558708190918,
+ 0.0014555046800523996,
+ -0.00020933945779688656,
+ 1.6030888557434082,
+ -0.000883151835296303,
+ 0.0006910678348504007,
+ 1.2002167701721191,
+ 0.00014942440611775964,
+ 5.282934944261797e-05,
+ 1.3830721378326416,
+ -0.0017205497715622187,
+ 0.00028180054505355656,
+ 1.6003060340881348,
+ -0.0015180580085143447,
+ 0.00024355377536267042,
+ 1.2000584602355957,
+ 9.434279490960762e-05,
+ 1.3760518413619138e-05,
+ 0.35274451971054077,
+ 1.318196415901184,
+ -0.45100873708724976,
+ 0.0002502905554138124,
+ 0.0014005613047629595,
+ -0.4948641359806061,
+ -6.822554860264063e-05,
+ 0.0003998908505309373,
+ -0.6446051597595215
+ ],
+ "wrist_pos": [
+ 0.061655111610889435,
+ 0.11219467222690582,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.20711326599121094,
+ 0.6761124730110168,
+ 0.20705707371234894,
+ 0.6760940551757812
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 112,
+ "virtual_xyz": [
+ 0.061393290758132935,
+ 0.1143176406621933,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.570884346961975,
+ 0.9851356744766235,
+ 1.5707995891571045
+ ],
+ "finger_dofs": [
+ 1.3828634023666382,
+ 8.733177674002945e-05,
+ 5.180354855838232e-05,
+ 1.599937915802002,
+ 5.519940168596804e-05,
+ -4.872735371463932e-05,
+ 1.1999207735061646,
+ -4.005718494681787e-07,
+ 1.1886933862115256e-05,
+ 1.382872223854065,
+ -0.0005257377051748335,
+ 8.058398816501722e-05,
+ 1.5999507904052734,
+ -0.0007290405337698758,
+ 0.00011104172153864056,
+ 1.2000142335891724,
+ 6.635474710492417e-05,
+ -1.1173531675012782e-05,
+ 1.3877477645874023,
+ 0.0014520437689498067,
+ -0.00020913081243634224,
+ 1.6030864715576172,
+ -0.0008835511398501694,
+ 0.0006910829688422382,
+ 1.200217843055725,
+ 0.0001495505275670439,
+ 5.3049137932248414e-05,
+ 1.3830729722976685,
+ -0.0017199973808601499,
+ 0.0002818309876602143,
+ 1.6003069877624512,
+ -0.0015210083220154047,
+ 0.00024370293249376118,
+ 1.200058937072754,
+ 9.442022565053776e-05,
+ 1.3835458048561122e-05,
+ 0.35285770893096924,
+ 1.3181664943695068,
+ -0.4510107636451721,
+ 0.00024934139219112694,
+ 0.001397753250785172,
+ -0.49486202001571655,
+ -6.788218161091208e-05,
+ 0.0003989706456195563,
+ -0.644605278968811
+ ],
+ "wrist_pos": [
+ 0.06139340624213219,
+ 0.11431759595870972,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.20414431393146515,
+ 0.6770148277282715,
+ 0.2040870636701584,
+ 0.6769965887069702
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 113,
+ "virtual_xyz": [
+ 0.06115025281906128,
+ 0.11644277721643448,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.5708861351013184,
+ 0.9939137697219849,
+ 1.570799469947815
+ ],
+ "finger_dofs": [
+ 1.3828636407852173,
+ 8.523649739800021e-05,
+ 5.250352114671841e-05,
+ 1.599938154220581,
+ 5.3902738727629185e-05,
+ -4.868375981459394e-05,
+ 1.1999207735061646,
+ -2.9331204132176936e-07,
+ 1.1938343050132971e-05,
+ 1.3828731775283813,
+ -0.0005260307225398719,
+ 8.060361142270267e-05,
+ 1.5999515056610107,
+ -0.0007305244216695428,
+ 0.00011122030991828069,
+ 1.200014352798462,
+ 6.653322634520009e-05,
+ -1.1197458661627024e-05,
+ 1.3877403736114502,
+ 0.0014480410609394312,
+ -0.000208776313229464,
+ 1.6030833721160889,
+ -0.0008841691305860877,
+ 0.0006909415242262185,
+ 1.2002192735671997,
+ 0.00014974857913330197,
+ 5.3355393902165815e-05,
+ 1.3830735683441162,
+ -0.0017194990068674088,
+ 0.00028206498245708644,
+ 1.6003073453903198,
+ -0.001524459570646286,
+ 0.00024373824999202043,
+ 1.2000584602355957,
+ 9.442766895517707e-05,
+ 1.395753315591719e-05,
+ 0.35299623012542725,
+ 1.3181289434432983,
+ -0.45101481676101685,
+ 0.00024850686895661056,
+ 0.0013956158654764295,
+ -0.49485957622528076,
+ -6.746741564711556e-05,
+ 0.0003982550697401166,
+ -0.6446053385734558
+ ],
+ "wrist_pos": [
+ 0.06115036457777023,
+ 0.1164427399635315,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.2011716067790985,
+ 0.6779042482376099,
+ 0.20111298561096191,
+ 0.6778858304023743
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 114,
+ "virtual_xyz": [
+ 0.060925863683223724,
+ 0.1185699924826622,
+ 0.6452553868293762
+ ],
+ "wrist_rpy": [
+ -1.570887565612793,
+ 1.0026919841766357,
+ 1.570799708366394
+ ],
+ "finger_dofs": [
+ 1.382864236831665,
+ 8.289170364150777e-05,
+ 5.314492227626033e-05,
+ 1.5999377965927124,
+ 5.2316896471893415e-05,
+ -4.8583518946543336e-05,
+ 1.1999207735061646,
+ -1.8304545790215343e-07,
+ 1.1967160389758646e-05,
+ 1.3828741312026978,
+ -0.0005265338695608079,
+ 8.053671626839787e-05,
+ 1.5999524593353271,
+ -0.0007323991740122437,
+ 0.00011145130702061579,
+ 1.200014352798462,
+ 6.67552012600936e-05,
+ -1.1231834832869936e-05,
+ 1.387732744216919,
+ 0.0014437503414228559,
+ -0.00020876720373053104,
+ 1.6030807495117188,
+ -0.0008844085386954248,
+ 0.0006910781958140433,
+ 1.200219750404358,
+ 0.00014983596338424832,
+ 5.351791696739383e-05,
+ 1.3830746412277222,
+ -0.0017189193749800324,
+ 0.00028228218434378505,
+ 1.6003081798553467,
+ -0.0015285860281437635,
+ 0.00024379590468015522,
+ 1.2000582218170166,
+ 9.437755943508819e-05,
+ 1.4004443073645234e-05,
+ 0.35307180881500244,
+ 1.3181078433990479,
+ -0.45101398229599,
+ 0.0002476136141922325,
+ 0.0013955015456303954,
+ -0.4948582053184509,
+ -6.731155735906214e-05,
+ 0.00039823766564950347,
+ -0.6446054577827454
+ ],
+ "wrist_pos": [
+ 0.060925982892513275,
+ 0.11856995522975922,
+ 0.6452553272247314
+ ],
+ "wrist_rot": [
+ -0.1981949508190155,
+ 0.6787805557250977,
+ 0.19813525676727295,
+ 0.6787621378898621
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 115,
+ "virtual_xyz": [
+ 0.06072016805410385,
+ 0.12069907784461975,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.570888638496399,
+ 1.0114703178405762,
+ 1.5707999467849731
+ ],
+ "finger_dofs": [
+ 1.3828649520874023,
+ 8.06061434559524e-05,
+ 5.369882273953408e-05,
+ 1.5999374389648438,
+ 5.087386671220884e-05,
+ -4.848054959438741e-05,
+ 1.199920415878296,
+ -9.965057046201764e-08,
+ 1.1978812835877761e-05,
+ 1.3828744888305664,
+ -0.0005268918466754258,
+ 8.037938096094877e-05,
+ 1.599953532218933,
+ -0.0007340747979469597,
+ 0.00011166647891514003,
+ 1.200014591217041,
+ 6.69520377414301e-05,
+ -1.1268273738096468e-05,
+ 1.387725591659546,
+ 0.0014396371552720666,
+ -0.000208940269658342,
+ 1.6030789613723755,
+ -0.0008851998136378825,
+ 0.0006914030527696013,
+ 1.2002205848693848,
+ 0.0001498734054621309,
+ 5.358042471925728e-05,
+ 1.3830753564834595,
+ -0.0017188694328069687,
+ 0.0002824080584105104,
+ 1.6003087759017944,
+ -0.0015326516004279256,
+ 0.0002438566880300641,
+ 1.2000579833984375,
+ 9.429793135495856e-05,
+ 1.4001759154780302e-05,
+ 0.35306960344314575,
+ 1.3181071281433105,
+ -0.4510084390640259,
+ 0.0002469533064868301,
+ 0.0013967574341222644,
+ -0.49485817551612854,
+ -6.74087496008724e-05,
+ 0.0003987272793892771,
+ -0.6446056365966797
+ ],
+ "wrist_pos": [
+ 0.060720279812812805,
+ 0.12069904059171677,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.195214182138443,
+ 0.6796437501907349,
+ 0.1951538324356079,
+ 0.6796252727508545
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 116,
+ "virtual_xyz": [
+ 0.06053318455815315,
+ 0.12282988429069519,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708900690078735,
+ 1.020248293876648,
+ 1.5708001852035522
+ ],
+ "finger_dofs": [
+ 1.3828657865524292,
+ 7.81685666879639e-05,
+ 5.433933620224707e-05,
+ 1.5999369621276855,
+ 4.927409827359952e-05,
+ -4.837471715291031e-05,
+ 1.1999201774597168,
+ 2.9779305688037994e-09,
+ 1.2001908544334583e-05,
+ 1.3828753232955933,
+ -0.0005273380666039884,
+ 8.026984869502485e-05,
+ 1.599954605102539,
+ -0.0007359884912148118,
+ 0.00011190388613613322,
+ 1.2000149488449097,
+ 6.718429358443245e-05,
+ -1.130564578488702e-05,
+ 1.387717843055725,
+ 0.0014351099962368608,
+ -0.00020904485427308828,
+ 1.603076457977295,
+ -0.0008854493498802185,
+ 0.0006916349520906806,
+ 1.2002218961715698,
+ 0.0001499484060332179,
+ 5.3713025408796966e-05,
+ 1.3830757141113281,
+ -0.0017184941098093987,
+ 0.00028257741359993815,
+ 1.6003097295761108,
+ -0.0015367063460871577,
+ 0.00024393651983700693,
+ 1.200058102607727,
+ 9.426484757568687e-05,
+ 1.403064470650861e-05,
+ 0.35301822423934937,
+ 1.3181202411651611,
+ -0.45099881291389465,
+ 0.00024618578027002513,
+ 0.001398594817146659,
+ -0.4948588013648987,
+ -6.770222535124049e-05,
+ 0.00039942385046742857,
+ -0.644605815410614
+ ],
+ "wrist_pos": [
+ 0.060533300042152405,
+ 0.1228298470377922,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.19222977757453918,
+ 0.680493950843811,
+ 0.19216860830783844,
+ 0.6804754734039307
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 117,
+ "virtual_xyz": [
+ 0.06036490947008133,
+ 0.12496224045753479,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708913803100586,
+ 1.0290262699127197,
+ 1.5708003044128418
+ ],
+ "finger_dofs": [
+ 1.3828670978546143,
+ 7.567639113403857e-05,
+ 5.490498733706772e-05,
+ 1.5999367237091064,
+ 4.7651898057665676e-05,
+ -4.825224095839076e-05,
+ 1.1999202966690063,
+ 9.038991066745439e-08,
+ 1.2006232282146811e-05,
+ 1.3828760385513306,
+ -0.0005277920863591135,
+ 8.007290307432413e-05,
+ 1.5999555587768555,
+ -0.0007379630114883184,
+ 0.00011216088751098141,
+ 1.2000151872634888,
+ 6.742173718521371e-05,
+ -1.1349196938681416e-05,
+ 1.3877098560333252,
+ 0.0014298565220087767,
+ -0.00020944712741766125,
+ 1.603074550628662,
+ -0.0008854757761582732,
+ 0.0006919648731127381,
+ 1.200223445892334,
+ 0.00014993779768701643,
+ 5.372336818254553e-05,
+ 1.3830766677856445,
+ -0.0017182306619361043,
+ 0.00028260608087293804,
+ 1.600310206413269,
+ -0.001541321282275021,
+ 0.00024411565391346812,
+ 1.2000582218170166,
+ 9.423373558092862e-05,
+ 1.3998657777847257e-05,
+ 0.35296136140823364,
+ 1.3181344270706177,
+ -0.45098891854286194,
+ 0.0002454592613503337,
+ 0.001400174223817885,
+ -0.4948596656322479,
+ -6.802882126066834e-05,
+ 0.00040004748734645545,
+ -0.644605815410614
+ ],
+ "wrist_pos": [
+ 0.06036502495408058,
+ 0.1249622032046318,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.18924160301685333,
+ 0.6813309192657471,
+ 0.18917955458164215,
+ 0.6813125014305115
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 118,
+ "virtual_xyz": [
+ 0.06021535396575928,
+ 0.1270960420370102,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708926916122437,
+ 1.037804126739502,
+ 1.5708001852035522
+ ],
+ "finger_dofs": [
+ 1.3828673362731934,
+ 7.332523091463372e-05,
+ 5.5546472140122205e-05,
+ 1.599936842918396,
+ 4.625336441677064e-05,
+ -4.8184632760239765e-05,
+ 1.1999202966690063,
+ 1.7295558052410342e-07,
+ 1.2030830475850962e-05,
+ 1.3828767538070679,
+ -0.0005281054764054716,
+ 7.99336121417582e-05,
+ 1.5999565124511719,
+ -0.0007397873559966683,
+ 0.00011239736340939999,
+ 1.2000151872634888,
+ 6.764035060768947e-05,
+ -1.139092000812525e-05,
+ 1.3877017498016357,
+ 0.0014238659059628844,
+ -0.00020966715237591416,
+ 1.6030715703964233,
+ -0.000885274785105139,
+ 0.0006920434534549713,
+ 1.2002243995666504,
+ 0.00015001476276665926,
+ 5.3856329031987116e-05,
+ 1.38307785987854,
+ -0.0017179935239255428,
+ 0.0002826623967848718,
+ 1.600311040878296,
+ -0.0015457498375326395,
+ 0.0002442670229356736,
+ 1.2000583410263062,
+ 9.42332626436837e-05,
+ 1.4029052181285806e-05,
+ 0.35292714834213257,
+ 1.3181424140930176,
+ -0.45098087191581726,
+ 0.00024480014690198004,
+ 0.0014010880840942264,
+ -0.49486032128334045,
+ -6.827489414718002e-05,
+ 0.0004004841612186283,
+ -0.6446059942245483
+ ],
+ "wrist_pos": [
+ 0.06021546572446823,
+ 0.1270959973335266,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.18625006079673767,
+ 0.6821547746658325,
+ 0.18618696928024292,
+ 0.6821363568305969
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 119,
+ "virtual_xyz": [
+ 0.060084547847509384,
+ 0.12923099100589752,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708941221237183,
+ 1.0465818643569946,
+ 1.5708003044128418
+ ],
+ "finger_dofs": [
+ 1.3828681707382202,
+ 7.081455987645313e-05,
+ 5.6066135584842414e-05,
+ 1.5999360084533691,
+ 4.465976235223934e-05,
+ -4.8052814236143604e-05,
+ 1.1999200582504272,
+ 2.4808539933474094e-07,
+ 1.2023908311675768e-05,
+ 1.3828773498535156,
+ -0.000528461707290262,
+ 7.966571138240397e-05,
+ 1.599958062171936,
+ -0.0007417568122036755,
+ 0.00011265728971920907,
+ 1.2000153064727783,
+ 6.788434984628111e-05,
+ -1.143934150604764e-05,
+ 1.3876934051513672,
+ 0.001418017316609621,
+ -0.00021027924958616495,
+ 1.6030691862106323,
+ -0.0008848521392792463,
+ 0.0006922681932337582,
+ 1.200225830078125,
+ 0.00014994792582001537,
+ 5.379390495363623e-05,
+ 1.3830788135528564,
+ -0.0017177393892779946,
+ 0.00028232578188180923,
+ 1.6003124713897705,
+ -0.00154974777251482,
+ 0.00024430552730336785,
+ 1.2000576257705688,
+ 9.418577246833593e-05,
+ 1.3963675883132964e-05,
+ 0.35291874408721924,
+ 1.3181431293487549,
+ -0.45097413659095764,
+ 0.00024399546964559704,
+ 0.0014015198685228825,
+ -0.49486044049263,
+ -6.843895971542224e-05,
+ 0.0004006737726740539,
+ -0.6446059942245483
+ ],
+ "wrist_pos": [
+ 0.06008465960621834,
+ 0.12923094630241394,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.1832548826932907,
+ 0.6829654574394226,
+ 0.18319091200828552,
+ 0.6829470992088318
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 120,
+ "virtual_xyz": [
+ 0.05997248739004135,
+ 0.13136707246303558,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708954334259033,
+ 1.0553600788116455,
+ 1.5708004236221313
+ ],
+ "finger_dofs": [
+ 1.3828686475753784,
+ 6.834950181655586e-05,
+ 5.6541688536526635e-05,
+ 1.5999360084533691,
+ 4.3159063352504745e-05,
+ -4.7929712309269235e-05,
+ 1.1999201774597168,
+ 3.057286903640488e-07,
+ 1.2008628800685983e-05,
+ 1.3828781843185425,
+ -0.0005288123502396047,
+ 7.935250323498622e-05,
+ 1.5999592542648315,
+ -0.000743748911190778,
+ 0.0001129274460254237,
+ 1.2000154256820679,
+ 6.812324863858521e-05,
+ -1.1492401426949073e-05,
+ 1.3876852989196777,
+ 0.0014121640706434846,
+ -0.0002109989436576143,
+ 1.6030670404434204,
+ -0.0008846099372021854,
+ 0.0006926853093318641,
+ 1.2002276182174683,
+ 0.0001498450292274356,
+ 5.367906851461157e-05,
+ 1.383079171180725,
+ -0.0017174509121105075,
+ 0.00028182409005239606,
+ 1.6003143787384033,
+ -0.001553736045025289,
+ 0.00024428110918961465,
+ 1.2000582218170166,
+ 9.41142498049885e-05,
+ 1.3868842870579101e-05,
+ 0.3529260754585266,
+ 1.318139910697937,
+ -0.4509687125682831,
+ 0.0002432604815112427,
+ 0.001401902874931693,
+ -0.49486044049263,
+ -6.85622580931522e-05,
+ 0.00040083896601572633,
+ -0.6446061134338379
+ ],
+ "wrist_pos": [
+ 0.059972599148750305,
+ 0.131367027759552,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.18025623261928558,
+ 0.6837630271911621,
+ 0.18019121885299683,
+ 0.6837447285652161
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 121,
+ "virtual_xyz": [
+ 0.05987919121980667,
+ 0.13350407779216766,
+ 0.6452553272247314
+ ],
+ "wrist_rpy": [
+ -1.5708967447280884,
+ 1.0641382932662964,
+ 1.570800542831421
+ ],
+ "finger_dofs": [
+ 1.3828691244125366,
+ 6.591309647774324e-05,
+ 5.696492735296488e-05,
+ 1.5999360084533691,
+ 4.180812538834289e-05,
+ -4.782151518156752e-05,
+ 1.1999202966690063,
+ 3.334948246447311e-07,
+ 1.1979844202869572e-05,
+ 1.3828787803649902,
+ -0.000529052980709821,
+ 7.895701855886728e-05,
+ 1.5999605655670166,
+ -0.0007455996237695217,
+ 0.00011319094483042136,
+ 1.200015902519226,
+ 6.833249790361151e-05,
+ -1.1551873285498004e-05,
+ 1.387677550315857,
+ 0.0014058032538741827,
+ -0.00021191139239817858,
+ 1.6030651330947876,
+ -0.0008842043462209404,
+ 0.0006934054545126855,
+ 1.2002291679382324,
+ 0.00014968655887059867,
+ 5.3478568588616326e-05,
+ 1.3830798864364624,
+ -0.0017174964305013418,
+ 0.00028114565066061914,
+ 1.6003153324127197,
+ -0.0015578377060592175,
+ 0.00024434103397652507,
+ 1.2000585794448853,
+ 9.404942829860374e-05,
+ 1.3732006664213259e-05,
+ 0.3529345393180847,
+ 1.3181374073028564,
+ -0.45096367597579956,
+ 0.00024267153639812022,
+ 0.0014025289565324783,
+ -0.4948605000972748,
+ -6.870658398838714e-05,
+ 0.0004010935372207314,
+ -0.6446062326431274
+ ],
+ "wrist_pos": [
+ 0.05987931042909622,
+ 0.13350403308868408,
+ 0.6452552676200867
+ ],
+ "wrist_rot": [
+ -0.17725367844104767,
+ 0.6845474243164062,
+ 0.17718812823295593,
+ 0.684529185295105
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 122,
+ "virtual_xyz": [
+ 0.05980465188622475,
+ 0.13564173877239227,
+ 0.6452552676200867
+ ],
+ "wrist_rpy": [
+ -1.5708979368209839,
+ 1.0729163885116577,
+ 1.570801019668579
+ ],
+ "finger_dofs": [
+ 1.3828699588775635,
+ 6.324485730146989e-05,
+ 5.711615813197568e-05,
+ 1.5999345779418945,
+ 4.0113533032126725e-05,
+ -4.759746298077516e-05,
+ 1.1999207735061646,
+ 3.382885722658102e-07,
+ 1.1884697414643597e-05,
+ 1.3828800916671753,
+ -0.0005294674192555249,
+ 7.831523544155061e-05,
+ 1.5999619960784912,
+ -0.0007477066828869283,
+ 0.00011349262786097825,
+ 1.2000162601470947,
+ 6.856873369542882e-05,
+ -1.162615717476001e-05,
+ 1.3876689672470093,
+ 0.0013992117019370198,
+ -0.00021352339535951614,
+ 1.6030633449554443,
+ -0.0008834212203510106,
+ 0.0006943685584701598,
+ 1.200230598449707,
+ 0.00014918559463694692,
+ 5.2864441386191174e-05,
+ 1.3830809593200684,
+ -0.0017177145928144455,
+ 0.0002801050723064691,
+ 1.6003170013427734,
+ -0.0015617283061146736,
+ 0.00024453760124742985,
+ 1.2000584602355957,
+ 9.392717765877023e-05,
+ 1.3392103028309066e-05,
+ 0.3529339134693146,
+ 1.3181360960006714,
+ -0.4509575068950653,
+ 0.00024189458054024726,
+ 0.0014032184844836593,
+ -0.49486061930656433,
+ -6.892425881233066e-05,
+ 0.0004013067518826574,
+ -0.644606351852417
+ ],
+ "wrist_pos": [
+ 0.059804767370224,
+ 0.1356416940689087,
+ 0.6452552080154419
+ ],
+ "wrist_rot": [
+ -0.17424792051315308,
+ 0.685318648815155,
+ 0.17418153584003448,
+ 0.6853004097938538
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 123,
+ "virtual_xyz": [
+ 0.05974888056516647,
+ 0.13777999579906464,
+ 0.6452552676200867
+ ],
+ "wrist_rpy": [
+ -1.5708987712860107,
+ 1.0816946029663086,
+ 1.5708009004592896
+ ],
+ "finger_dofs": [
+ 1.3828709125518799,
+ 6.051075615687296e-05,
+ 5.7365858083358034e-05,
+ 1.5999332666397095,
+ 3.837285112240352e-05,
+ -4.7385514335474e-05,
+ 1.1999214887619019,
+ 3.6024718497174035e-07,
+ 1.1806875590991694e-05,
+ 1.3828809261322021,
+ -0.0005299852346070111,
+ 7.774084951961413e-05,
+ 1.5999631881713867,
+ -0.0007500688661821187,
+ 0.00011382446245988831,
+ 1.2000164985656738,
+ 6.884321192046627e-05,
+ -1.1699831702571828e-05,
+ 1.387661337852478,
+ 0.0013927260879427195,
+ -0.00021503450989257544,
+ 1.6030614376068115,
+ -0.0008824735996313393,
+ 0.000694868213031441,
+ 1.2002322673797607,
+ 0.000148773702676408,
+ 5.236238212091848e-05,
+ 1.3830820322036743,
+ -0.0017175000393763185,
+ 0.0002791352744679898,
+ 1.6003189086914062,
+ -0.001565461279824376,
+ 0.000244731898419559,
+ 1.2000585794448853,
+ 9.383360156789422e-05,
+ 1.3101182048558258e-05,
+ 0.35292455554008484,
+ 1.318137288093567,
+ -0.4509502649307251,
+ 0.00024106584896799177,
+ 0.001404046081006527,
+ -0.49486082792282104,
+ -6.922968896105886e-05,
+ 0.0004016233724541962,
+ -0.6446065306663513
+ ],
+ "wrist_pos": [
+ 0.059748996049165726,
+ 0.13777995109558105,
+ 0.6452552080154419
+ ],
+ "wrist_rot": [
+ -0.1712387204170227,
+ 0.6860765814781189,
+ 0.17117173969745636,
+ 0.686058521270752
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 124,
+ "virtual_xyz": [
+ 0.05971189960837364,
+ 0.13991868495941162,
+ 0.6452552080154419
+ ],
+ "wrist_rpy": [
+ -1.5708993673324585,
+ 1.09047269821167,
+ 1.570801019668579
+ ],
+ "finger_dofs": [
+ 1.3828717470169067,
+ 5.785768371424638e-05,
+ 5.7544162700651214e-05,
+ 1.5999330282211304,
+ 3.681101952679455e-05,
+ -4.7188292228383943e-05,
+ 1.1999225616455078,
+ 3.5259594710623787e-07,
+ 1.1715379514498636e-05,
+ 1.3828818798065186,
+ -0.000530347868334502,
+ 7.708757038926706e-05,
+ 1.5999643802642822,
+ -0.0007522290106862783,
+ 0.00011413852917030454,
+ 1.2000168561935425,
+ 6.908605428179726e-05,
+ -1.1777127838286106e-05,
+ 1.3876534700393677,
+ 0.001385822077281773,
+ -0.0002166358899557963,
+ 1.6030597686767578,
+ -0.0008817773195914924,
+ 0.0006957383593544364,
+ 1.2002336978912354,
+ 0.00014829006977379322,
+ 5.177184721105732e-05,
+ 1.3830827474594116,
+ -0.0017175986431539059,
+ 0.000278054503723979,
+ 1.6003209352493286,
+ -0.0015694912290200591,
+ 0.0002449486928526312,
+ 1.2000586986541748,
+ 9.371733904117718e-05,
+ 1.2769793102052063e-05,
+ 0.3529108762741089,
+ 1.318139910697937,
+ -0.4509435296058655,
+ 0.00024037806724663824,
+ 0.0014051124453544617,
+ -0.4948613941669464,
+ -6.958145240787417e-05,
+ 0.0004019569605588913,
+ -0.6446066498756409
+ ],
+ "wrist_pos": [
+ 0.05971202254295349,
+ 0.13991864025592804,
+ 0.6452551484107971
+ ],
+ "wrist_rot": [
+ -0.1682259738445282,
+ 0.6868213415145874,
+ 0.1681586354970932,
+ 0.6868034601211548
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 125,
+ "virtual_xyz": [
+ 0.05969368666410446,
+ 0.1420576125383377,
+ 0.6452552080154419
+ ],
+ "wrist_rpy": [
+ -1.5709006786346436,
+ 1.0992507934570312,
+ 1.5708013772964478
+ ],
+ "finger_dofs": [
+ 1.382872462272644,
+ 5.5482938478235155e-05,
+ 5.795074321213178e-05,
+ 1.5999321937561035,
+ 3.555533112375997e-05,
+ -4.710379653261043e-05,
+ 1.1999220848083496,
+ 3.6370821021591837e-07,
+ 1.1683779121085536e-05,
+ 1.382882833480835,
+ -0.0005304633523337543,
+ 7.664622535230592e-05,
+ 1.5999656915664673,
+ -0.0007540481747128069,
+ 0.00011439804075052962,
+ 1.2000173330307007,
+ 6.929397204658017e-05,
+ -1.1844237633340526e-05,
+ 1.3876464366912842,
+ 0.0013789288932457566,
+ -0.00021750024461653084,
+ 1.6030577421188354,
+ -0.0008812555461190641,
+ 0.0006958458106964827,
+ 1.2002348899841309,
+ 0.00014804874081164598,
+ 5.154552127351053e-05,
+ 1.383083701133728,
+ -0.0017176163382828236,
+ 0.0002772023726720363,
+ 1.6003222465515137,
+ -0.0015727495774626732,
+ 0.0002450064057484269,
+ 1.200058102607727,
+ 9.364165453007445e-05,
+ 1.2611878446477931e-05,
+ 0.35289832949638367,
+ 1.3181421756744385,
+ -0.4509369730949402,
+ 0.00023978817625902593,
+ 0.0014059204841032624,
+ -0.494861900806427,
+ -6.992519774939865e-05,
+ 0.00040227785939350724,
+ -0.6446066498756409
+ ],
+ "wrist_pos": [
+ 0.05969380587339401,
+ 0.14205756783485413,
+ 0.6452551484107971
+ ],
+ "wrist_rot": [
+ -0.16521038115024567,
+ 0.6875529289245605,
+ 0.16514217853546143,
+ 0.6875350475311279
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 126,
+ "virtual_xyz": [
+ 0.059694260358810425,
+ 0.14419661462306976,
+ 0.6452552080154419
+ ],
+ "wrist_rpy": [
+ -1.5709015130996704,
+ 1.1080286502838135,
+ 1.5708019733428955
+ ],
+ "finger_dofs": [
+ 1.382873296737671,
+ 5.2947951189707965e-05,
+ 5.812123345094733e-05,
+ 1.599931240081787,
+ 3.4159467759309337e-05,
+ -4.6936133003327996e-05,
+ 1.1999226808547974,
+ 3.3985560321525554e-07,
+ 1.1593641829676926e-05,
+ 1.3828835487365723,
+ -0.0005306514212861657,
+ 7.597426156280562e-05,
+ 1.5999667644500732,
+ -0.0007560161757282913,
+ 0.0001146901267929934,
+ 1.2000173330307007,
+ 6.951642717467621e-05,
+ -1.192322997667361e-05,
+ 1.387639045715332,
+ 0.0013718974078074098,
+ -0.00021912986994720995,
+ 1.6030559539794922,
+ -0.0008798688068054616,
+ 0.0006971219554543495,
+ 1.2002367973327637,
+ 0.00014757816097699106,
+ 5.096413951832801e-05,
+ 1.383084774017334,
+ -0.0017176134278997779,
+ 0.000276067788945511,
+ 1.6003245115280151,
+ -0.0015769118908792734,
+ 0.00024521700106561184,
+ 1.2000582218170166,
+ 9.353125642519444e-05,
+ 1.2284509466553573e-05,
+ 0.35288742184638977,
+ 1.3181438446044922,
+ -0.45093077421188354,
+ 0.00023919394880067557,
+ 0.001406846335157752,
+ -0.49486231803894043,
+ -7.026893581496552e-05,
+ 0.00040255283238366246,
+ -0.6446068286895752
+ ],
+ "wrist_pos": [
+ 0.059694379568099976,
+ 0.14419656991958618,
+ 0.6452551484107971
+ ],
+ "wrist_rot": [
+ -0.16219133138656616,
+ 0.688271164894104,
+ 0.16212278604507446,
+ 0.6882535219192505
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 127,
+ "virtual_xyz": [
+ 0.059713613241910934,
+ 0.14633554220199585,
+ 0.6452552080154419
+ ],
+ "wrist_rpy": [
+ -1.570902705192566,
+ 1.116806983947754,
+ 1.570801854133606
+ ],
+ "finger_dofs": [
+ 1.3828740119934082,
+ 5.033362685935572e-05,
+ 5.826376946060918e-05,
+ 1.5999304056167603,
+ 3.2648680644342676e-05,
+ -4.674726733355783e-05,
+ 1.1999231576919556,
+ 3.169162710037199e-07,
+ 1.1494773389131296e-05,
+ 1.3828842639923096,
+ -0.000530954566784203,
+ 7.526567060267553e-05,
+ 1.5999678373336792,
+ -0.0007581862155348063,
+ 0.00011501595145091414,
+ 1.2000179290771484,
+ 6.976123404456303e-05,
+ -1.2008635167148896e-05,
+ 1.3876315355300903,
+ 0.0013648397289216518,
+ -0.00022101089416537434,
+ 1.6030547618865967,
+ -0.0008782344521023333,
+ 0.0006981422193348408,
+ 1.200238823890686,
+ 0.00014709513925481588,
+ 5.031521504861303e-05,
+ 1.3830859661102295,
+ -0.0017177652334794402,
+ 0.0002748624829109758,
+ 1.6003265380859375,
+ -0.0015806036535650492,
+ 0.00024546479107812047,
+ 1.200057864189148,
+ 9.342060366179794e-05,
+ 1.1920055840164423e-05,
+ 0.35287854075431824,
+ 1.318144679069519,
+ -0.4509240686893463,
+ 0.00023850852448958904,
+ 0.0014077875530347228,
+ -0.4948626756668091,
+ -7.064692908897996e-05,
+ 0.00040285461000166833,
+ -0.6446070671081543
+ ],
+ "wrist_pos": [
+ 0.059713736176490784,
+ 0.14633549749851227,
+ 0.6452551484107971
+ ],
+ "wrist_rot": [
+ -0.15916933119297028,
+ 0.6889761090278625,
+ 0.15909992158412933,
+ 0.6889586448669434
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 128,
+ "virtual_xyz": [
+ 0.059751734137535095,
+ 0.14847420156002045,
+ 0.6452551484107971
+ ],
+ "wrist_rpy": [
+ -1.570904016494751,
+ 1.1255850791931152,
+ 1.5708019733428955
+ ],
+ "finger_dofs": [
+ 1.382874846458435,
+ 4.808223093277775e-05,
+ 5.844906627316959e-05,
+ 1.599929690361023,
+ 3.165079397149384e-05,
+ -4.665231972467154e-05,
+ 1.1999236345291138,
+ 2.6560519472695887e-07,
+ 1.1417351743148174e-05,
+ 1.382885217666626,
+ -0.0005308429826982319,
+ 7.460120104951784e-05,
+ 1.599969506263733,
+ -0.0007597415242344141,
+ 0.00011525934678502381,
+ 1.200018048286438,
+ 6.992402632022277e-05,
+ -1.2089445590390824e-05,
+ 1.3876253366470337,
+ 0.0013584215193986893,
+ -0.00022261969570536166,
+ 1.6030538082122803,
+ -0.0008774864836595953,
+ 0.0006993284914642572,
+ 1.2002402544021606,
+ 0.00014675244165118784,
+ 4.9801070417743176e-05,
+ 1.383086919784546,
+ -0.001718395622447133,
+ 0.00027369442977942526,
+ 1.6003282070159912,
+ -0.0015838071703910828,
+ 0.00024561621830798686,
+ 1.2000576257705688,
+ 9.332684567198157e-05,
+ 1.1627576895989478e-05,
+ 0.35287266969680786,
+ 1.3181452751159668,
+ -0.45091918110847473,
+ 0.0002381325903115794,
+ 0.0014084886061027646,
+ -0.49486324191093445,
+ -7.100385118974373e-05,
+ 0.00040311916382052004,
+ -0.6446072459220886
+ ],
+ "wrist_pos": [
+ 0.059751853346824646,
+ 0.14847415685653687,
+ 0.6452550888061523
+ ],
+ "wrist_rot": [
+ -0.15614446997642517,
+ 0.6896678805351257,
+ 0.15607395768165588,
+ 0.6896505355834961
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 129,
+ "virtual_xyz": [
+ 0.0598086453974247,
+ 0.150612473487854,
+ 0.6452551484107971
+ ],
+ "wrist_rpy": [
+ -1.5709054470062256,
+ 1.1343632936477661,
+ 1.570802092552185
+ ],
+ "finger_dofs": [
+ 1.3828758001327515,
+ 4.55511144537013e-05,
+ 5.847978900419548e-05,
+ 1.599928617477417,
+ 3.0298697311081924e-05,
+ -4.646542583941482e-05,
+ 1.1999239921569824,
+ 2.0873503103757685e-07,
+ 1.129665361077059e-05,
+ 1.382886528968811,
+ -0.0005309610278345644,
+ 7.377426663879305e-05,
+ 1.599970817565918,
+ -0.0007617094670422375,
+ 0.00011556850222405046,
+ 1.200018286705017,
+ 7.013981667114422e-05,
+ -1.2181829333712813e-05,
+ 1.3876185417175293,
+ 0.0013517719926312566,
+ -0.00022475927835330367,
+ 1.603053331375122,
+ -0.0008761893259361386,
+ 0.0007007330423220992,
+ 1.2002424001693726,
+ 0.00014618718705605716,
+ 4.9019246944226325e-05,
+ 1.3830879926681519,
+ -0.0017189126228913665,
+ 0.00027229031547904015,
+ 1.6003304719924927,
+ -0.0015869889175519347,
+ 0.0002458973613101989,
+ 1.2000576257705688,
+ 9.32172333705239e-05,
+ 1.1200733752048109e-05,
+ 0.3528655171394348,
+ 1.3181462287902832,
+ -0.4509132206439972,
+ 0.00023754642461426556,
+ 0.0014094192301854491,
+ -0.4948638081550598,
+ -7.13936096872203e-05,
+ 0.00040341110434383154,
+ -0.6446074843406677
+ ],
+ "wrist_pos": [
+ 0.05980876088142395,
+ 0.15061242878437042,
+ 0.6452550888061523
+ ],
+ "wrist_rot": [
+ -0.1531163454055786,
+ 0.6903464794158936,
+ 0.15304498374462128,
+ 0.6903291344642639
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 130,
+ "virtual_xyz": [
+ 0.05988432094454765,
+ 0.1527501493692398,
+ 0.6452550888061523
+ ],
+ "wrist_rpy": [
+ -1.5709059238433838,
+ 1.143141508102417,
+ 1.5708022117614746
+ ],
+ "finger_dofs": [
+ 1.3828768730163574,
+ 4.293528763810173e-05,
+ 5.825846528750844e-05,
+ 1.599927544593811,
+ 2.885678804886993e-05,
+ -4.620443723979406e-05,
+ 1.199925184249878,
+ 1.1398093135994714e-07,
+ 1.1117816029582173e-05,
+ 1.3828870058059692,
+ -0.0005312019493430853,
+ 7.272172661032528e-05,
+ 1.5999723672866821,
+ -0.0007638799725100398,
+ 0.00011591502698138356,
+ 1.2000190019607544,
+ 7.036916213110089e-05,
+ -1.2287007848499343e-05,
+ 1.3876127004623413,
+ 0.0013450335245579481,
+ -0.00022754480596631765,
+ 1.6030536890029907,
+ -0.0008748256368562579,
+ 0.0007027144310995936,
+ 1.2002443075180054,
+ 0.0001453557051718235,
+ 4.787918078363873e-05,
+ 1.383089303970337,
+ -0.0017195382388308644,
+ 0.0002706234226934612,
+ 1.6003330945968628,
+ -0.0015905797481536865,
+ 0.00024633834254927933,
+ 1.2000577449798584,
+ 9.306668653152883e-05,
+ 1.06000179584953e-05,
+ 0.35285741090774536,
+ 1.318146824836731,
+ -0.4509072005748749,
+ 0.00023698076256550848,
+ 0.0014103231951594353,
+ -0.49486446380615234,
+ -7.181176624726504e-05,
+ 0.00040380796417593956,
+ -0.644607663154602
+ ],
+ "wrist_pos": [
+ 0.0598844438791275,
+ 0.15275010466575623,
+ 0.6452550292015076
+ ],
+ "wrist_rot": [
+ -0.15008512139320374,
+ 0.6910116076469421,
+ 0.15001346170902252,
+ 0.6909945011138916
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 131,
+ "virtual_xyz": [
+ 0.059978749603033066,
+ 0.15488708019256592,
+ 0.6452550888061523
+ ],
+ "wrist_rpy": [
+ -1.5709062814712524,
+ 1.1519194841384888,
+ 1.5708025693893433
+ ],
+ "finger_dofs": [
+ 1.3828777074813843,
+ 4.038074257550761e-05,
+ 5.812623930978589e-05,
+ 1.5999259948730469,
+ 2.747500366240274e-05,
+ -4.5976055844221264e-05,
+ 1.1999261379241943,
+ 2.9124555211978986e-08,
+ 1.0960613508359529e-05,
+ 1.382887840270996,
+ -0.0005313704605214298,
+ 7.174571510404348e-05,
+ 1.5999736785888672,
+ -0.0007660004775971174,
+ 0.00011625186016317457,
+ 1.200019359588623,
+ 7.06042192177847e-05,
+ -1.2388582945277449e-05,
+ 1.3876065015792847,
+ 0.001337951049208641,
+ -0.00023011592566035688,
+ 1.6030532121658325,
+ -0.0008732639835216105,
+ 0.0007040728232823312,
+ 1.2002462148666382,
+ 0.0001446107926312834,
+ 4.687468390329741e-05,
+ 1.3830902576446533,
+ -0.0017200264846906066,
+ 0.00026902492390945554,
+ 1.6003355979919434,
+ -0.001593654858879745,
+ 0.00024672539439052343,
+ 1.2000575065612793,
+ 9.293622133554891e-05,
+ 1.0061700777441729e-05,
+ 0.3528498113155365,
+ 1.3181475400924683,
+ -0.45090118050575256,
+ 0.00023638829588890076,
+ 0.0014112006174400449,
+ -0.49486497044563293,
+ -7.229168113553897e-05,
+ 0.00040454367990605533,
+ -0.6446079611778259
+ ],
+ "wrist_pos": [
+ 0.05997886508703232,
+ 0.15488703548908234,
+ 0.6452550292015076
+ ],
+ "wrist_rot": [
+ -0.1470509171485901,
+ 0.6916633248329163,
+ 0.1469791680574417,
+ 0.6916465163230896
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 132,
+ "virtual_xyz": [
+ 0.060091953724622726,
+ 0.157023087143898,
+ 0.6452550888061523
+ ],
+ "wrist_rpy": [
+ -1.5709067583084106,
+ 1.1606976985931396,
+ 1.5708022117614746
+ ],
+ "finger_dofs": [
+ 1.3828785419464111,
+ 3.798390389420092e-05,
+ 5.806834087707102e-05,
+ 1.599924921989441,
+ 2.6314581191400066e-05,
+ -4.579519008984789e-05,
+ 1.1999268531799316,
+ -5.676378123098402e-08,
+ 1.0824663149833214e-05,
+ 1.3828890323638916,
+ -0.0005313376896083355,
+ 7.083749369485304e-05,
+ 1.5999748706817627,
+ -0.0007678392576053739,
+ 0.00011655021808110178,
+ 1.2000198364257812,
+ 7.080811337800696e-05,
+ -1.248531316377921e-05,
+ 1.387599229812622,
+ 0.0013288534246385098,
+ -0.00023251876700669527,
+ 1.6030516624450684,
+ -0.0008702733321115375,
+ 0.0007053011795505881,
+ 1.2002487182617188,
+ 0.00014393571473192424,
+ 4.5995868276804686e-05,
+ 1.3830909729003906,
+ -0.0017204696778208017,
+ 0.00026749129756353796,
+ 1.600338101387024,
+ -0.001596868154592812,
+ 0.0002470392209943384,
+ 1.2000576257705688,
+ 9.282732935389504e-05,
+ 9.593062713975087e-06,
+ 0.35284242033958435,
+ 1.3181484937667847,
+ -0.45089560747146606,
+ 0.00023591092030983418,
+ 0.0014120343839749694,
+ -0.49486565589904785,
+ -7.278506382135674e-05,
+ 0.00040525791700929403,
+ -0.6446080803871155
+ ],
+ "wrist_pos": [
+ 0.06009206920862198,
+ 0.15702302753925323,
+ 0.6452550292015076
+ ],
+ "wrist_rot": [
+ -0.14401400089263916,
+ 0.6923017501831055,
+ 0.1439417600631714,
+ 0.6922852993011475
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 133,
+ "virtual_xyz": [
+ 0.06022389605641365,
+ 0.15915800631046295,
+ 0.6452550292015076
+ ],
+ "wrist_rpy": [
+ -1.5709072351455688,
+ 1.1694756746292114,
+ 1.5708022117614746
+ ],
+ "finger_dofs": [
+ 1.3828798532485962,
+ 3.54867588612251e-05,
+ 5.7738427130971104e-05,
+ 1.5999232530593872,
+ 2.5012022888404317e-05,
+ -4.553057806333527e-05,
+ 1.1999280452728271,
+ -1.7902698346006218e-07,
+ 1.0627445590216666e-05,
+ 1.382890224456787,
+ -0.00053139723604545,
+ 6.968210072955117e-05,
+ 1.5999761819839478,
+ -0.0007698538829572499,
+ 0.00011688732774928212,
+ 1.2000197172164917,
+ 7.102402014425024e-05,
+ -1.2596169653988909e-05,
+ 1.3875926733016968,
+ 0.0013203200651332736,
+ -0.00023560013505630195,
+ 1.603050708770752,
+ -0.0008673853590153158,
+ 0.0007069966522976756,
+ 1.2002508640289307,
+ 0.0001429892290616408,
+ 4.4739888835465536e-05,
+ 1.383091688156128,
+ -0.0017211108934134245,
+ 0.00026565653388388455,
+ 1.6003406047821045,
+ -0.0016002424526959658,
+ 0.0002475070068612695,
+ 1.2000575065612793,
+ 9.266690176445991e-05,
+ 8.939691724663135e-06,
+ 0.35283365845680237,
+ 1.318150281906128,
+ -0.4508898854255676,
+ 0.0002354067692067474,
+ 0.0014129787450656295,
+ -0.4948662519454956,
+ -7.329120126087219e-05,
+ 0.00040596158942207694,
+ -0.644608199596405
+ ],
+ "wrist_pos": [
+ 0.0602240189909935,
+ 0.15915794670581818,
+ 0.6452549695968628
+ ],
+ "wrist_rot": [
+ -0.14097441732883453,
+ 0.692926824092865,
+ 0.1409018188714981,
+ 0.6929106712341309
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 134,
+ "virtual_xyz": [
+ 0.06037458777427673,
+ 0.1612917184829712,
+ 0.6452550292015076
+ ],
+ "wrist_rpy": [
+ -1.570907711982727,
+ 1.1782536506652832,
+ 1.5708028078079224
+ ],
+ "finger_dofs": [
+ 1.382880687713623,
+ 3.303158518974669e-05,
+ 5.7424349506618455e-05,
+ 1.5999218225479126,
+ 2.3764674551784992e-05,
+ -4.528428689809516e-05,
+ 1.199928879737854,
+ -3.0542463491656235e-07,
+ 1.0433945135446265e-05,
+ 1.382891297340393,
+ -0.0005314312875270844,
+ 6.853525701444596e-05,
+ 1.5999774932861328,
+ -0.0007718624547123909,
+ 0.00011722197814378887,
+ 1.2000197172164917,
+ 7.12413020664826e-05,
+ -1.2708418580587022e-05,
+ 1.3875858783721924,
+ 0.001311090192757547,
+ -0.00023870187578722835,
+ 1.6030497550964355,
+ -0.0008639179868623614,
+ 0.0007086418918333948,
+ 1.2002527713775635,
+ 0.00014204997569322586,
+ 4.3508502130862325e-05,
+ 1.3830928802490234,
+ -0.0017216528067365289,
+ 0.00026381987845525146,
+ 1.600343942642212,
+ -0.001603497308678925,
+ 0.00024797467631287873,
+ 1.2000573873519897,
+ 9.251946903532371e-05,
+ 8.293089194921777e-06,
+ 0.3528251349925995,
+ 1.3181508779525757,
+ -0.4508843719959259,
+ 0.00023493873595725745,
+ 0.0014138827100396156,
+ -0.4948669970035553,
+ -7.38173839636147e-05,
+ 0.00040667413850314915,
+ -0.6446083188056946
+ ],
+ "wrist_pos": [
+ 0.060374703258275986,
+ 0.16129165887832642,
+ 0.6452549695968628
+ ],
+ "wrist_rot": [
+ -0.13793183863162994,
+ 0.6935386657714844,
+ 0.13785918056964874,
+ 0.6935226917266846
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 135,
+ "virtual_xyz": [
+ 0.06054399162530899,
+ 0.1634240299463272,
+ 0.6452549695968628
+ ],
+ "wrist_rpy": [
+ -1.5709078311920166,
+ 1.1870315074920654,
+ 1.570802927017212
+ ],
+ "finger_dofs": [
+ 1.38288152217865,
+ 3.059487062273547e-05,
+ 5.705022704205476e-05,
+ 1.5999202728271484,
+ 2.2539385099662468e-05,
+ -4.5025168219581246e-05,
+ 1.1999300718307495,
+ -4.4372737306730414e-07,
+ 1.022846390696941e-05,
+ 1.3828922510147095,
+ -0.0005314818699844182,
+ 6.734101043548435e-05,
+ 1.5999786853790283,
+ -0.0007739069405943155,
+ 0.00011756943422369659,
+ 1.200020432472229,
+ 7.14645502739586e-05,
+ -1.2824089026253205e-05,
+ 1.3875792026519775,
+ 0.0013017518213018775,
+ -0.00024191485135816038,
+ 1.6030490398406982,
+ -0.0008607375784777105,
+ 0.0007100771181285381,
+ 1.200255036354065,
+ 0.00014104032015893608,
+ 4.219667971483432e-05,
+ 1.3830938339233398,
+ -0.0017222414026036859,
+ 0.0002619130245875567,
+ 1.6003469228744507,
+ -0.0016066395910456777,
+ 0.00024847060558386147,
+ 1.200056791305542,
+ 9.236530604539439e-05,
+ 7.610809916513972e-06,
+ 0.3528177738189697,
+ 1.3181517124176025,
+ -0.45087870955467224,
+ 0.00023446520208381116,
+ 0.0014147154288366437,
+ -0.4948676824569702,
+ -7.432963320752606e-05,
+ 0.0004073799937032163,
+ -0.6446084380149841
+ ],
+ "wrist_pos": [
+ 0.06054411828517914,
+ 0.16342397034168243,
+ 0.645254909992218
+ ],
+ "wrist_rot": [
+ -0.13488666713237762,
+ 0.6941369771957397,
+ 0.13481393456459045,
+ 0.6941213607788086
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 136,
+ "virtual_xyz": [
+ 0.060732122510671616,
+ 0.16555476188659668,
+ 0.6452549695968628
+ ],
+ "wrist_rpy": [
+ -1.570908784866333,
+ 1.1958094835281372,
+ 1.5708037614822388
+ ],
+ "finger_dofs": [
+ 1.3828823566436768,
+ 2.839136686816346e-05,
+ 5.682210030499846e-05,
+ 1.599919080734253,
+ 2.1592903067357838e-05,
+ -4.484664532355964e-05,
+ 1.1999306678771973,
+ -5.746454121435818e-07,
+ 1.0062561159429606e-05,
+ 1.382893681526184,
+ -0.0005312378634698689,
+ 6.628435221500695e-05,
+ 1.5999804735183716,
+ -0.0007755177794024348,
+ 0.00011785022797994316,
+ 1.2000205516815186,
+ 7.163971895352006e-05,
+ -1.2930107914144173e-05,
+ 1.3875728845596313,
+ 0.0012928610667586327,
+ -0.0002446204307489097,
+ 1.603048324584961,
+ -0.000857399427331984,
+ 0.0007114597829058766,
+ 1.2002573013305664,
+ 0.0001402263733325526,
+ 4.113045724807307e-05,
+ 1.3830947875976562,
+ -0.0017227776115760207,
+ 0.00026018396602012217,
+ 1.6003491878509521,
+ -0.0016095642931759357,
+ 0.0002488515747245401,
+ 1.2000566720962524,
+ 9.224354289472103e-05,
+ 7.052569344523363e-06,
+ 0.3528108298778534,
+ 1.3181524276733398,
+ -0.45087385177612305,
+ 0.00023413579037878662,
+ 0.001415478065609932,
+ -0.49486836791038513,
+ -7.482221553800628e-05,
+ 0.00040804134914651513,
+ -0.644608736038208
+ ],
+ "wrist_pos": [
+ 0.06073224917054176,
+ 0.1655547022819519,
+ 0.645254909992218
+ ],
+ "wrist_rot": [
+ -0.13183902204036713,
+ 0.6947221159934998,
+ 0.1317659169435501,
+ 0.6947066187858582
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 137,
+ "virtual_xyz": [
+ 0.060938939452171326,
+ 0.16768376529216766,
+ 0.645254909992218
+ ],
+ "wrist_rpy": [
+ -1.5709096193313599,
+ 1.204587459564209,
+ 1.5708038806915283
+ ],
+ "finger_dofs": [
+ 1.3828833103179932,
+ 2.6197905754088424e-05,
+ 5.644408520311117e-05,
+ 1.5999175310134888,
+ 2.068115645670332e-05,
+ -4.4639706175075844e-05,
+ 1.1999320983886719,
+ -7.333703706535744e-07,
+ 9.864867934084032e-06,
+ 1.3828941583633423,
+ -0.0005310034030117095,
+ 6.509376544272527e-05,
+ 1.599981665611267,
+ -0.0007771197124384344,
+ 0.00011814782192232087,
+ 1.2000209093093872,
+ 7.180470856837928e-05,
+ -1.30434409584268e-05,
+ 1.3875675201416016,
+ 0.001283007557503879,
+ -0.0002476125955581665,
+ 1.6030479669570923,
+ -0.00085385114653036,
+ 0.0007135261548683047,
+ 1.2002589702606201,
+ 0.00013927547843195498,
+ 3.986807132605463e-05,
+ 1.3830962181091309,
+ -0.0017235245322808623,
+ 0.00025828255456872284,
+ 1.6003520488739014,
+ -0.0016126801492646337,
+ 0.0002493026840966195,
+ 1.200057029724121,
+ 9.208970004692674e-05,
+ 6.399898211384425e-06,
+ 0.3528040945529938,
+ 1.3181532621383667,
+ -0.4508694112300873,
+ 0.00023387624241877347,
+ 0.0014163932064548135,
+ -0.4948691129684448,
+ -7.533168536610901e-05,
+ 0.00040871824603527784,
+ -0.6446089148521423
+ ],
+ "wrist_pos": [
+ 0.060939062386751175,
+ 0.1676837056875229,
+ 0.6452548503875732
+ ],
+ "wrist_rot": [
+ -0.12878891825675964,
+ 0.6952937841415405,
+ 0.12871544063091278,
+ 0.6952784657478333
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 138,
+ "virtual_xyz": [
+ 0.061164453625679016,
+ 0.16981084644794464,
+ 0.645254909992218
+ ],
+ "wrist_rpy": [
+ -1.5709093809127808,
+ 1.2133654356002808,
+ 1.570804238319397
+ ],
+ "finger_dofs": [
+ 1.3828843832015991,
+ 2.3925727873574942e-05,
+ 5.5938791774678975e-05,
+ 1.5999163389205933,
+ 1.96428027265938e-05,
+ -4.437057941686362e-05,
+ 1.1999331712722778,
+ -9.028047429637809e-07,
+ 9.638070878281724e-06,
+ 1.38289475440979,
+ -0.0005308461259119213,
+ 6.37957637081854e-05,
+ 1.5999829769134521,
+ -0.0007789360242895782,
+ 0.00011846354027511552,
+ 1.2000212669372559,
+ 7.200441177701578e-05,
+ -1.3162592040316667e-05,
+ 1.3875619173049927,
+ 0.0012732534669339657,
+ -0.00025104908854700625,
+ 1.6030479669570923,
+ -0.0008502068812958896,
+ 0.0007156635983847082,
+ 1.2002613544464111,
+ 0.00013818398292642087,
+ 3.842570004053414e-05,
+ 1.3830976486206055,
+ -0.0017241222085431218,
+ 0.00025623341207392514,
+ 1.6003551483154297,
+ -0.0016156213823705912,
+ 0.0002498257963452488,
+ 1.2000566720962524,
+ 9.192546713165939e-05,
+ 5.66431390325306e-06,
+ 0.3527959883213043,
+ 1.318154215812683,
+ -0.45086440443992615,
+ 0.00023353128926828504,
+ 0.0014172546798363328,
+ -0.4948698878288269,
+ -7.582525722682476e-05,
+ 0.0004093391471542418,
+ -0.6446090340614319
+ ],
+ "wrist_pos": [
+ 0.061164580285549164,
+ 0.16981078684329987,
+ 0.6452548503875732
+ ],
+ "wrist_rot": [
+ -0.12573593854904175,
+ 0.6958519816398621,
+ 0.125662699341774,
+ 0.6958370804786682
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 139,
+ "virtual_xyz": [
+ 0.061408624053001404,
+ 0.17193590104579926,
+ 0.6452548503875732
+ ],
+ "wrist_rpy": [
+ -1.5709093809127808,
+ 1.2221436500549316,
+ 1.5708047151565552
+ ],
+ "finger_dofs": [
+ 1.382885456085205,
+ 2.178643990191631e-05,
+ 5.5396500101778656e-05,
+ 1.59991455078125,
+ 1.8762226318358444e-05,
+ -4.413272472447716e-05,
+ 1.1999342441558838,
+ -1.0926409004241577e-06,
+ 9.407260222360492e-06,
+ 1.382895827293396,
+ -0.0005305811064317822,
+ 6.246625707717612e-05,
+ 1.5999842882156372,
+ -0.0007805530913174152,
+ 0.00011876442295033485,
+ 1.200021505355835,
+ 7.216972880996764e-05,
+ -1.3284573469718453e-05,
+ 1.3875559568405151,
+ 0.0012620018096640706,
+ -0.00025460842880420387,
+ 1.6030477285385132,
+ -0.0008455639472231269,
+ 0.0007180239190347493,
+ 1.2002639770507812,
+ 0.0001370813843095675,
+ 3.6955847463104874e-05,
+ 1.3830984830856323,
+ -0.0017248615622520447,
+ 0.0002541528083384037,
+ 1.6003583669662476,
+ -0.0016187034780159593,
+ 0.00025034541613422334,
+ 1.2000563144683838,
+ 9.1749825514853e-05,
+ 4.9170989768754225e-06,
+ 0.3527892231941223,
+ 1.3181543350219727,
+ -0.4508598744869232,
+ 0.0002332904259674251,
+ 0.0014180815778672695,
+ -0.49487069249153137,
+ -7.631752669112757e-05,
+ 0.00040998132317326963,
+ -0.6446091532707214
+ ],
+ "wrist_pos": [
+ 0.06140874698758125,
+ 0.17193584144115448,
+ 0.6452547907829285
+ ],
+ "wrist_rot": [
+ -0.12268035858869553,
+ 0.6963969469070435,
+ 0.12260761111974716,
+ 0.6963822841644287
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 140,
+ "virtual_xyz": [
+ 0.061671432107686996,
+ 0.1740586906671524,
+ 0.6452548503875732
+ ],
+ "wrist_rpy": [
+ -1.5709096193313599,
+ 1.2309218645095825,
+ 1.5708048343658447
+ ],
+ "finger_dofs": [
+ 1.3828861713409424,
+ 1.9576937120291404e-05,
+ 5.477079321281053e-05,
+ 1.5999127626419067,
+ 1.7726781152305193e-05,
+ -4.384086423669942e-05,
+ 1.1999351978302002,
+ -1.279134721698938e-06,
+ 9.157583917840384e-06,
+ 1.382896900177002,
+ -0.0005304174264892936,
+ 6.107935769250616e-05,
+ 1.5999853610992432,
+ -0.0007823628839105368,
+ 0.00011909234308404848,
+ 1.2000216245651245,
+ 7.237173849716783e-05,
+ -1.3408696759142913e-05,
+ 1.3875504732131958,
+ 0.001252750400453806,
+ -0.0002583323512226343,
+ 1.6030482053756714,
+ -0.0008419440127909184,
+ 0.000719990290235728,
+ 1.2002663612365723,
+ 0.00013590414891950786,
+ 3.537202792358585e-05,
+ 1.3830995559692383,
+ -0.0017254739068448544,
+ 0.000251970486715436,
+ 1.600361704826355,
+ -0.0016213932540267706,
+ 0.0002508956822566688,
+ 1.200055718421936,
+ 9.156387386610731e-05,
+ 4.114316197956214e-06,
+ 0.3527825176715851,
+ 1.3181554079055786,
+ -0.4508551061153412,
+ 0.00023292201512958854,
+ 0.0014189188368618488,
+ -0.49487125873565674,
+ -7.67967794672586e-05,
+ 0.0004105697153136134,
+ -0.6446093916893005
+ ],
+ "wrist_pos": [
+ 0.06167155131697655,
+ 0.17405863106250763,
+ 0.6452547907829285
+ ],
+ "wrist_rot": [
+ -0.1196228563785553,
+ 0.6969282627105713,
+ 0.11954982578754425,
+ 0.6969139575958252
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 141,
+ "virtual_xyz": [
+ 0.06195288151502609,
+ 0.17617914080619812,
+ 0.6452547907829285
+ ],
+ "wrist_rpy": [
+ -1.5709104537963867,
+ 1.2397000789642334,
+ 1.5708056688308716
+ ],
+ "finger_dofs": [
+ 1.3828870058059692,
+ 1.7635013136896305e-05,
+ 5.4274431022349745e-05,
+ 1.5999112129211426,
+ 1.708612580841873e-05,
+ -4.3653421016642824e-05,
+ 1.1999367475509644,
+ -1.4762214277652674e-06,
+ 8.94364984560525e-06,
+ 1.3828976154327393,
+ -0.0005299943150021136,
+ 5.979976413073018e-05,
+ 1.5999869108200073,
+ -0.0007837988086976111,
+ 0.00011937222006963566,
+ 1.2000219821929932,
+ 7.252258365042508e-05,
+ -1.3527715054806322e-05,
+ 1.3875453472137451,
+ 0.0012413403019309044,
+ -0.0002617452119011432,
+ 1.6030476093292236,
+ -0.000837448809761554,
+ 0.0007224297150969505,
+ 1.2002694606781006,
+ 0.0001348976802546531,
+ 3.400589048396796e-05,
+ 1.3831006288528442,
+ -0.0017261261818930507,
+ 0.0002499553665984422,
+ 1.6003655195236206,
+ -0.0016244930448010564,
+ 0.00025140997604466975,
+ 1.2000553607940674,
+ 9.142778435489163e-05,
+ 3.4181155115220463e-06,
+ 0.3527770936489105,
+ 1.3181554079055786,
+ -0.4508513808250427,
+ 0.00023284924100153148,
+ 0.001419727923348546,
+ -0.49487215280532837,
+ -7.730023207841441e-05,
+ 0.0004112075548619032,
+ -0.6446096897125244
+ ],
+ "wrist_pos": [
+ 0.06195300444960594,
+ 0.17617908120155334,
+ 0.6452547311782837
+ ],
+ "wrist_rot": [
+ -0.11656282097101212,
+ 0.697446346282959,
+ 0.11648967117071152,
+ 0.697432279586792
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 142,
+ "virtual_xyz": [
+ 0.06225293129682541,
+ 0.1782969981431961,
+ 0.6452547907829285
+ ],
+ "wrist_rpy": [
+ -1.5709105730056763,
+ 1.2484784126281738,
+ 1.570805311203003
+ ],
+ "finger_dofs": [
+ 1.3828877210617065,
+ 1.562558281875681e-05,
+ 5.365440301829949e-05,
+ 1.5999094247817993,
+ 1.631868872209452e-05,
+ -4.3407006160123274e-05,
+ 1.1999382972717285,
+ -1.6795452211226802e-06,
+ 8.702408194949385e-06,
+ 1.3828986883163452,
+ -0.0005295879673212767,
+ 5.8420740970177576e-05,
+ 1.5999884605407715,
+ -0.000785272044595331,
+ 0.00011966101737925783,
+ 1.2000219821929932,
+ 7.26839789422229e-05,
+ -1.3649223546963185e-05,
+ 1.3875395059585571,
+ 0.0012310603633522987,
+ -0.0002653923584148288,
+ 1.6030479669570923,
+ -0.000833179394248873,
+ 0.0007244540611281991,
+ 1.2002723217010498,
+ 0.00013375957496464252,
+ 3.2478685170644894e-05,
+ 1.383101463317871,
+ -0.0017267755465582013,
+ 0.0002477676316630095,
+ 1.6003684997558594,
+ -0.0016270761843770742,
+ 0.00025194353656843305,
+ 1.200055480003357,
+ 9.125839278567582e-05,
+ 2.645503400344751e-06,
+ 0.3527706265449524,
+ 1.3181564807891846,
+ -0.4508470892906189,
+ 0.00023264643095899373,
+ 0.00142048136331141,
+ -0.4948729872703552,
+ -7.777821156196296e-05,
+ 0.0004117676289752126,
+ -0.6446097493171692
+ ],
+ "wrist_pos": [
+ 0.06225305423140526,
+ 0.17829693853855133,
+ 0.6452547311782837
+ ],
+ "wrist_rot": [
+ -0.11350064724683762,
+ 0.6979508996009827,
+ 0.11342722922563553,
+ 0.6979371905326843
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 143,
+ "virtual_xyz": [
+ 0.06257154792547226,
+ 0.1804122030735016,
+ 0.6452547311782837
+ ],
+ "wrist_rpy": [
+ -1.5709104537963867,
+ 1.2572565078735352,
+ 1.5708059072494507
+ ],
+ "finger_dofs": [
+ 1.382888674736023,
+ 1.370990230498137e-05,
+ 5.296430390444584e-05,
+ 1.5999081134796143,
+ 1.5658826669096015e-05,
+ -4.316380000091158e-05,
+ 1.199939489364624,
+ -1.9026433619728778e-06,
+ 8.44988153403392e-06,
+ 1.3828996419906616,
+ -0.000529168697539717,
+ 5.699440953321755e-05,
+ 1.5999897718429565,
+ -0.000786718272138387,
+ 0.00011995228851446882,
+ 1.2000221014022827,
+ 7.283764716703445e-05,
+ -1.3775725165032782e-05,
+ 1.387534737586975,
+ 0.0012194094015285373,
+ -0.0002691990230232477,
+ 1.6030482053756714,
+ -0.000828414922580123,
+ 0.0007270051282830536,
+ 1.2002742290496826,
+ 0.00013256135571282357,
+ 3.086915239691734e-05,
+ 1.3831026554107666,
+ -0.0017275812570005655,
+ 0.0002455388312228024,
+ 1.6003714799880981,
+ -0.0016300588613376021,
+ 0.0002525355957914144,
+ 1.2000551223754883,
+ 9.109395614359528e-05,
+ 1.8363044773650472e-06,
+ 0.35276374220848083,
+ 1.318157434463501,
+ -0.45084330439567566,
+ 0.0002325657260371372,
+ 0.0014213176909834146,
+ -0.49487364292144775,
+ -7.824257772881538e-05,
+ 0.000412389897974208,
+ -0.6446099877357483
+ ],
+ "wrist_pos": [
+ 0.06257167458534241,
+ 0.1804121434688568,
+ 0.6452546715736389
+ ],
+ "wrist_rot": [
+ -0.11043605208396912,
+ 0.6984419822692871,
+ 0.11036312580108643,
+ 0.6984285712242126
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 144,
+ "virtual_xyz": [
+ 0.06290874630212784,
+ 0.18252450227737427,
+ 0.6452547311782837
+ ],
+ "wrist_rpy": [
+ -1.5709110498428345,
+ 1.2660348415374756,
+ 1.5708061456680298
+ ],
+ "finger_dofs": [
+ 1.3828895092010498,
+ 1.184743541671196e-05,
+ 5.2282797696534544e-05,
+ 1.599906086921692,
+ 1.5038604033179581e-05,
+ -4.29245010309387e-05,
+ 1.19994056224823,
+ -2.123180593116558e-06,
+ 8.20187142380746e-06,
+ 1.3829004764556885,
+ -0.0005286777159199119,
+ 5.558229531743564e-05,
+ 1.5999910831451416,
+ -0.000788134871982038,
+ 0.00012023059389321133,
+ 1.2000222206115723,
+ 7.300122524611652e-05,
+ -1.3898301403969526e-05,
+ 1.3875305652618408,
+ 0.0012094698613509536,
+ -0.00027297443011775613,
+ 1.6030486822128296,
+ -0.0008241079631261528,
+ 0.000729186984244734,
+ 1.2002768516540527,
+ 0.00013140600640326738,
+ 2.9294893465703353e-05,
+ 1.3831039667129517,
+ -0.0017281451728194952,
+ 0.00024332106113433838,
+ 1.6003743410110474,
+ -0.001632700557820499,
+ 0.00025310670025646687,
+ 1.2000547647476196,
+ 9.09421214601025e-05,
+ 1.0459510804139427e-06,
+ 0.35275799036026,
+ 1.318157434463501,
+ -0.4508398175239563,
+ 0.0002324626548215747,
+ 0.0014220415614545345,
+ -0.4948744475841522,
+ -7.869223918532953e-05,
+ 0.0004129052977077663,
+ -0.6446101665496826
+ ],
+ "wrist_pos": [
+ 0.06290887296199799,
+ 0.1825244426727295,
+ 0.6452546715736389
+ ],
+ "wrist_rot": [
+ -0.10736971348524094,
+ 0.6989196538925171,
+ 0.10729648172855377,
+ 0.6989065408706665
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 145,
+ "virtual_xyz": [
+ 0.06326445192098618,
+ 0.18463371694087982,
+ 0.6452546715736389
+ ],
+ "wrist_rpy": [
+ -1.5709114074707031,
+ 1.274812936782837,
+ 1.5708067417144775
+ ],
+ "finger_dofs": [
+ 1.3828905820846558,
+ 1.0096988262375817e-05,
+ 5.153279926162213e-05,
+ 1.599904179573059,
+ 1.4530133739754092e-05,
+ -4.268471820978448e-05,
+ 1.1999422311782837,
+ -2.3584686914546182e-06,
+ 7.944415301608387e-06,
+ 1.3829014301300049,
+ -0.0005280321929603815,
+ 5.412665996118449e-05,
+ 1.5999926328659058,
+ -0.0007892625872045755,
+ 0.00012048191274516284,
+ 1.200022578239441,
+ 7.312892557820305e-05,
+ -1.4019959962752182e-05,
+ 1.387526035308838,
+ 0.0011985108722001314,
+ -0.00027674203738570213,
+ 1.603049397468567,
+ -0.0008191890665329993,
+ 0.0007319191936403513,
+ 1.2002793550491333,
+ 0.00013021417544223368,
+ 2.7660225896397606e-05,
+ 1.3831048011779785,
+ -0.0017288858070969582,
+ 0.0002410033775959164,
+ 1.6003777980804443,
+ -0.0016349731013178825,
+ 0.0002537011168897152,
+ 1.200054407119751,
+ 9.079050505533814e-05,
+ 2.2927549991891283e-07,
+ 0.3527515232563019,
+ 1.3181582689285278,
+ -0.4508366584777832,
+ 0.00023242297174874693,
+ 0.0014227244537323713,
+ -0.4948752224445343,
+ -7.91343190940097e-05,
+ 0.00041341749601997435,
+ -0.6446103453636169
+ ],
+ "wrist_pos": [
+ 0.06326457858085632,
+ 0.18463365733623505,
+ 0.6452546119689941
+ ],
+ "wrist_rot": [
+ -0.10430105775594711,
+ 0.6993839740753174,
+ 0.10422773659229279,
+ 0.6993710398674011
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 146,
+ "virtual_xyz": [
+ 0.06363866478204727,
+ 0.1867397576570511,
+ 0.6452546715736389
+ ],
+ "wrist_rpy": [
+ -1.5709115266799927,
+ 1.2835910320281982,
+ 1.5708078145980835
+ ],
+ "finger_dofs": [
+ 1.3828914165496826,
+ 8.388304195250385e-06,
+ 5.076833986095153e-05,
+ 1.5999031066894531,
+ 1.404473641741788e-05,
+ -4.244701631250791e-05,
+ 1.1999431848526,
+ -2.5978606572607532e-06,
+ 7.684836418775376e-06,
+ 1.3829020261764526,
+ -0.0005274593131616712,
+ 5.26717230968643e-05,
+ 1.5999939441680908,
+ -0.0007905223756097257,
+ 0.00012074669939465821,
+ 1.2000226974487305,
+ 7.327533239731565e-05,
+ -1.4143374755803961e-05,
+ 1.3875219821929932,
+ 0.0011884378036484122,
+ -0.00028051435947418213,
+ 1.603050947189331,
+ -0.000815048289950937,
+ 0.0007345632766373456,
+ 1.2002817392349243,
+ 0.00012904070899821818,
+ 2.6021880330517888e-05,
+ 1.3831056356430054,
+ -0.0017296737059950829,
+ 0.00023863397655077279,
+ 1.6003810167312622,
+ -0.001636012806557119,
+ 0.000254444865277037,
+ 1.2000545263290405,
+ 9.071776003111154e-05,
+ -5.962367595202522e-07,
+ 0.35274484753608704,
+ 1.3181591033935547,
+ -0.4508335590362549,
+ 0.00023240748851094395,
+ 0.001423380454070866,
+ -0.4948759973049164,
+ -7.95637461123988e-05,
+ 0.0004139440425205976,
+ -0.644610583782196
+ ],
+ "wrist_pos": [
+ 0.06363879144191742,
+ 0.1867396980524063,
+ 0.6452546119689941
+ ],
+ "wrist_rot": [
+ -0.10123006254434586,
+ 0.6998346447944641,
+ 0.1011575311422348,
+ 0.6998220682144165
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 147,
+ "virtual_xyz": [
+ 0.06403136253356934,
+ 0.18884244561195374,
+ 0.6452546119689941
+ ],
+ "wrist_rpy": [
+ -1.5709117650985718,
+ 1.2923692464828491,
+ 1.570807933807373
+ ],
+ "finger_dofs": [
+ 1.38289213180542,
+ 6.771110292902449e-06,
+ 4.995279959985055e-05,
+ 1.5999008417129517,
+ 1.3686993952433113e-05,
+ -4.221001290716231e-05,
+ 1.1999452114105225,
+ -2.8495167043729452e-06,
+ 7.41975600249134e-06,
+ 1.3829028606414795,
+ -0.000526750460267067,
+ 5.117679029353894e-05,
+ 1.5999951362609863,
+ -0.0007916575414128602,
+ 0.00012100152525817975,
+ 1.2000234127044678,
+ 7.34142231522128e-05,
+ -1.4264435776567552e-05,
+ 1.3875185251235962,
+ 0.001177086727693677,
+ -0.00028437122819013894,
+ 1.6030519008636475,
+ -0.000810071243904531,
+ 0.0007371535757556558,
+ 1.2002840042114258,
+ 0.00012779539974872023,
+ 2.434047928545624e-05,
+ 1.3831068277359009,
+ -0.001730415620841086,
+ 0.0002362256491323933,
+ 1.6003841161727905,
+ -0.0016366621712222695,
+ 0.00025524827651679516,
+ 1.200054407119751,
+ 9.067302744369954e-05,
+ -1.4301022019935772e-06,
+ 0.35274025797843933,
+ 1.318159580230713,
+ -0.4508309066295624,
+ 0.00023250290541909635,
+ 0.0014239153824746609,
+ -0.49487680196762085,
+ -7.996822387212887e-05,
+ 0.00041440673521719873,
+ -0.6446107625961304
+ ],
+ "wrist_pos": [
+ 0.06403148174285889,
+ 0.18884238600730896,
+ 0.6452545523643494
+ ],
+ "wrist_rot": [
+ -0.09815757721662521,
+ 0.7002719044685364,
+ 0.09808478504419327,
+ 0.7002597451210022
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 148,
+ "virtual_xyz": [
+ 0.06444250047206879,
+ 0.19094158709049225,
+ 0.6452545523643494
+ ],
+ "wrist_rpy": [
+ -1.5709115266799927,
+ 1.3011471033096313,
+ 1.5708085298538208
+ ],
+ "finger_dofs": [
+ 1.3828929662704468,
+ 5.125670213601552e-06,
+ 4.897390681435354e-05,
+ 1.5998990535736084,
+ 1.328391044808086e-05,
+ -4.1924413380911574e-05,
+ 1.199946641921997,
+ -3.1250879146682564e-06,
+ 7.118976554920664e-06,
+ 1.382904291152954,
+ -0.0005260268808342516,
+ 4.953626557835378e-05,
+ 1.5999964475631714,
+ -0.000792807259131223,
+ 0.00012126469664508477,
+ 1.2000242471694946,
+ 7.35531430109404e-05,
+ -1.439300012862077e-05,
+ 1.3875151872634888,
+ 0.0011650662636384368,
+ -0.00028861829196102917,
+ 1.6030523777008057,
+ -0.0008048200979828835,
+ 0.0007397541776299477,
+ 1.2002860307693481,
+ 0.00012636945757549256,
+ 2.244635470560752e-05,
+ 1.3831076622009277,
+ -0.0017311166739091277,
+ 0.0002336087782168761,
+ 1.6003881692886353,
+ -0.0016371053643524647,
+ 0.00025612793979234993,
+ 1.2000545263290405,
+ 9.062645403901115e-05,
+ -2.3691943624726264e-06,
+ 0.35273391008377075,
+ 1.3181602954864502,
+ -0.4508281946182251,
+ 0.00023255478299688548,
+ 0.0014246035134419799,
+ -0.4948773682117462,
+ -8.03749353508465e-05,
+ 0.0004148851439822465,
+ -0.6446110010147095
+ ],
+ "wrist_pos": [
+ 0.06444262713193893,
+ 0.19094152748584747,
+ 0.6452544927597046
+ ],
+ "wrist_rot": [
+ -0.09508294612169266,
+ 0.7006955742835999,
+ 0.09501085430383682,
+ 0.7006837725639343
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 149,
+ "virtual_xyz": [
+ 0.06487204134464264,
+ 0.19303710758686066,
+ 0.6452545523643494
+ ],
+ "wrist_rpy": [
+ -1.5709102153778076,
+ 1.3099249601364136,
+ 1.5708087682724
+ ],
+ "finger_dofs": [
+ 1.3828938007354736,
+ 3.4259992389706895e-06,
+ 4.782189353136346e-05,
+ 1.5998966693878174,
+ 1.2756014257320203e-05,
+ -4.1586106817703694e-05,
+ 1.1999484300613403,
+ -3.4226488878630335e-06,
+ 6.778122951800469e-06,
+ 1.3829048871994019,
+ -0.0005255289142951369,
+ 4.7758250730112195e-05,
+ 1.5999975204467773,
+ -0.0007943027885630727,
+ 0.00012157616583863273,
+ 1.2000246047973633,
+ 7.373355037998408e-05,
+ -1.4531606211676262e-05,
+ 1.387511134147644,
+ 0.0011530214687809348,
+ -0.0002933803480118513,
+ 1.6030528545379639,
+ -0.0007988155703060329,
+ 0.0007420942420139909,
+ 1.2002888917922974,
+ 0.00012472299567889422,
+ 2.030838732025586e-05,
+ 1.3831084966659546,
+ -0.0017316408921033144,
+ 0.000230773541261442,
+ 1.6003921031951904,
+ -0.0016373299295082688,
+ 0.00025707384338602424,
+ 1.2000540494918823,
+ 9.054341353476048e-05,
+ -3.428562422413961e-06,
+ 0.3527294993400574,
+ 1.3181606531143188,
+ -0.4508249759674072,
+ 0.00023246888304129243,
+ 0.0014251692919060588,
+ -0.4948781430721283,
+ -8.079464896582067e-05,
+ 0.00041533849434927106,
+ -0.644611120223999
+ ],
+ "wrist_pos": [
+ 0.06487216800451279,
+ 0.19303704798221588,
+ 0.6452544927597046
+ ],
+ "wrist_rot": [
+ -0.09200619161128998,
+ 0.7011058330535889,
+ 0.09193519502878189,
+ 0.701094388961792
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 150,
+ "virtual_xyz": [
+ 0.0653199851512909,
+ 0.19512870907783508,
+ 0.6452544927597046
+ ],
+ "wrist_rpy": [
+ -1.5709083080291748,
+ 1.318703293800354,
+ 1.5708094835281372
+ ],
+ "finger_dofs": [
+ 1.382894515991211,
+ 1.835001853578433e-06,
+ 4.665726737584919e-05,
+ 1.5998951196670532,
+ 1.237388096342329e-05,
+ -4.125219493289478e-05,
+ 1.1999495029449463,
+ -3.726410113813472e-06,
+ 6.440779088734416e-06,
+ 1.3829052448272705,
+ -0.0005248390370979905,
+ 4.59843322460074e-05,
+ 1.5999993085861206,
+ -0.0007955507026053965,
+ 0.00012184943625470623,
+ 1.2000250816345215,
+ 7.389441452687606e-05,
+ -1.466447429265827e-05,
+ 1.387507677078247,
+ 0.0011413275497034192,
+ -0.00029804525547660887,
+ 1.6030539274215698,
+ -0.000793429440818727,
+ 0.0007443821523338556,
+ 1.2002915143966675,
+ 0.0001231137284776196,
+ 1.819214412535075e-05,
+ 1.3831093311309814,
+ -0.0017323411302641034,
+ 0.000227979791816324,
+ 1.6003962755203247,
+ -0.0016374102560803294,
+ 0.0002579445717856288,
+ 1.2000545263290405,
+ 9.04412372619845e-05,
+ -4.467583039513556e-06,
+ 0.3527257740497589,
+ 1.3181601762771606,
+ -0.4508224129676819,
+ 0.00023244787007570267,
+ 0.0014258186565712094,
+ -0.4948787987232208,
+ -8.117641846183687e-05,
+ 0.0004157469666097313,
+ -0.6446113586425781
+ ],
+ "wrist_pos": [
+ 0.06532011181116104,
+ 0.1951286494731903,
+ 0.6452544331550598
+ ],
+ "wrist_rot": [
+ -0.08892729133367538,
+ 0.7015024423599243,
+ 0.08885806798934937,
+ 0.7014915943145752
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 151,
+ "virtual_xyz": [
+ 0.06578625738620758,
+ 0.19721628725528717,
+ 0.6452544927597046
+ ],
+ "wrist_rpy": [
+ -1.570907711982727,
+ 1.3274815082550049,
+ 1.5708105564117432
+ ],
+ "finger_dofs": [
+ 1.3828952312469482,
+ 4.47108021717213e-07,
+ 4.571823956212029e-05,
+ 1.5998932123184204,
+ 1.2182503269286826e-05,
+ -4.1014282032847404e-05,
+ 1.1999517679214478,
+ -4.003423327958444e-06,
+ 6.158687028801069e-06,
+ 1.3829058408737183,
+ -0.0005239841993898153,
+ 4.44243305537384e-05,
+ 1.6000005006790161,
+ -0.00079651630949229,
+ 0.0001220738049596548,
+ 1.2000253200531006,
+ 7.402657502098009e-05,
+ -1.4786589417781215e-05,
+ 1.3875045776367188,
+ 0.0011303552892059088,
+ -0.0003021027659997344,
+ 1.6030552387237549,
+ -0.0007881168858148158,
+ 0.0007466980023309588,
+ 1.2002943754196167,
+ 0.00012177819007774815,
+ 1.6413619960076176e-05,
+ 1.3831102848052979,
+ -0.0017327946843579412,
+ 0.00022548911510966718,
+ 1.6003998517990112,
+ -0.0016372543759644032,
+ 0.0002586816262919456,
+ 1.20005464553833,
+ 9.038708958541974e-05,
+ -5.346310899767559e-06,
+ 0.35272160172462463,
+ 1.3181610107421875,
+ -0.4508202373981476,
+ 0.00023254314146470279,
+ 0.0014264073688536882,
+ -0.49487951397895813,
+ -8.155703108059242e-05,
+ 0.00041615156806074083,
+ -0.6446114778518677
+ ],
+ "wrist_pos": [
+ 0.06578638404607773,
+ 0.1972162276506424,
+ 0.6452544331550598
+ ],
+ "wrist_rot": [
+ -0.08584687858819962,
+ 0.7018856406211853,
+ 0.08577857166528702,
+ 0.7018751502037048
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 152,
+ "virtual_xyz": [
+ 0.06627082079648972,
+ 0.19929972290992737,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709079504013062,
+ 1.3362597227096558,
+ 1.5708117485046387
+ ],
+ "finger_dofs": [
+ 1.3828959465026855,
+ -8.026509590308706e-07,
+ 4.483429802348837e-05,
+ 1.5998915433883667,
+ 1.2131624316680245e-05,
+ -4.080527287442237e-05,
+ 1.1999526023864746,
+ -4.274159891792806e-06,
+ 5.895374670217279e-06,
+ 1.3829065561294556,
+ -0.0005230535170994699,
+ 4.293464735383168e-05,
+ 1.600001335144043,
+ -0.000797396816778928,
+ 0.00012229774438310415,
+ 1.2000253200531006,
+ 7.416081643896177e-05,
+ -1.4902324437571224e-05,
+ 1.3875021934509277,
+ 0.0011185831390321255,
+ -0.0003059339360333979,
+ 1.6030555963516235,
+ -0.0007826031069271266,
+ 0.0007490566931664944,
+ 1.200296401977539,
+ 0.00012053125828970224,
+ 1.474387499911245e-05,
+ 1.3831113576889038,
+ -0.0017334262374788523,
+ 0.0002231306571047753,
+ 1.6004031896591187,
+ -0.0016371767269447446,
+ 0.0002594059915281832,
+ 1.20005464553833,
+ 9.036077972268686e-05,
+ -6.166724233480636e-06,
+ 0.35271701216697693,
+ 1.3181612491607666,
+ -0.4508187174797058,
+ 0.000232750506256707,
+ 0.001426961156539619,
+ -0.4948801100254059,
+ -8.191965753212571e-05,
+ 0.00041656880057416856,
+ -0.6446117758750916
+ ],
+ "wrist_pos": [
+ 0.06627094745635986,
+ 0.1992996633052826,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.08276493847370148,
+ 0.7022554278373718,
+ 0.08269762247800827,
+ 0.7022451758384705
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 153,
+ "virtual_xyz": [
+ 0.0667736679315567,
+ 0.20137882232666016,
+ 0.6452544927597046
+ ],
+ "wrist_rpy": [
+ -1.5709106922149658,
+ 1.3450382947921753,
+ 1.5708122253417969
+ ],
+ "finger_dofs": [
+ 1.3828963041305542,
+ -1.8597530697661568e-06,
+ 4.433501453604549e-05,
+ 1.5998905897140503,
+ 1.225136929861037e-05,
+ -4.0715440263738856e-05,
+ 1.1999539136886597,
+ -4.489153070608154e-06,
+ 5.72160479350714e-06,
+ 1.382907509803772,
+ -0.0005219610757194459,
+ 4.181354961474426e-05,
+ 1.6000028848648071,
+ -0.000798032502643764,
+ 0.00012245307152625173,
+ 1.2000259160995483,
+ 7.429434481309727e-05,
+ -1.4996088793850504e-05,
+ 1.387500524520874,
+ 0.0011084408033639193,
+ -0.00030871605849824846,
+ 1.60305655002594,
+ -0.0007779869483783841,
+ 0.0007508138078264892,
+ 1.2002990245819092,
+ 0.00011976490350207314,
+ 1.363746832794277e-05,
+ 1.3831121921539307,
+ -0.001733826706185937,
+ 0.00022124304086901248,
+ 1.6004061698913574,
+ -0.0016368961660191417,
+ 0.00025991114671342075,
+ 1.200055480003357,
+ 9.043327736435458e-05,
+ -6.7168889472668525e-06,
+ 0.3527139723300934,
+ 1.3181612491607666,
+ -0.450817734003067,
+ 0.00023302985937334597,
+ 0.001427320996299386,
+ -0.49488070607185364,
+ -8.223069744417444e-05,
+ 0.00041688408236950636,
+ -0.6446119546890259
+ ],
+ "wrist_pos": [
+ 0.06677379459142685,
+ 0.20137876272201538,
+ 0.6452544331550598
+ ],
+ "wrist_rot": [
+ -0.07968282699584961,
+ 0.7026116847991943,
+ 0.07961354404687881,
+ 0.7026015520095825
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 154,
+ "virtual_xyz": [
+ 0.06729475408792496,
+ 0.2034534364938736,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709116458892822,
+ 1.3538163900375366,
+ 1.5708128213882446
+ ],
+ "finger_dofs": [
+ 1.382896900177002,
+ -2.9874152005504584e-06,
+ 4.346316563896835e-05,
+ 1.5998890399932861,
+ 1.232346949109342e-05,
+ -4.051396899740212e-05,
+ 1.1999552249908447,
+ -4.757896931550931e-06,
+ 5.468027666211128e-06,
+ 1.3829082250595093,
+ -0.0005208266666159034,
+ 4.035373422084376e-05,
+ 1.6000043153762817,
+ -0.0007987659773789346,
+ 0.00012263868120498955,
+ 1.2000259160995483,
+ 7.443512004101649e-05,
+ -1.5102720681170467e-05,
+ 1.387499213218689,
+ 0.0010967305861413479,
+ -0.00031237240182235837,
+ 1.6030582189559937,
+ -0.0007723398157395422,
+ 0.0007537870551459491,
+ 1.2003014087677002,
+ 0.00011861550592584535,
+ 1.2039733519486617e-05,
+ 1.383113145828247,
+ -0.0017342763021588326,
+ 0.00021895667305216193,
+ 1.6004101037979126,
+ -0.0016364288749173284,
+ 0.0002605890913400799,
+ 1.2000553607940674,
+ 9.044039325090125e-05,
+ -7.495108548027929e-06,
+ 0.35270947217941284,
+ 1.3181614875793457,
+ -0.45081672072410583,
+ 0.00023330982367042452,
+ 0.0014278172748163342,
+ -0.4948812425136566,
+ -8.254281419795007e-05,
+ 0.00041721281013451517,
+ -0.6446121335029602
+ ],
+ "wrist_pos": [
+ 0.0672948807477951,
+ 0.20345337688922882,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.07659830898046494,
+ 0.7029544115066528,
+ 0.0765288919210434,
+ 0.7029445171356201
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 155,
+ "virtual_xyz": [
+ 0.06783401966094971,
+ 0.20552340149879456,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709114074707031,
+ 1.362594485282898,
+ 1.5708143711090088
+ ],
+ "finger_dofs": [
+ 1.3828973770141602,
+ -4.117893240618287e-06,
+ 4.239014378981665e-05,
+ 1.5998870134353638,
+ 1.2338196029304527e-05,
+ -4.0263104892801493e-05,
+ 1.199957013130188,
+ -5.055661858932581e-06,
+ 5.170973054191563e-06,
+ 1.3829090595245361,
+ -0.0005198342259973288,
+ 3.873240348184481e-05,
+ 1.6000055074691772,
+ -0.0007997081847861409,
+ 0.00012285557750146836,
+ 1.2000256776809692,
+ 7.458615436917171e-05,
+ -1.521986814623233e-05,
+ 1.3874980211257935,
+ 0.0010869851103052497,
+ -0.00031649073935113847,
+ 1.6030604839324951,
+ -0.0007675972301512957,
+ 0.0007565637351945043,
+ 1.2003037929534912,
+ 0.00011726174125215039,
+ 1.0173677765124012e-05,
+ 1.3831143379211426,
+ -0.00173467630520463,
+ 0.000216469110455364,
+ 1.6004136800765991,
+ -0.0016359778819605708,
+ 0.0002613608376123011,
+ 1.2000553607940674,
+ 9.039759606821463e-05,
+ -8.410443115280941e-06,
+ 0.35270410776138306,
+ 1.3181617259979248,
+ -0.45081543922424316,
+ 0.00023353796859737486,
+ 0.0014283222844824195,
+ -0.49488183856010437,
+ -8.286415686598048e-05,
+ 0.0004175628419034183,
+ -0.644612193107605
+ ],
+ "wrist_pos": [
+ 0.06783414632081985,
+ 0.20552334189414978,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.07351171225309372,
+ 0.7032835483551025,
+ 0.07344356179237366,
+ 0.7032739520072937
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 156,
+ "virtual_xyz": [
+ 0.06839144229888916,
+ 0.2075885534286499,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.570912480354309,
+ 1.3713725805282593,
+ 1.5708152055740356
+ ],
+ "finger_dofs": [
+ 1.382898211479187,
+ -5.150403012521565e-06,
+ 4.142577017773874e-05,
+ 1.5998857021331787,
+ 1.2454521311155986e-05,
+ -4.00481658289209e-05,
+ 1.1999578475952148,
+ -5.338131359167164e-06,
+ 4.902408818452386e-06,
+ 1.3829097747802734,
+ -0.0005187198403291404,
+ 3.7223249819362536e-05,
+ 1.6000066995620728,
+ -0.0008005006238818169,
+ 0.00012304040137678385,
+ 1.2000263929367065,
+ 7.473264122381806e-05,
+ -1.5327625078498386e-05,
+ 1.3874962329864502,
+ 0.001075285137630999,
+ -0.00032025587279349566,
+ 1.603062629699707,
+ -0.0007618456147611141,
+ 0.000759249902330339,
+ 1.2003060579299927,
+ 0.00011603333405219018,
+ 8.48571835376788e-06,
+ 1.3831150531768799,
+ -0.0017350052949041128,
+ 0.0002141261356882751,
+ 1.6004173755645752,
+ -0.0016354334075003862,
+ 0.00026206145412288606,
+ 1.200055718421936,
+ 9.03944528545253e-05,
+ -9.232444426743314e-06,
+ 0.35269930958747864,
+ 1.3181623220443726,
+ -0.4508145749568939,
+ 0.00023381960636470467,
+ 0.0014287024969235063,
+ -0.4948824346065521,
+ -8.315334707731381e-05,
+ 0.00041788609814830124,
+ -0.6446122527122498
+ ],
+ "wrist_pos": [
+ 0.06839156895875931,
+ 0.20758849382400513,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.07042424380779266,
+ 0.7035990953445435,
+ 0.07035601884126663,
+ 0.7035897970199585
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 157,
+ "virtual_xyz": [
+ 0.06896695494651794,
+ 0.2096487432718277,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709115266799927,
+ 1.3801504373550415,
+ 1.5708165168762207
+ ],
+ "finger_dofs": [
+ 1.3828989267349243,
+ -6.1977234508958645e-06,
+ 4.014762816950679e-05,
+ 1.599883794784546,
+ 1.2518764378910419e-05,
+ -3.974356150138192e-05,
+ 1.1999602317810059,
+ -5.66384187550284e-06,
+ 4.56783345725853e-06,
+ 1.3829104900360107,
+ -0.0005176780396141112,
+ 3.546251537045464e-05,
+ 1.6000080108642578,
+ -0.0008014475461095572,
+ 0.00012325432908255607,
+ 1.2000266313552856,
+ 7.490059942938387e-05,
+ -1.5444713426404633e-05,
+ 1.3874951601028442,
+ 0.0010656981030479074,
+ -0.00032459627254866064,
+ 1.6030646562576294,
+ -0.0007568670553155243,
+ 0.0007617090595886111,
+ 1.2003079652786255,
+ 0.00011451954924268648,
+ 6.399372978194151e-06,
+ 1.383115530014038,
+ -0.001735233818180859,
+ 0.00021148798987269402,
+ 1.6004211902618408,
+ -0.0016348558710888028,
+ 0.00026287889340892434,
+ 1.2000551223754883,
+ 9.032140951603651e-05,
+ -1.025019992084708e-05,
+ 0.3526955544948578,
+ 1.3181626796722412,
+ -0.45081350207328796,
+ 0.00023401157523039728,
+ 0.001429151277989149,
+ -0.49488288164138794,
+ -8.341473585460335e-05,
+ 0.00041814587893895805,
+ -0.6446124315261841
+ ],
+ "wrist_pos": [
+ 0.06896708160638809,
+ 0.20964866876602173,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.06733489781618118,
+ 0.7039009928703308,
+ 0.067268006503582,
+ 0.703892171382904
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 158,
+ "virtual_xyz": [
+ 0.06956056505441666,
+ 0.21170377731323242,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709095001220703,
+ 1.3889285326004028,
+ 1.5708181858062744
+ ],
+ "finger_dofs": [
+ 1.3828996419906616,
+ -7.2064390224113595e-06,
+ 3.872022716677748e-05,
+ 1.5998817682266235,
+ 1.2623150723811705e-05,
+ -3.940959140891209e-05,
+ 1.1999619007110596,
+ -6.013935944793047e-06,
+ 4.203850949124899e-06,
+ 1.3829108476638794,
+ -0.0005165726179257035,
+ 3.357575405971147e-05,
+ 1.6000089645385742,
+ -0.0008022958063520491,
+ 0.00012346613220870495,
+ 1.2000269889831543,
+ 7.505407120333984e-05,
+ -1.5565967260045e-05,
+ 1.38749361038208,
+ 0.0010531553998589516,
+ -0.0003294229391030967,
+ 1.6030656099319458,
+ -0.0007500034407712519,
+ 0.0007643291028216481,
+ 1.200310230255127,
+ 0.00011281680053798482,
+ 4.132891262997873e-06,
+ 1.3831168413162231,
+ -0.0017353040166199207,
+ 0.000208672383450903,
+ 1.600425362586975,
+ -0.0016340793808922172,
+ 0.0002636995050124824,
+ 1.2000551223754883,
+ 9.019784192787483e-05,
+ -1.13530877570156e-05,
+ 0.35269272327423096,
+ 1.318162441253662,
+ -0.4508126676082611,
+ 0.0002342058578506112,
+ 0.0014295250875875354,
+ -0.49488335847854614,
+ -8.366508700419217e-05,
+ 0.00041840862832032144,
+ -0.6446126103401184
+ ],
+ "wrist_pos": [
+ 0.0695606917142868,
+ 0.21170371770858765,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.06424356251955032,
+ 0.7041894197463989,
+ 0.06417927145957947,
+ 0.7041809558868408
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 159,
+ "virtual_xyz": [
+ 0.07017216086387634,
+ 0.21375352144241333,
+ 0.6452544331550598
+ ],
+ "wrist_rpy": [
+ -1.5709065198898315,
+ 1.397706389427185,
+ 1.5708200931549072
+ ],
+ "finger_dofs": [
+ 1.3829004764556885,
+ -8.14690883998992e-06,
+ 3.720164386322722e-05,
+ 1.599879503250122,
+ 1.277259252674412e-05,
+ -3.905075209331699e-05,
+ 1.1999640464782715,
+ -6.376856617862359e-06,
+ 3.82358757633483e-06,
+ 1.3829114437103271,
+ -0.0005155158578418195,
+ 3.1640418455936015e-05,
+ 1.6000102758407593,
+ -0.0008032506448216736,
+ 0.00012368752504698932,
+ 1.2000271081924438,
+ 7.522920350311324e-05,
+ -1.5688707208028063e-05,
+ 1.3874925374984741,
+ 0.0010424997890368104,
+ -0.00033440874540247023,
+ 1.6030681133270264,
+ -0.0007443017093464732,
+ 0.0007667141035199165,
+ 1.2003123760223389,
+ 0.00011107324826298282,
+ 1.7733652839524439e-06,
+ 1.3831173181533813,
+ -0.0017353104194626212,
+ 0.00020581058925017715,
+ 1.6004297733306885,
+ -0.0016333282692357898,
+ 0.0002645578933879733,
+ 1.2000550031661987,
+ 9.007193148136139e-05,
+ -1.2499143849709071e-05,
+ 0.35269057750701904,
+ 1.3181627988815308,
+ -0.4508119523525238,
+ 0.00023439551296178252,
+ 0.0014298358000814915,
+ -0.49488380551338196,
+ -8.389706636080518e-05,
+ 0.00041863907244987786,
+ -0.6446125507354736
+ ],
+ "wrist_pos": [
+ 0.07017228752374649,
+ 0.21375346183776855,
+ 0.645254373550415
+ ],
+ "wrist_rot": [
+ -0.061150599271059036,
+ 0.7044642567634583,
+ 0.06108972057700157,
+ 0.7044563293457031
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 160,
+ "virtual_xyz": [
+ 0.07080172002315521,
+ 0.21579784154891968,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.570905327796936,
+ 1.4064841270446777,
+ 1.5708215236663818
+ ],
+ "finger_dofs": [
+ 1.3829011917114258,
+ -8.958315447671339e-06,
+ 3.5897031921194866e-05,
+ 1.5998777151107788,
+ 1.3071644389128778e-05,
+ -3.875670881825499e-05,
+ 1.1999659538269043,
+ -6.706541171297431e-06,
+ 3.4968102227139752e-06,
+ 1.382912039756775,
+ -0.0005142494337633252,
+ 2.9914504921180196e-05,
+ 1.6000114679336548,
+ -0.0008038548985496163,
+ 0.00012385712761897594,
+ 1.200027585029602,
+ 7.537667988799512e-05,
+ -1.579380659677554e-05,
+ 1.3874915838241577,
+ 0.0010301901493221521,
+ -0.0003388384939171374,
+ 1.603069543838501,
+ -0.0007377636502496898,
+ 0.0007690688362345099,
+ 1.2003146409988403,
+ 0.00010958633356494829,
+ -2.5481327270426846e-07,
+ 1.383117914199829,
+ -0.001735476078465581,
+ 0.00020324054639786482,
+ 1.6004338264465332,
+ -0.0016325784381479025,
+ 0.000265294685959816,
+ 1.2000550031661987,
+ 8.999881538329646e-05,
+ -1.3476153981173411e-05,
+ 0.3526884913444519,
+ 1.3181629180908203,
+ -0.4508120119571686,
+ 0.000234714534599334,
+ 0.0014300565235316753,
+ -0.4948841631412506,
+ -8.408485155086964e-05,
+ 0.0004188077000435442,
+ -0.6446126103401184
+ ],
+ "wrist_pos": [
+ 0.07080184668302536,
+ 0.2157977819442749,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.0580572746694088,
+ 0.7047255039215088,
+ 0.05799847096204758,
+ 0.7047179341316223
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 161,
+ "virtual_xyz": [
+ 0.07144922018051147,
+ 0.21783652901649475,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5709036588668823,
+ 1.4152617454528809,
+ 1.570823311805725
+ ],
+ "finger_dofs": [
+ 1.3829020261764526,
+ -9.716613931232132e-06,
+ 3.449850555625744e-05,
+ 1.5998759269714355,
+ 1.3406071047938894e-05,
+ -3.8451085856650025e-05,
+ 1.1999677419662476,
+ -7.053831268422073e-06,
+ 3.151738610540633e-06,
+ 1.3829123973846436,
+ -0.0005130397039465606,
+ 2.8121896320953965e-05,
+ 1.6000128984451294,
+ -0.0008045827271416783,
+ 0.00012404166045598686,
+ 1.2000274658203125,
+ 7.554331386927515e-05,
+ -1.590277133800555e-05,
+ 1.3874906301498413,
+ 0.001019802875816822,
+ -0.0003438634448684752,
+ 1.603072166442871,
+ -0.0007319081923924387,
+ 0.0007708499324508011,
+ 1.2003183364868164,
+ 0.00010804940393427387,
+ -2.3965255877556046e-06,
+ 1.3831185102462769,
+ -0.0017354253213852644,
+ 0.00020058380323462188,
+ 1.600437879562378,
+ -0.0016318322159349918,
+ 0.0002660654718056321,
+ 1.2000548839569092,
+ 8.990964852273464e-05,
+ -1.4500945326290093e-05,
+ 0.3526858389377594,
+ 1.3181627988815308,
+ -0.4508119523525238,
+ 0.0002350167342228815,
+ 0.001430524978786707,
+ -0.49488452076911926,
+ -8.428582805208862e-05,
+ 0.00041903264354914427,
+ -0.6446126699447632
+ ],
+ "wrist_pos": [
+ 0.07144934684038162,
+ 0.21783646941184998,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.05496273189783096,
+ 0.7049731612205505,
+ 0.05490604043006897,
+ 0.7049660086631775
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 162,
+ "virtual_xyz": [
+ 0.07211457937955856,
+ 0.21986950933933258,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.570902705192566,
+ 1.424039602279663,
+ 1.5708259344100952
+ ],
+ "finger_dofs": [
+ 1.3829025030136108,
+ -1.0359131010773126e-05,
+ 3.326403020764701e-05,
+ 1.5998743772506714,
+ 1.384353618050227e-05,
+ -3.819053017650731e-05,
+ 1.1999692916870117,
+ -7.373187145276461e-06,
+ 2.8480908440542407e-06,
+ 1.3829131126403809,
+ -0.0005117300315760076,
+ 2.6502550099394284e-05,
+ 1.600014090538025,
+ -0.0008051549084484577,
+ 0.00012419431004673243,
+ 1.2000278234481812,
+ 7.570842717541382e-05,
+ -1.59985211212188e-05,
+ 1.3874889612197876,
+ 0.001007236074656248,
+ -0.0003486454370431602,
+ 1.6030737161636353,
+ -0.0007247792673297226,
+ 0.0007726732874289155,
+ 1.2003227472305298,
+ 0.00010672430653357878,
+ -4.281956080376403e-06,
+ 1.3831193447113037,
+ -0.001735205645672977,
+ 0.00019818688451778144,
+ 1.600441336631775,
+ -0.0016309049678966403,
+ 0.0002667134685907513,
+ 1.20005464553833,
+ 8.985372551251203e-05,
+ -1.5392168279504403e-05,
+ 0.352682888507843,
+ 1.3181629180908203,
+ -0.45081236958503723,
+ 0.0002353870077058673,
+ 0.0014306874945759773,
+ -0.49488478899002075,
+ -8.444073318969458e-05,
+ 0.00041917289490811527,
+ -0.6446126103401184
+ ],
+ "wrist_pos": [
+ 0.07211470603942871,
+ 0.2198694348335266,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.05186690017580986,
+ 0.705207347869873,
+ 0.051812782883644104,
+ 0.7052004933357239
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 163,
+ "virtual_xyz": [
+ 0.07279776781797409,
+ 0.22189654409885406,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5709022283554077,
+ 1.4328175783157349,
+ 1.5708284378051758
+ ],
+ "finger_dofs": [
+ 1.382902979850769,
+ -1.0947796909022145e-05,
+ 3.207243935321458e-05,
+ 1.5998728275299072,
+ 1.4320748050522525e-05,
+ -3.795174779952504e-05,
+ 1.199971079826355,
+ -7.689165613555815e-06,
+ 2.5552528768457705e-06,
+ 1.3829134702682495,
+ -0.0005103496368974447,
+ 2.4923021555878222e-05,
+ 1.6000150442123413,
+ -0.0008055652142502367,
+ 0.00012432502990122885,
+ 1.2000283002853394,
+ 7.584952254546806e-05,
+ -1.609305036254227e-05,
+ 1.3874880075454712,
+ 0.000995857291854918,
+ -0.00035318033769726753,
+ 1.603075623512268,
+ -0.0007182631525211036,
+ 0.0007743750466033816,
+ 1.2003270387649536,
+ 0.00010545362601988018,
+ -6.098469839344034e-06,
+ 1.3831204175949097,
+ -0.001735248020850122,
+ 0.0001958066422957927,
+ 1.6004451513290405,
+ -0.0016301916912198067,
+ 0.0002673007547855377,
+ 1.2000547647476196,
+ 8.980133861768991e-05,
+ -1.6246804079855792e-05,
+ 0.3526807725429535,
+ 1.318162441253662,
+ -0.45081281661987305,
+ 0.0002357732882956043,
+ 0.001431065029464662,
+ -0.4948851466178894,
+ -8.461224933853373e-05,
+ 0.0004193287168163806,
+ -0.6446126699447632
+ ],
+ "wrist_pos": [
+ 0.07279789447784424,
+ 0.2218964695930481,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.04877001792192459,
+ 0.705427885055542,
+ 0.04871804639697075,
+ 0.7054213881492615
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 164,
+ "virtual_xyz": [
+ 0.07349871844053268,
+ 0.22391749918460846,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5709037780761719,
+ 1.4415955543518066,
+ 1.5708317756652832
+ ],
+ "finger_dofs": [
+ 1.3829030990600586,
+ -1.1445935342635494e-05,
+ 3.101826223428361e-05,
+ 1.599871277809143,
+ 1.4908094271959271e-05,
+ -3.775154982577078e-05,
+ 1.1999726295471191,
+ -7.982730494404677e-06,
+ 2.2966401047597174e-06,
+ 1.3829138278961182,
+ -0.0005089346668682992,
+ 2.3489610612159595e-05,
+ 1.6000161170959473,
+ -0.0008060019463300705,
+ 0.00012444292951840907,
+ 1.200028657913208,
+ 7.601534889545292e-05,
+ -1.617397356312722e-05,
+ 1.3874881267547607,
+ 0.000983714358881116,
+ -0.0003573504800442606,
+ 1.6030774116516113,
+ -0.000711468979716301,
+ 0.0007761145825497806,
+ 1.2003315687179565,
+ 0.00010435908916406333,
+ -7.702809853071813e-06,
+ 1.383121132850647,
+ -0.0017351044807583094,
+ 0.00019365843036212027,
+ 1.6004486083984375,
+ -0.0016294140368700027,
+ 0.0002678522723726928,
+ 1.2000550031661987,
+ 8.981252176454291e-05,
+ -1.6987869457807392e-05,
+ 0.35267969965934753,
+ 1.318162441253662,
+ -0.45081382989883423,
+ 0.00023622321896255016,
+ 0.0014310991391539574,
+ -0.49488526582717896,
+ -8.472342597087845e-05,
+ 0.0004194159701000899,
+ -0.6446126103401184
+ ],
+ "wrist_pos": [
+ 0.07349884510040283,
+ 0.2239174246788025,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.04567298665642738,
+ 0.7056348919868469,
+ 0.04562225937843323,
+ 0.7056286334991455
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 165,
+ "virtual_xyz": [
+ 0.07421737909317017,
+ 0.22593222558498383,
+ 0.645254373550415
+ ],
+ "wrist_rpy": [
+ -1.5709041357040405,
+ 1.4503737688064575,
+ 1.5708354711532593
+ ],
+ "finger_dofs": [
+ 1.3829032182693481,
+ -1.1891789654328022e-05,
+ 2.983842568937689e-05,
+ 1.5998698472976685,
+ 1.5485567928408273e-05,
+ -3.7521378544624895e-05,
+ 1.1999740600585938,
+ -8.292895472550299e-06,
+ 2.0141180812061066e-06,
+ 1.3829143047332764,
+ -0.0005075179506093264,
+ 2.1967527572996914e-05,
+ 1.6000173091888428,
+ -0.0008064343128353357,
+ 0.00012456387048587203,
+ 1.2000293731689453,
+ 7.618565723532811e-05,
+ -1.6258834875770845e-05,
+ 1.387487530708313,
+ 0.0009726862772367895,
+ -0.00036165889468975365,
+ 1.603079915046692,
+ -0.0007050346466712654,
+ 0.0007773962570354342,
+ 1.2003353834152222,
+ 0.00010314992687199265,
+ -9.451689948036801e-06,
+ 1.3831216096878052,
+ -0.0017349445261061192,
+ 0.00019140391668770462,
+ 1.600452184677124,
+ -0.0016285822493955493,
+ 0.000268448464339599,
+ 1.200055480003357,
+ 8.980458369478583e-05,
+ -1.7799571651266888e-05,
+ 0.3526771068572998,
+ 1.3181626796722412,
+ -0.45081475377082825,
+ 0.00023666305060032755,
+ 0.0014313330175355077,
+ -0.49488553404808044,
+ -8.483828423777595e-05,
+ 0.0004195305809844285,
+ -0.6446128487586975
+ ],
+ "wrist_pos": [
+ 0.07421751320362091,
+ 0.22593215107917786,
+ 0.6452543139457703
+ ],
+ "wrist_rot": [
+ -0.04257422685623169,
+ 0.7058283686637878,
+ 0.04252583906054497,
+ 0.7058223485946655
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 166,
+ "virtual_xyz": [
+ 0.07495369762182236,
+ 0.22794055938720703,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.5709041357040405,
+ 1.4591519832611084,
+ 1.5708402395248413
+ ],
+ "finger_dofs": [
+ 1.3829033374786377,
+ -1.2324694580456708e-05,
+ 2.844415394065436e-05,
+ 1.599868655204773,
+ 1.6082001820905134e-05,
+ -3.722807014128193e-05,
+ 1.1999753713607788,
+ -8.631150194560178e-06,
+ 1.6896970009838697e-06,
+ 1.3829151391983032,
+ -0.0005060887197032571,
+ 2.0282815967220813e-05,
+ 1.600018858909607,
+ -0.0008068482275120914,
+ 0.00012469684588722885,
+ 1.2000298500061035,
+ 7.635512884007767e-05,
+ -1.6346264601452276e-05,
+ 1.3874872922897339,
+ 0.0009612106368876994,
+ -0.00036630796967074275,
+ 1.6030821800231934,
+ -0.0006981444312259555,
+ 0.0007776410784572363,
+ 1.2003389596939087,
+ 0.00010172562178922817,
+ -1.1456058928160928e-05,
+ 1.3831216096878052,
+ -0.0017396166222169995,
+ 0.0001856172166299075,
+ 1.600455403327942,
+ -0.0016357311978936195,
+ 0.0002667613443918526,
+ 1.2000561952590942,
+ 8.911608892958611e-05,
+ -1.8730135707301088e-05,
+ 0.35267481207847595,
+ 1.3181626796722412,
+ -0.4508155882358551,
+ 0.00023713510017842054,
+ 0.0014314898289740086,
+ -0.4948856830596924,
+ -8.49466523504816e-05,
+ 0.00041953890467993915,
+ -0.6446126699447632
+ ],
+ "wrist_pos": [
+ 0.0749538317322731,
+ 0.22794048488140106,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.03947429358959198,
+ 0.7060081362724304,
+ 0.03942934051156044,
+ 0.706002414226532
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 167,
+ "virtual_xyz": [
+ 0.07570761442184448,
+ 0.22994239628314972,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.57090425491333,
+ 1.4679300785064697,
+ 1.5708452463150024
+ ],
+ "finger_dofs": [
+ 1.3829039335250854,
+ -1.2658727428060956e-05,
+ 2.7095295081380755e-05,
+ 1.5998667478561401,
+ 1.6781834347057156e-05,
+ -3.697008651215583e-05,
+ 1.1999775171279907,
+ -8.971472198027186e-06,
+ 1.3770043096883455e-06,
+ 1.3829152584075928,
+ -0.0005046762526035309,
+ 1.865011108748149e-05,
+ 1.6000198125839233,
+ -0.0008073009666986763,
+ 0.00012482157035265118,
+ 1.2000305652618408,
+ 7.6533920946531e-05,
+ -1.6432804841315374e-05,
+ 1.3874865770339966,
+ 0.0009494335390627384,
+ -0.00037086434895172715,
+ 1.6030848026275635,
+ -0.000691017834469676,
+ 0.0007776962593197823,
+ 1.2003424167633057,
+ 0.0001003781144390814,
+ -1.337867524853209e-05,
+ 1.3831217288970947,
+ -0.0017400472424924374,
+ 0.0001824547362048179,
+ 1.6004596948623657,
+ -0.0016358799766749144,
+ 0.00026690022787079215,
+ 1.2000560760498047,
+ 8.894032362150028e-05,
+ -1.9624600099632517e-05,
+ 0.3526734709739685,
+ 1.318162202835083,
+ -0.45081672072410583,
+ 0.0002376157499384135,
+ 0.001431669108569622,
+ -0.4948858320713043,
+ -8.50342185003683e-05,
+ 0.0004196323570795357,
+ -0.6446126103401184
+ ],
+ "wrist_pos": [
+ 0.07570774853229523,
+ 0.22994232177734375,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.036373648792505264,
+ 0.706174373626709,
+ 0.036331865936517715,
+ 0.7061688899993896
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 168,
+ "virtual_xyz": [
+ 0.07647906988859177,
+ 0.2319374680519104,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.57090425491333,
+ 1.476708173751831,
+ 1.5708516836166382
+ ],
+ "finger_dofs": [
+ 1.382904291152954,
+ -1.2948216863151174e-05,
+ 2.5821391318459064e-05,
+ 1.5998655557632446,
+ 1.7533993741380982e-05,
+ -3.6721514334203675e-05,
+ 1.1999789476394653,
+ -9.294670235249214e-06,
+ 1.0840650475074654e-06,
+ 1.3829153776168823,
+ -0.0005030956235714257,
+ 1.7098758689826354e-05,
+ 1.6000208854675293,
+ -0.0008075111545622349,
+ 0.0001249062770511955,
+ 1.20003080368042,
+ 7.670559716643766e-05,
+ -1.6506666725035757e-05,
+ 1.3874855041503906,
+ 0.0009386839810758829,
+ -0.0003751572221517563,
+ 1.6030875444412231,
+ -0.0006842396105639637,
+ 0.000777863897383213,
+ 1.2003461122512817,
+ 9.914142719935626e-05,
+ -1.5175942280620802e-05,
+ 1.3831220865249634,
+ -0.0017398649360984564,
+ 0.00017997092800214887,
+ 1.6004630327224731,
+ -0.0016350416699424386,
+ 0.0002673914423212409,
+ 1.2000560760498047,
+ 8.892266487237066e-05,
+ -2.0446444978006184e-05,
+ 0.3526725769042969,
+ 1.318161964416504,
+ -0.4508183002471924,
+ 0.00023807525576557964,
+ 0.0014316031010821462,
+ -0.49488580226898193,
+ -8.507011079927906e-05,
+ 0.0004195832007098943,
+ -0.6446126699447632
+ ],
+ "wrist_pos": [
+ 0.07647920399904251,
+ 0.23193737864494324,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.03327157348394394,
+ 0.7063270211219788,
+ 0.033234331756830215,
+ 0.7063217759132385
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ },
+ {
+ "phase": "drag",
+ "step": 169,
+ "virtual_xyz": [
+ 0.07726800441741943,
+ 0.2339257299900055,
+ 0.6452543139457703
+ ],
+ "wrist_rpy": [
+ -1.570902705192566,
+ 1.4854859113693237,
+ 1.5708588361740112
+ ],
+ "finger_dofs": [
+ 1.3829044103622437,
+ -1.3171377759135794e-05,
+ 2.4376062356168404e-05,
+ 1.5998637676239014,
+ 1.8323955373489298e-05,
+ -3.643931995611638e-05,
+ 1.1999808549880981,
+ -9.645755199017003e-06,
+ 7.581784871035779e-07,
+ 1.3829160928726196,
+ -0.0005015998031012714,
+ 1.541945312055759e-05,
+ 1.6000219583511353,
+ -0.0008078708779066801,
+ 0.0001250239001819864,
+ 1.2000309228897095,
+ 7.689025369472802e-05,
+ -1.6585718185524456e-05,
+ 1.3874841928482056,
+ 0.0009277015342377126,
+ -0.0003797828685492277,
+ 1.603090763092041,
+ -0.0006772408960387111,
+ 0.000778115470893681,
+ 1.2003495693206787,
+ 9.772618795977905e-05,
+ -1.717235500109382e-05,
+ 1.3831223249435425,
+ -0.0017395321046933532,
+ 0.00017749676771927625,
+ 1.600466251373291,
+ -0.0016341079026460648,
+ 0.00026804578374139965,
+ 1.2000561952590942,
+ 8.888822776498273e-05,
+ -2.1368185116443783e-05,
+ 0.352670818567276,
+ 1.3181616067886353,
+ -0.45081987977027893,
+ 0.00023852498270571232,
+ 0.0014317396562546492,
+ -0.49488574266433716,
+ -8.51081422297284e-05,
+ 0.0004196444642730057,
+ -0.6446127891540527
+ ],
+ "wrist_pos": [
+ 0.07726813852787018,
+ 0.23392564058303833,
+ 0.6452542543411255
+ ],
+ "wrist_rot": [
+ -0.030168145895004272,
+ 0.7064659595489502,
+ 0.03013724833726883,
+ 0.7064611315727234
+ ],
+ "joint_positions": [
+ 0.30399999022483826,
+ 0.36020857095718384
+ ]
+ }
+]
\ No newline at end of file
diff --git a/StorageFurniture/45168/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/45168/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3a3123f0a70af9f39ec35bc1d04540e6f3fa14b0
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
@@ -0,0 +1,10000 @@
+-0.139824 -0.119074 0.186070 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+0.367955 0.665915 -0.533409 0.000000 1.000000 0.000000 246 203 146 1.000000
+0.370666 -0.784496 -0.526955 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.378009 0.665915 0.474066 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.361896 0.665915 -0.080857 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.786432 0.325154 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.435168 -0.535148 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.055977 -0.365860 -1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.365915 -0.782768 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.347813 0.403141 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.226655 0.197886 -0.503673 0.000000 0.000000 -1.000000 248 216 155 1.000000
+0.373301 0.037472 0.506725 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.198055 0.463082 -0.028761 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.088821 -0.545813 -0.100212 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.769645 -0.155903 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.005732 -0.486982 0.500966 -0.000000 0.376678 0.926344 248 235 215 1.000000
+-0.126726 0.665915 -0.510299 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.370666 -0.207003 0.095714 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.204378 -0.053935 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.077504 -0.777674 -0.535284 0.000000 0.000000 -1.000000 244 210 150 1.000000
+0.066680 -0.361076 -0.503673 0.000000 0.000000 -1.000000 240 203 144 1.000000
+0.081489 0.352000 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.337411 -0.109757 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.368556 -0.289565 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.177560 0.301526 -0.503673 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.058357 -0.087464 -0.217699 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.381203 -0.355924 0.471765 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.143316 0.463082 0.155738 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.169880 0.153288 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.784796 -0.146291 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.425619 -0.308573 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.169936 0.080366 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.100890 0.665915 0.460144 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.159177 -0.545813 0.165019 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.115270 -0.385518 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.101638 0.470985 -0.216017 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.089981 -0.152009 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.009789 -0.786749 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.539493 0.102049 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.260951 -0.228284 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.153213 -0.545813 -0.316307 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.366477 0.665915 0.273074 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 0.478209 -0.400207 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.665691 -0.210770 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.056432 0.002836 -0.503673 0.000000 0.000000 -1.000000 246 210 146 1.000000
+0.370666 0.661158 0.153217 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.186592 0.267257 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.324406 0.202707 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.733526 -0.458237 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.343214 0.471275 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.133455 0.565979 -0.366696 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.112568 -0.087464 0.024322 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.284269 -0.564501 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.125347 -0.545813 0.244920 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.013276 -0.090538 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.073235 -0.000013 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.364279 -0.273209 -0.535284 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.146261 -0.623499 -0.535284 0.000000 0.000000 -1.000000 241 209 148 1.000000
+-0.366907 -0.083734 0.335192 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.247416 -0.596231 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.259992 0.442009 0.256132 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.151764 -0.208518 -0.503673 0.000000 0.000000 -1.000000 245 209 145 1.000000
+-0.069014 0.411305 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.689111 0.095111 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.118210 0.102276 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.126196 -0.299900 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.264127 -0.087464 0.295610 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.370666 0.446285 -0.405612 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.365628 0.130637 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.235236 -0.545813 -0.078957 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.366907 0.433020 0.052685 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.145332 0.584410 0.499814 0.000000 -0.658393 0.752675 248 235 215 1.000000
+0.370666 -0.219762 -0.172216 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.156376 -0.169746 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.522403 -0.530097 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.331363 0.644940 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.181728 -0.087464 -0.200797 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.771589 0.085564 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.413996 -0.178055 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.076347 -0.542949 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.356729 0.664990 -0.535284 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.345833 0.429408 0.280126 1.000000 0.000000 0.000000 245 207 148 1.000000
+-0.366907 -0.556099 0.279839 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.319824 -0.545813 -0.119529 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.658764 -0.337777 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.461958 -0.299145 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.254277 0.634305 -0.280883 0.000000 1.000000 0.000000 235 203 142 1.000000
+-0.123511 0.429987 0.504210 0.000000 -0.996867 -0.079102 255 255 255 1.000000
+0.117040 -0.545813 -0.324222 0.000000 1.000000 0.000000 240 204 140 1.000000
+0.349593 -0.374358 0.250510 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.369541 0.174964 0.486817 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.329337 -0.013836 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.177700 -0.677838 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.047431 0.470985 0.260513 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.268293 -0.119074 -0.187535 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.363234 0.036208 -0.535284 0.000000 0.000000 -1.000000 246 208 149 1.000000
+-0.013810 0.204127 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.179541 -0.172424 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.017982 0.470985 -0.021127 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.176718 -0.380066 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.166640 -0.353770 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.062459 -0.119074 0.245214 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+-0.254282 0.634305 0.099041 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.573790 0.308478 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.158934 0.000460 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.313138 -0.161995 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.481462 0.067650 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.458919 -0.232755 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.123963 -0.119074 -0.023936 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+0.075516 0.663958 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.570414 -0.030508 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.248622 0.634305 0.318419 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.373048 -0.016850 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.169241 0.354637 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.242303 -0.531863 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.011104 -0.545813 0.075883 0.000000 1.000000 0.000000 243 207 143 1.000000
+-0.366907 0.335882 -0.529297 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.066690 0.242158 0.499890 -0.000000 0.505826 -0.862636 255 255 255 1.000000
+0.349593 -0.016570 0.117899 -1.000000 0.000000 0.000000 250 210 147 1.000000
+-0.210061 0.470985 -0.056803 0.000000 1.000000 0.000000 242 210 149 1.000000
+-0.259254 -0.593302 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.345833 0.010965 0.172217 1.000000 0.000000 0.000000 248 205 148 1.000000
+0.064776 -0.119074 -0.360350 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.342618 -0.012872 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.186662 -0.393451 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.230592 0.539474 -0.533382 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.048461 -0.545813 0.329678 0.000000 1.000000 0.000000 245 204 146 1.000000
+-0.345833 -0.278904 -0.291298 1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.366907 -0.647284 -0.292601 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.246462 -0.353244 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.273194 0.198185 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.199693 -0.724748 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.078514 0.463082 -0.186657 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+-0.345833 0.300858 -0.345929 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.240685 0.002739 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.047821 0.568450 -0.359911 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.311923 -0.532838 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.122430 -0.345854 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.015375 -0.301245 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.464736 0.115979 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.183327 -0.087464 -0.346795 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.222418 0.347599 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.497765 0.427891 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.619868 0.059981 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.078251 -0.087464 0.353258 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.401479 0.369922 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.239977 -0.408171 -0.487868 0.000000 -0.000000 1.000000 241 207 148 1.000000
+-0.366907 0.029406 -0.145915 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.182347 0.470985 0.338070 0.000000 1.000000 0.000000 247 213 153 1.000000
+0.201665 -0.545813 0.046027 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.193425 0.452172 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.243532 0.044575 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.226882 0.613231 -0.125005 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.314403 0.613231 -0.375935 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+-0.366907 0.271380 0.117513 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.010691 -0.010656 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.196236 -0.786328 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.272758 -0.119074 -0.023277 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.244081 0.539474 -0.516832 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.065211 -0.545813 -0.169981 0.000000 1.000000 0.000000 246 203 146 1.000000
+0.370666 0.314633 0.260269 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.231894 0.268355 0.507856 0.000000 -0.121966 0.992534 248 235 215 1.000000
+0.349593 0.178773 -0.083442 -1.000000 0.000000 0.000000 247 215 154 1.000000
+0.370666 -0.100794 -0.525065 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.153255 0.470985 0.131243 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.219769 0.634305 0.343925 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.091462 0.449791 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.015083 -0.184668 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.218811 -0.027905 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.112065 -0.598497 0.476035 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 -0.162017 0.192248 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.266922 -0.545813 -0.391950 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.144314 0.139631 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.003473 0.536772 0.444635 0.000000 0.000000 -1.000000 244 208 144 1.000000
+0.223546 -0.119074 0.141598 0.000000 -1.000000 -0.000000 240 207 142 1.000000
+-0.366907 -0.638459 -0.059350 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.032688 0.268712 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.242364 0.348386 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.537116 0.394498 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.294048 0.385388 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.545362 0.162546 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.647646 -0.011926 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.228078 0.352446 0.501623 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.242053 -0.786521 -0.535284 0.000000 0.000000 -1.000000 247 204 147 1.000000
+0.373301 -0.508523 0.502707 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.039715 0.442009 -0.337876 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.219392 0.616466 -0.117708 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.444521 -0.128129 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.215686 0.358757 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.543607 0.294148 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.488653 -0.138259 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.066956 0.365028 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.558944 -0.418180 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.210973 0.552891 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.286591 -0.379083 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.103527 -0.545813 0.399255 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.018631 -0.545813 -0.393562 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.364610 0.665915 -0.380887 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.366907 0.161525 -0.449308 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.265101 -0.197625 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.560967 -0.210790 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.054835 -0.119074 -0.112067 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.370666 -0.072253 -0.214701 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.079213 0.039456 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.293426 -0.655174 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.235702 -0.087464 0.072312 0.000000 1.000000 0.000000 247 211 147 1.000000
+-0.007409 -0.119074 0.112094 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+-0.314223 -0.156643 0.463821 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.222800 -0.119074 0.313252 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.275160 -0.111080 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.385438 -0.166089 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.065210 0.398743 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.149177 0.463082 0.369009 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.031719 0.546621 -0.535284 0.000000 0.000000 -1.000000 242 214 152 1.000000
+-0.366907 -0.186265 -0.099954 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.241909 -0.545813 0.362782 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.212716 -0.119074 -0.369973 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.242006 -0.545813 -0.243762 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.684409 0.212672 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.361321 -0.409206 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.118639 -0.545813 0.007475 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.366907 -0.786931 -0.012110 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.518723 -0.063878 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.263589 -0.545813 -0.222795 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.359698 -0.442479 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.003714 0.463082 0.121290 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.069435 -0.087464 -0.433804 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.073257 -0.503917 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.785367 0.200159 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.093374 0.029964 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.092219 -0.208362 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257773 -0.545813 0.193791 0.000000 1.000000 0.000000 244 210 150 1.000000
+0.060953 -0.736897 -0.535284 0.000000 0.000000 -1.000000 244 208 144 1.000000
+0.234871 -0.545813 0.344400 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.020225 -0.283022 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.783599 -0.325689 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.218359 0.444657 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.378639 -0.443119 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.140686 -0.087464 0.363064 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.349593 0.309244 0.122995 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.564531 0.191466 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.618460 -0.263093 -1.000000 0.000000 0.000000 249 213 149 1.000000
+0.370666 -0.154236 0.223388 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.531710 -0.279818 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.343959 0.117577 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.449880 0.368874 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.041678 0.665915 0.461024 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.271647 0.402604 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.253637 0.547124 0.243573 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.366739 0.528178 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.063898 -0.311940 -0.487868 0.000000 -0.000000 1.000000 246 205 147 1.000000
+-0.253637 0.495145 -0.251938 1.000000 0.000000 0.000000 241 205 141 1.000000
+0.349593 -0.236235 -0.035875 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.340791 -0.052891 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.394639 -0.273052 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.219392 0.624020 -0.412906 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.142458 0.244342 0.500242 0.000000 -0.464421 0.885615 248 235 215 1.000000
+0.370666 0.413085 0.355502 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.246859 -0.460585 0.503213 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.244756 0.665915 0.451735 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.294884 -0.545813 0.166003 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.485080 -0.535126 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.641507 -0.198975 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.046144 -0.654198 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.214384 -0.048034 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.497236 0.076223 1.000000 0.000000 0.000000 242 211 145 1.000000
+-0.366907 0.604464 0.037331 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.242894 -0.267672 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.010573 0.122396 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.526884 0.407874 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.279665 0.217368 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.234417 0.387813 0.444635 0.000000 0.000000 -1.000000 239 207 146 1.000000
+-0.366907 0.040513 -0.399950 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.033612 0.332630 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+0.211036 0.665915 -0.509889 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.204662 -0.229371 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.052516 0.463082 0.343059 0.000000 -1.000000 -0.000000 241 213 151 1.000000
+-0.157899 -0.673805 -0.535284 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.306620 -0.667662 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.781406 -0.298270 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.017551 -0.469123 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.143461 0.451264 0.497613 -0.000000 0.851620 0.524159 248 235 215 1.000000
+-0.345833 -0.367916 0.012800 1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.119766 0.273551 -0.487868 0.000000 -0.000000 1.000000 250 213 154 1.000000
+-0.034695 -0.545813 0.203404 0.000000 1.000000 0.000000 246 206 143 1.000000
+-0.345833 0.149454 0.146030 1.000000 0.000000 0.000000 246 212 153 1.000000
+0.369080 0.665915 0.341539 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.366907 0.310549 0.241848 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.247194 -0.280467 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.252570 -0.119074 -0.048952 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.200412 -0.545813 -0.433586 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.366907 -0.157090 -0.256721 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.074905 0.093434 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.451355 0.207132 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.245023 -0.540544 -0.518770 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.032966 -0.172149 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.063274 -0.119074 -0.235923 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.035502 -0.436212 -0.487868 0.000000 -0.000000 1.000000 246 214 153 1.000000
+0.370666 -0.494892 -0.015958 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.230005 -0.545813 0.061234 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.153819 -0.087464 -0.139119 0.000000 1.000000 0.000000 241 207 147 1.000000
+-0.045555 0.356862 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.518154 -0.227300 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.033904 -0.657311 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 0.218970 0.041012 -1.000000 0.000000 0.000000 242 206 142 1.000000
+0.247726 -0.119074 0.412206 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 -0.119297 -0.095654 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.324695 0.523226 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.004501 -0.087464 -0.007084 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.656455 0.211620 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.450252 -0.003830 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.129681 -0.500063 0.507724 -0.000000 0.283327 0.959023 248 235 215 1.000000
+-0.226719 -0.787885 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.485879 0.209470 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.004033 -0.545813 -0.273142 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.613715 -0.452765 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.363205 0.546358 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.346982 0.665915 0.390872 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.263180 0.080694 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.366907 -0.601854 -0.182270 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.260798 0.083806 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.054795 0.388200 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.271554 0.442009 0.187730 0.000000 -1.000000 -0.000000 242 208 148 1.000000
+-0.365703 0.665915 0.139415 0.000000 1.000000 0.000000 250 206 155 1.000000
+0.257396 0.488061 0.076312 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.232085 -0.400593 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.185779 -0.498096 0.504348 0.000000 -0.996892 -0.078781 255 255 255 1.000000
+0.326265 -0.677932 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370509 -0.598497 0.425526 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.151214 -0.172337 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.127327 0.470985 0.038607 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.286804 0.090267 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.242727 -0.290530 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.169682 -0.119074 -0.080977 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.381203 0.222341 0.466745 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.019065 -0.598497 0.462018 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.370666 0.557875 -0.159394 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.080562 0.443560 -0.335085 0.000000 -0.000000 1.000000 239 202 143 1.000000
+-0.366907 0.461339 -0.284061 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.306249 -0.252459 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.017278 -0.545813 -0.051024 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.377045 -0.217684 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 -0.497513 -0.415699 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.280384 -0.119074 -0.272250 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+0.370666 -0.050960 0.007031 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.096356 0.463082 0.028436 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.119041 0.567172 -0.487868 0.000000 -0.000000 1.000000 242 205 146 1.000000
+-0.366907 -0.633606 -0.520220 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.257046 -0.087464 0.185963 0.000000 1.000000 0.000000 239 211 149 1.000000
+0.103279 -0.032244 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.265741 0.199840 -1.000000 0.000000 0.000000 240 212 150 1.000000
+0.362382 0.665915 -0.094578 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.142177 0.470985 -0.284260 0.000000 1.000000 0.000000 239 202 143 1.000000
+0.370666 -0.759416 -0.414536 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.770285 -0.032037 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.216125 0.665915 0.455927 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.349593 0.572944 0.082687 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.061771 -0.693546 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.200254 -0.545813 -0.072836 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.365509 0.665915 -0.257146 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.240542 0.665915 -0.524805 0.000000 1.000000 0.000000 244 210 150 1.000000
+0.024872 0.433747 0.501710 0.000000 -0.379754 -0.925087 255 255 255 1.000000
+0.349593 -0.160958 -0.430022 -1.000000 0.000000 0.000000 236 199 140 1.000000
+0.289007 0.514272 -0.088932 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.357427 0.289284 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.029041 -0.087464 0.392545 0.000000 1.000000 0.000000 250 210 147 1.000000
+0.109390 -0.119074 0.140437 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.103851 0.470985 -0.098303 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.187104 0.463082 -0.143070 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.272153 0.568450 -0.025016 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.111198 -0.087464 -0.461227 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.370666 0.428322 0.233661 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.092576 -0.264616 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.574672 -0.456527 1.000000 0.000000 0.000000 240 204 140 1.000000
+0.349593 0.297014 -0.122663 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.134275 0.553938 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.267092 -0.545813 -0.335943 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.127204 -0.545813 -0.211541 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285247 0.549624 -0.358937 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.267212 -0.485238 -0.503673 0.000000 0.000000 -1.000000 247 217 155 1.000000
+0.349593 0.283385 0.377248 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.273788 -0.319022 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.407569 0.390612 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 -0.240587 0.464616 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.118940 -0.545813 0.122167 0.000000 1.000000 0.000000 246 213 158 1.000000
+0.149974 -0.545813 -0.433088 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.105104 -0.071092 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.059758 -0.391760 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.285247 0.500723 -0.141137 -1.000000 0.000000 0.000000 245 214 148 1.000000
+-0.345833 -0.592125 0.043838 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.156498 0.562055 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.267391 -0.119074 -0.136360 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.149106 -0.545813 0.283046 0.000000 1.000000 0.000000 243 202 144 1.000000
+-0.366907 -0.081193 -0.153160 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.117545 -0.262897 -0.487868 0.000000 -0.000000 1.000000 246 204 140 1.000000
+0.339502 0.438830 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.173113 -0.119074 0.242861 0.000000 -1.000000 -0.000000 240 210 148 1.000000
+-0.059561 0.463082 0.233527 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.335365 0.364673 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.653595 0.097371 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.013438 -0.282765 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.048581 0.510911 0.540783 -0.083597 -0.130606 0.987904 151 131 120 1.000000
+-0.059782 -0.400969 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.538489 0.271328 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.352019 0.665915 0.025858 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.041627 -0.087464 -0.325249 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.164084 0.189447 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.037914 -0.087464 0.218458 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.345833 0.185726 0.379513 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.343225 -0.087464 0.113865 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.037497 0.269711 0.507856 -0.000000 0.120014 -0.992772 255 255 255 1.000000
+0.095168 -0.545813 0.007308 0.000000 1.000000 0.000000 241 205 141 1.000000
+-0.181874 -0.119074 -0.450453 0.000000 -1.000000 -0.000000 243 206 140 1.000000
+0.157986 -0.621182 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.255577 0.561628 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.207989 0.256656 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.154291 0.463082 0.252523 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.276105 -0.087464 -0.456756 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.141959 0.317622 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.105418 -0.087464 0.081961 0.000000 1.000000 0.000000 244 208 144 1.000000
+0.247483 0.115012 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.136697 -0.281863 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.374204 0.150925 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.349593 0.583497 0.407024 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.087522 0.238257 -0.503673 0.000000 0.000000 -1.000000 243 211 150 1.000000
+0.349593 -0.438915 0.073289 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.517176 -0.032769 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.346047 0.231712 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.114210 0.522038 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.006355 0.278321 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.349593 -0.554648 -0.326261 -1.000000 0.000000 0.000000 242 208 148 1.000000
+-0.051059 -0.119074 -0.114401 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.366907 -0.387665 0.116589 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.287451 -0.358201 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.041106 -0.463765 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.039461 0.105961 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.173854 -0.271665 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.181128 0.459534 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.368770 -0.429173 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.248839 0.541653 -0.335085 0.000000 -0.000000 1.000000 251 214 155 1.000000
+-0.345833 0.102681 -0.070644 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.136434 -0.545813 0.387355 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.284105 -0.119074 -0.320989 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.153732 -0.119074 -0.251097 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.253637 0.534396 0.381967 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.345833 -0.264429 -0.187608 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.047171 -0.012858 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.318746 -0.119074 0.073194 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.262436 -0.087464 0.405039 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.318458 0.118084 0.556588 0.417325 -0.000791 0.908757 138 112 99 1.000000
+0.045794 0.463082 0.390741 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.295655 0.607114 -0.487868 0.000000 -0.000000 1.000000 248 207 149 1.000000
+-0.168151 -0.545813 -0.158334 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.417951 -0.529732 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.327541 0.634305 0.243425 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257396 0.531595 0.309057 -1.000000 0.000000 0.000000 242 206 142 1.000000
+0.370666 0.178449 -0.443637 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.286732 0.634305 0.198844 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.154313 -0.481796 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.097575 0.470985 -0.074343 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.179918 0.044102 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.370666 0.548753 -0.434619 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.330258 -0.344484 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.193725 0.463082 -0.171445 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.370666 -0.083203 0.297813 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.003049 0.463082 -0.122063 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.547515 0.179133 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.148272 -0.087464 -0.297051 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.111576 -0.785966 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.062608 0.521138 0.537649 0.389718 0.564983 0.727265 153 137 128 1.000000
+0.272756 0.613231 -0.034216 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.373301 -0.075472 0.499886 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.212274 -0.598307 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.027819 0.665915 -0.533146 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285492 0.433715 -0.503673 0.000000 0.000000 -1.000000 248 216 155 1.000000
+-0.309964 0.634305 -0.161792 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.068806 0.167953 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.250115 -0.545813 0.262152 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.142099 -0.598385 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.006120 0.470985 -0.246766 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.047211 -0.598582 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.354083 -0.413837 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.140907 -0.432099 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.366907 0.263017 -0.442992 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.148990 0.038136 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.581359 -0.309510 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.461006 -0.433474 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.157923 -0.119074 0.406950 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.214634 -0.314550 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.349593 -0.582496 0.210272 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.532657 -0.518685 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.631073 -0.409225 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.205426 -0.359699 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.276945 -0.690385 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.302466 -0.087464 0.198493 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.364439 -0.265835 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.091334 -0.500866 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.662255 -0.309151 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.780063 0.183613 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.244189 0.465848 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.023858 0.609123 0.507856 -0.000000 0.109252 -0.994014 255 255 255 1.000000
+-0.345833 0.091861 0.227695 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.680967 -0.104165 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.127744 0.177121 -0.503673 0.000000 0.000000 -1.000000 247 205 143 1.000000
+0.381203 0.123421 0.460440 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.152237 -0.489806 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.047860 -0.545813 0.312276 0.000000 1.000000 0.000000 247 214 159 1.000000
+0.209069 -0.087464 0.050178 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.024425 0.412924 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.341971 -0.354531 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.284339 0.442009 -0.000403 0.000000 -1.000000 -0.000000 246 212 152 1.000000
+0.289007 0.474896 0.168167 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.284359 0.568450 -0.203229 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.296580 -0.545813 0.024378 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.296642 -0.112651 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286299 -0.193167 -0.503673 0.000000 0.000000 -1.000000 249 217 156 1.000000
+-0.090520 -0.786023 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.182253 -0.127402 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.046140 0.538731 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.785703 0.092991 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.275023 -0.785016 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.355049 -0.449197 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.078456 -0.545813 0.111455 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.272761 0.180157 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.016934 -0.084765 -0.503673 0.000000 0.000000 -1.000000 247 205 143 1.000000
+-0.193897 0.463082 0.239645 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+-0.366907 -0.669797 -0.386809 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.243658 0.450660 0.497754 -0.000000 0.843023 0.537878 248 235 215 1.000000
+0.307986 0.287301 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.103388 -0.545813 -0.443678 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.175958 0.395699 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.319801 0.420210 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.140113 -0.087464 0.277536 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.270392 -0.453773 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.330795 0.041948 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.282980 0.291243 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.248438 0.145156 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.260972 -0.087464 -0.407961 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.354322 -0.787907 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.031289 -0.545813 -0.175982 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.368201 -0.598497 0.470180 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.257396 0.447167 0.354207 -1.000000 0.000000 0.000000 244 207 141 1.000000
+-0.345833 0.016207 -0.028137 1.000000 0.000000 0.000000 250 207 150 1.000000
+0.188267 0.164975 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.273868 -0.441734 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.069747 0.186675 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.282445 0.442009 -0.336828 0.000000 -1.000000 -0.000000 243 209 149 1.000000
+0.349593 0.385681 0.067594 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.552436 -0.283220 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.337726 0.300501 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.149978 -0.004455 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.283275 -0.748633 -0.535284 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.366907 -0.238134 0.254576 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.444884 -0.093471 -1.000000 0.000000 0.000000 249 213 149 1.000000
+0.173042 -0.342672 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+0.370666 -0.156765 0.418016 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.270428 -0.042384 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.299629 0.380126 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.105088 0.517802 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.168370 0.091896 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.066312 0.219850 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 0.062260 0.465126 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.428944 -0.057406 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.656811 -0.435408 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.372594 -0.185527 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.152632 0.661917 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.724887 -0.242399 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.134863 -0.535226 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.180133 -0.179997 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.521117 0.070968 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.197066 -0.079775 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.370666 -0.696896 -0.498368 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.374238 -0.317005 1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.345833 0.062470 -0.237156 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.004397 0.070668 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.269060 0.442009 0.331618 0.000000 -1.000000 -0.000000 241 213 154 1.000000
+0.296307 -0.545813 0.412286 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.084594 0.043250 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.079709 -0.152181 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.277236 0.311328 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.473643 0.313901 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.310443 -0.119074 0.272730 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.366907 0.424458 -0.088847 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.006892 -0.119074 0.306342 0.000000 -1.000000 -0.000000 244 206 147 1.000000
+-0.183928 0.463082 0.435840 0.000000 -1.000000 -0.000000 239 208 140 1.000000
+-0.255601 0.568450 -0.198082 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.111375 -0.545813 -0.087306 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.153223 -0.307446 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.293891 0.613231 0.290978 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.252670 -0.024585 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.163970 0.470985 -0.283135 0.000000 1.000000 0.000000 241 205 141 1.000000
+0.026362 -0.280116 -0.503673 0.000000 0.000000 -1.000000 242 208 148 1.000000
+-0.345833 0.219112 -0.272834 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.330615 -0.421415 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.292070 0.287641 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.562490 0.153556 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.482338 -0.207420 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.268303 -0.200867 -0.503673 0.000000 0.000000 -1.000000 244 203 145 1.000000
+0.370666 0.121803 0.240493 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.296838 0.044230 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.370666 0.219769 -0.528657 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.219392 0.629745 0.013104 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.040914 -0.382472 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.712676 0.281077 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.153397 0.391071 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.193102 -0.545813 0.425271 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.304698 0.485090 -0.487868 0.000000 -0.000000 1.000000 241 205 141 1.000000
+0.370666 0.500004 0.384008 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.279951 0.442009 -0.000619 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.286947 0.634305 0.139045 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.277941 0.613231 0.419419 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.109838 0.144839 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.591431 0.141308 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.727120 -0.228285 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.304235 -0.481837 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.068567 0.470985 0.174540 0.000000 1.000000 0.000000 241 205 141 1.000000
+-0.366907 -0.150069 0.043824 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.100180 -0.122889 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.028823 0.205324 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.462269 0.192472 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.462406 0.424077 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.146058 -0.713459 -0.535284 0.000000 0.000000 -1.000000 247 211 147 1.000000
+0.192648 0.528297 0.444635 0.000000 0.000000 -1.000000 240 204 140 1.000000
+0.177668 0.483867 -0.487868 0.000000 -0.000000 1.000000 240 206 146 1.000000
+0.288625 0.442009 -0.313544 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.142252 0.333443 0.507856 0.000000 -0.027587 0.999619 248 235 215 1.000000
+0.012531 0.487004 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.199716 -0.545813 -0.161562 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.150861 0.611402 0.507856 0.000000 -0.104201 0.994556 248 235 215 1.000000
+-0.345833 0.230223 0.193842 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.531248 -0.000150 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.224511 0.634305 0.233325 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.314223 0.231263 0.448752 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.336478 -0.590594 0.505853 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.099594 0.132346 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.035369 0.592531 -0.487868 0.000000 -0.000000 1.000000 243 211 151 1.000000
+0.317983 -0.017005 0.465833 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.131197 0.442009 -0.365802 0.000000 -1.000000 -0.000000 248 212 148 1.000000
+-0.345833 0.348687 0.317358 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286722 0.442009 -0.151274 0.000000 -1.000000 -0.000000 245 212 155 1.000000
+0.051274 0.048403 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.696570 0.008550 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.007001 -0.095032 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.047354 -0.545813 0.175114 0.000000 1.000000 0.000000 246 212 152 1.000000
+-0.243100 -0.129753 0.505636 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.377444 -0.088957 0.469817 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.600772 0.335807 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.051458 0.463082 0.436713 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.180524 0.216601 -0.487868 0.000000 -0.000000 1.000000 240 208 147 1.000000
+0.225018 0.262560 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.289446 -0.545813 -0.007424 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.377444 -0.215416 0.464376 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.242249 -0.639807 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.303998 -0.343444 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.370666 0.385375 0.158927 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.301580 -0.545813 -0.133560 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.305994 0.633659 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.278022 -0.107436 1.000000 0.000000 0.000000 237 209 150 1.000000
+-0.306935 0.594723 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.000781 -0.545813 -0.485444 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.176700 -0.565489 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.292308 0.328738 0.466271 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.088528 -0.545813 -0.260441 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.260649 0.568450 0.385798 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.684553 -0.152535 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.306115 -0.246871 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.182807 0.049253 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.066565 -0.545813 -0.416759 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.118349 -0.616896 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.186813 -0.510323 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.485073 0.291626 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285702 0.634305 -0.360963 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.308344 0.613231 -0.279578 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.366907 0.404652 -0.352569 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.411614 0.163599 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.264188 -0.457746 -1.000000 0.000000 0.000000 244 204 139 1.000000
+-0.366907 0.260891 0.310147 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.006776 -0.193754 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.345833 -0.595613 0.363822 1.000000 0.000000 0.000000 241 209 148 1.000000
+0.370666 0.310466 -0.298380 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.586801 -0.122292 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.053132 -0.545813 0.413520 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.376379 -0.352215 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.292341 -0.545813 0.283215 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.377444 0.462377 0.445568 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.210966 -0.545813 -0.329594 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.281420 -0.545813 0.113435 0.000000 1.000000 0.000000 240 203 144 1.000000
+-0.370074 0.606050 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.058908 0.585433 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 -0.485936 -0.221800 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.119080 -0.695203 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.219392 0.631782 0.248285 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.569552 -0.057992 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.108562 -0.119074 -0.365368 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.153482 -0.540544 -0.534766 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.121100 -0.073618 -0.503673 0.000000 0.000000 -1.000000 251 211 148 1.000000
+0.370666 -0.134296 -0.347586 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 0.344499 0.449056 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.253052 -0.046661 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.179631 0.470985 0.052562 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.285687 -0.545813 -0.428936 0.000000 1.000000 0.000000 241 205 141 1.000000
+0.370666 0.153673 -0.259970 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.312834 0.613231 -0.135193 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+-0.071437 0.608082 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.229337 -0.087464 -0.263716 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.174087 0.378463 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.055195 -0.229742 -0.487868 0.000000 -0.000000 1.000000 240 208 147 1.000000
+0.349593 -0.013116 0.336084 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.268288 -0.404337 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.039509 0.283675 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.012901 -0.087464 -0.176372 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.349593 0.246091 0.176291 -1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.366907 0.072964 0.121519 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.736256 -0.080780 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.503435 -0.149080 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.191438 -0.329300 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.362868 -0.077424 -0.535284 0.000000 0.000000 -1.000000 246 204 140 1.000000
+-0.289961 0.634305 -0.462884 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.345833 -0.177237 -0.178620 1.000000 0.000000 0.000000 244 211 156 1.000000
+0.016133 0.352446 0.506657 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.332688 -0.119074 -0.065592 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+0.098131 -0.180054 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.162093 -0.769510 -0.535284 0.000000 0.000000 -1.000000 247 209 148 1.000000
+-0.366907 -0.167597 0.306488 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.034160 -0.363417 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.100076 -0.451309 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.191050 0.602022 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.412052 -0.499258 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.255753 0.005476 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.181752 -0.545813 -0.238472 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 -0.193857 -0.021311 1.000000 0.000000 0.000000 248 205 148 1.000000
+-0.366907 -0.045919 -0.076444 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.563871 0.107618 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.532884 0.200692 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.363084 -0.614038 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.319001 0.079446 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.311018 -0.229650 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.298715 -0.073031 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.037212 -0.563516 0.507856 0.000000 -0.039324 -0.999227 255 255 255 1.000000
+0.198366 -0.545813 0.135367 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.258285 0.611482 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.279722 0.442009 -0.084449 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.153935 0.003349 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.071300 -0.087464 0.322835 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.374947 -0.094255 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.075372 -0.440675 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.194176 -0.087464 0.003814 0.000000 1.000000 0.000000 243 207 143 1.000000
+0.125082 -0.087464 -0.139427 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.043219 -0.087464 0.172389 0.000000 1.000000 0.000000 239 209 147 1.000000
+-0.134032 0.364750 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.354454 -0.522257 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.311482 -0.119074 0.364029 0.000000 -1.000000 -0.000000 238 201 142 1.000000
+0.320383 -0.469207 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.377444 -0.387105 0.449284 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.408470 -0.139428 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.307762 -0.087464 -0.250145 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.073953 -0.563557 0.507856 0.000000 -0.039265 -0.999229 255 255 255 1.000000
+0.307040 0.050570 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.145797 -0.192638 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.187271 0.377369 0.507856 0.000000 -0.020441 -0.999791 255 255 255 1.000000
+-0.002867 -0.119074 -0.402202 0.000000 -1.000000 -0.000000 238 201 142 1.000000
+-0.366907 -0.092692 -0.307919 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.175154 -0.119074 0.112840 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.065995 -0.119074 -0.033487 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.097555 -0.389385 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.421028 0.437158 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.093593 0.484978 -0.503673 0.000000 0.000000 -1.000000 244 212 151 1.000000
+0.349593 0.097102 0.312705 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.554998 -0.355472 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.334086 -0.163316 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257419 -0.105855 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.467767 0.301918 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.155207 -0.432174 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.503370 -0.075376 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.317983 -0.104722 0.445571 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.100668 -0.087464 0.432215 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.117131 0.463082 0.388192 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.111516 0.350341 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.234514 -0.087464 -0.123767 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.042807 -0.119074 0.418944 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.366907 0.615452 0.212668 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.594491 -0.351220 1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.289000 -0.119074 0.023914 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.201811 -0.540550 0.507856 -0.000000 0.072700 0.997354 248 235 215 1.000000
+-0.345833 0.088280 -0.468357 1.000000 0.000000 0.000000 244 203 145 1.000000
+0.134624 -0.087464 -0.377445 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.202793 -0.545813 0.257726 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.498505 -0.367823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.207496 0.463082 0.194827 0.000000 -1.000000 -0.000000 240 203 144 1.000000
+-0.207813 0.275246 -0.503673 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.021329 -0.226374 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.222639 -0.696993 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.366907 0.554933 -0.383799 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.473173 0.344988 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.146894 -0.545813 0.326693 0.000000 1.000000 0.000000 245 207 146 1.000000
+0.349593 0.110127 -0.045931 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370666 -0.719130 0.027552 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.652416 0.283933 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.060456 -0.087464 0.088405 0.000000 1.000000 0.000000 244 202 138 1.000000
+-0.253537 0.019599 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.112824 -0.379298 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.370666 -0.607525 -0.269259 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.106601 -0.614988 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.125564 0.429214 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.294107 0.613231 -0.088352 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.121642 0.463082 0.280762 0.000000 -1.000000 -0.000000 247 214 159 1.000000
+0.349593 -0.056924 -0.137419 -1.000000 0.000000 0.000000 241 209 148 1.000000
+0.278930 -0.545813 -0.051503 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.370666 -0.586372 0.035980 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.287168 -0.545813 0.426029 0.000000 1.000000 0.000000 233 199 140 1.000000
+0.314219 -0.558954 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.046754 -0.322478 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.426890 -0.383361 -1.000000 0.000000 0.000000 241 205 141 1.000000
+0.370666 -0.440489 -0.227911 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.593905 -0.044567 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.304584 -0.592674 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.294928 -0.521090 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.017419 0.494544 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.048707 0.410682 0.507856 0.000000 -0.094920 -0.995485 255 255 255 1.000000
+-0.051566 0.470985 0.053654 0.000000 1.000000 0.000000 243 207 143 1.000000
+0.158717 0.615084 -0.535284 0.000000 0.000000 -1.000000 253 216 157 1.000000
+-0.366907 -0.571946 -0.102073 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.084287 -0.227654 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.507714 0.047572 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.030564 -0.009154 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.407453 0.275833 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.294107 0.634305 0.030737 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.244842 -0.620431 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.304277 0.634305 0.371585 0.000000 1.000000 0.000000 243 205 146 1.000000
+0.288920 -0.119074 -0.360965 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.269765 0.442009 -0.187911 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.068229 0.463082 -0.265859 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.018924 0.410714 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.112288 0.307144 1.000000 0.000000 0.000000 245 205 142 1.000000
+0.042383 -0.545813 -0.340837 0.000000 1.000000 0.000000 250 212 153 1.000000
+0.370666 -0.219421 0.271338 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.209114 -0.119074 0.238223 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.200676 -0.480362 -0.503673 0.000000 0.000000 -1.000000 250 213 154 1.000000
+0.297471 0.613231 0.037910 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.208249 0.463082 0.025510 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.370666 -0.062605 -0.290226 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.329351 -0.040609 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.349593 0.148331 0.083547 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.060795 0.317601 0.507856 0.000000 -0.050615 0.998718 248 235 215 1.000000
+-0.253707 0.568450 0.049805 0.000000 1.000000 0.000000 252 220 159 1.000000
+0.370666 0.599275 -0.496546 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.069269 -0.119074 0.155974 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+0.370666 0.588767 -0.229992 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.525009 0.378362 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.280311 -0.469890 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.289777 0.153005 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.252161 0.634305 -0.331064 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.070797 -0.545813 -0.262812 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.103296 0.658012 0.503947 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.370666 -0.746284 0.255946 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.087946 0.463082 0.324862 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.218155 0.463082 0.133349 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.257396 0.447180 -0.075339 -1.000000 0.000000 0.000000 243 201 137 1.000000
+-0.285247 0.541797 0.313268 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.226847 -0.620224 -0.535284 0.000000 0.000000 -1.000000 251 214 155 1.000000
+-0.155845 -0.545813 0.073631 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.040693 -0.618970 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.062411 -0.545813 -0.330743 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.293281 0.052906 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.343013 0.171047 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.480869 -0.165861 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.058222 0.092569 -1.000000 0.000000 0.000000 241 204 145 1.000000
+0.349593 0.344792 0.333400 -1.000000 0.000000 0.000000 249 215 155 1.000000
+0.305204 -0.545813 -0.203777 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.200599 0.470985 0.311790 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.297822 -0.751874 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.022760 0.463082 0.041627 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.013802 -0.203142 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.299508 -0.367257 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.177244 0.113409 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.189508 -0.545813 -0.015921 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.456653 0.421655 1.000000 0.000000 0.000000 243 210 155 1.000000
+0.252498 -0.386473 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.128805 0.383745 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.509195 -0.277640 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.068334 0.470985 0.157383 0.000000 1.000000 0.000000 237 201 137 1.000000
+0.071226 0.463082 0.100609 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.196802 -0.098956 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.466095 -0.314851 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.150564 0.470985 -0.210420 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.252137 0.313200 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.016715 -0.545813 0.379739 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.216885 0.625004 0.507856 -0.000000 0.073928 -0.997264 255 255 255 1.000000
+0.349593 -0.159190 0.314587 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.119565 0.506000 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.003655 -0.784026 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.221493 0.634305 -0.199172 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.015145 -0.366716 -0.503673 0.000000 0.000000 -1.000000 245 207 148 1.000000
+-0.366907 -0.786430 -0.406392 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.138928 -0.033492 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.251987 0.634305 -0.193425 0.000000 1.000000 0.000000 245 205 142 1.000000
+0.290366 -0.087464 -0.199232 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.227243 -0.545813 0.135945 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.345833 -0.456041 0.136388 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.424761 -0.372134 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.089413 0.585433 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.381203 -0.427416 0.445076 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.298188 -0.545813 0.089372 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.257396 0.511735 -0.164571 -1.000000 0.000000 0.000000 249 207 145 1.000000
+0.301299 0.041457 0.522110 0.906534 0.274295 -0.320870 255 255 255 1.000000
+-0.366907 0.406080 -0.015947 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.141893 -0.445962 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.176899 -0.087464 -0.069297 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.503840 0.235995 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.002992 0.197313 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.222316 0.137064 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.189889 -0.087464 0.308479 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.325348 0.068663 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.045551 -0.431395 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.301095 -0.545813 0.319344 0.000000 1.000000 0.000000 241 211 149 1.000000
+0.370666 -0.597192 -0.132002 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.290536 -0.119074 0.345118 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.291235 -0.182651 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.309386 0.359618 -0.487868 0.000000 -0.000000 1.000000 246 214 153 1.000000
+-0.285247 0.561384 -0.264649 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.190345 -0.119074 -0.442301 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.370666 -0.676571 -0.408733 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.482446 0.256284 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.397774 0.322177 -1.000000 0.000000 0.000000 244 216 154 1.000000
+0.178327 -0.087464 0.431000 0.000000 1.000000 0.000000 238 204 144 1.000000
+-0.184479 -0.574626 0.507856 -0.000000 0.023177 0.999731 248 235 215 1.000000
+-0.196564 -0.068499 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.068687 0.543923 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.272265 0.407006 -1.000000 0.000000 0.000000 243 202 144 1.000000
+-0.045478 -0.545813 0.016233 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.294756 -0.263249 1.000000 0.000000 0.000000 249 208 148 1.000000
+-0.272427 0.398753 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.568360 -0.395963 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.062028 -0.119074 0.023996 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.366907 0.211220 -0.126446 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.212272 0.463082 0.419714 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.222236 0.522924 -0.335085 0.000000 -0.000000 1.000000 247 211 147 1.000000
+-0.308349 0.521153 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.712394 0.163705 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.079979 -0.333263 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.470979 0.123761 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.253855 -0.114949 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.334187 0.190353 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.221837 0.463082 -0.295493 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.168820 -0.087464 0.176528 0.000000 1.000000 0.000000 245 211 151 1.000000
+-0.314592 0.613231 0.135800 0.000000 -1.000000 -0.000000 247 209 150 1.000000
+0.302481 -0.087464 -0.081920 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.086757 0.397629 0.507856 -0.000000 0.065818 0.997832 248 235 215 1.000000
+0.168762 0.503322 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.013743 -0.087464 -0.277342 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.253637 0.554556 -0.105207 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.249167 -0.170289 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.379970 0.223509 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.243513 -0.119074 0.224576 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.014545 0.051083 -0.503673 0.000000 0.000000 -1.000000 246 204 142 1.000000
+0.223897 -0.087464 -0.303195 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.376384 -0.090429 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.547658 0.447523 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286587 0.606078 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.225521 0.634305 0.390380 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.449100 -0.475158 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.200403 -0.087464 -0.198233 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.135928 -0.209498 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.373665 -0.263807 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.288710 0.489814 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.089114 0.445104 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.317710 -0.119074 -0.444072 0.000000 -1.000000 -0.000000 244 204 141 1.000000
+0.349593 -0.596284 0.139563 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.318019 0.197979 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.187355 0.163961 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.282930 -0.545813 -0.302887 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.295741 0.660183 -0.535284 0.000000 0.000000 -1.000000 248 205 148 1.000000
+0.349593 -0.245001 -0.281922 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.169188 -0.005069 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.138329 0.470985 -0.031560 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.125389 -0.782346 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.076797 -0.119074 0.273389 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.135063 -0.006534 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.090196 -0.283267 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.625351 -0.442791 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.001938 0.349199 1.000000 0.000000 0.000000 241 205 141 1.000000
+0.185201 -0.119074 -0.011923 0.000000 -1.000000 -0.000000 244 206 147 1.000000
+0.370666 0.048838 -0.534572 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.235161 -0.193541 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.158925 -0.087464 0.101246 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.503333 -0.336720 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.046684 -0.535276 0.447270 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.352630 -0.701012 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.219392 0.624706 0.159566 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.351925 -0.300470 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.473758 -0.013790 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.475734 0.131966 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.031739 0.665915 0.447284 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.108345 -0.545813 0.213566 0.000000 1.000000 0.000000 247 204 147 1.000000
+0.226347 0.595830 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.713486 -0.315786 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.489702 -0.289381 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.486658 0.459202 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.076249 -0.668662 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.292622 0.499540 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.098020 -0.710906 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.402157 -0.473713 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.018220 0.463082 0.326084 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.366110 0.051457 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.304204 -0.087464 -0.121758 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.349593 0.212807 -0.386749 -1.000000 0.000000 0.000000 251 215 151 1.000000
+-0.174687 -0.103086 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.331723 0.613231 0.311152 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.281202 -0.119074 0.115209 0.000000 -1.000000 -0.000000 244 204 139 1.000000
+-0.096649 -0.119074 -0.168892 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.345833 0.490465 -0.224480 1.000000 0.000000 0.000000 244 202 138 1.000000
+0.240467 -0.134148 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.447577 0.006901 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.321578 -0.256655 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.168904 -0.545813 -0.267196 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.654965 -0.011279 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.320041 -0.374799 0.444635 0.000000 0.000000 -1.000000 248 216 155 1.000000
+-0.087999 -0.119074 -0.273664 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.321872 -0.119074 0.258141 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.484135 -0.463792 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.337094 0.272545 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.154356 -0.119074 0.337657 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.025819 -0.545813 0.006090 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 -0.267286 0.122655 -1.000000 0.000000 0.000000 248 216 155 1.000000
+0.223152 0.619808 0.161868 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.543363 -0.002129 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.283363 0.568450 0.255549 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.148843 0.252100 0.501493 -0.000000 0.311921 -0.950108 255 255 255 1.000000
+-0.366907 -0.784837 0.275392 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.657356 -0.224245 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.515255 0.017086 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.047862 0.177371 -0.487868 0.000000 -0.000000 1.000000 244 202 140 1.000000
+0.370666 -0.346818 -0.533793 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.308033 0.016647 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.099202 -0.331471 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.307613 -0.022823 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.210837 -0.152079 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.280392 0.442009 0.112799 0.000000 -1.000000 -0.000000 247 209 148 1.000000
+0.043224 0.496862 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.320719 -0.195899 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.060062 -0.730513 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.157367 -0.281404 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.354990 0.665915 -0.466546 0.000000 1.000000 0.000000 243 201 137 1.000000
+-0.331178 -0.087464 0.403468 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.303846 0.176774 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.053411 -0.085324 -0.503673 0.000000 0.000000 -1.000000 242 210 149 1.000000
+-0.219392 0.629261 -0.344218 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.349593 0.235447 0.107577 -1.000000 0.000000 0.000000 237 200 141 1.000000
+0.304895 0.148849 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.246197 -0.699907 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.047459 0.463082 -0.175020 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.583497 -0.024523 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.580524 0.103897 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.030379 0.357190 -0.503673 0.000000 0.000000 -1.000000 238 201 142 1.000000
+0.370666 -0.707117 0.148231 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.230204 -0.087464 -0.080421 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.381203 -0.000274 0.446355 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122220 -0.087464 0.275403 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.314223 0.035951 0.445491 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.073651 -0.477384 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.055438 -0.545813 0.242779 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.091180 -0.140537 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.194436 0.607428 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.325848 0.613231 -0.240551 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.365027 -0.146734 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.299415 0.558658 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.345833 0.154443 -0.240134 1.000000 0.000000 0.000000 245 214 148 1.000000
+0.183755 -0.262301 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.377444 0.255628 0.445334 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.325973 0.196802 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.025168 0.259659 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.220479 0.327216 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.257354 0.505484 0.224743 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.182953 -0.573790 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.020269 0.391959 0.448580 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.337063 0.634305 -0.036131 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285247 0.511170 -0.058624 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.215483 -0.545813 -0.450094 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.058612 -0.119074 -0.430378 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.349593 -0.223648 0.030550 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.158070 -0.783890 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.025221 0.139434 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.154583 -0.535276 0.451472 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.285247 0.504840 0.138528 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.092699 0.488041 -0.335085 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.018106 0.054448 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.158625 0.540254 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.210309 -0.716133 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 0.639821 0.090393 -1.000000 0.000000 0.000000 242 210 150 1.000000
+-0.313376 -0.562889 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.234233 -0.134666 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.184712 0.607542 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.117873 0.397982 -1.000000 0.000000 0.000000 246 203 146 1.000000
+0.349593 -0.532328 0.165559 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.649668 0.409309 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.366371 0.401907 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.010367 -0.545813 -0.123294 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 0.646664 -0.318404 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.021929 -0.584648 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.324038 0.352447 0.507745 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.109523 -0.559735 -0.487868 0.000000 -0.000000 1.000000 245 211 151 1.000000
+0.370666 -0.076973 0.078231 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.507285 0.046404 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370666 0.000981 0.049214 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.047926 -0.119074 0.030857 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.050533 0.463082 -0.020199 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.380754 0.275555 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.227606 -0.332690 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.565866 -0.529893 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.088522 0.061392 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.391652 -0.027580 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.005885 0.470985 0.194829 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.159642 -0.545813 -0.009521 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.120310 0.598622 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.377444 0.546702 0.473994 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.183063 -0.236722 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.224823 0.350474 -0.487868 0.000000 -0.000000 1.000000 241 204 145 1.000000
+0.098857 0.294095 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.351115 0.105960 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.073912 -0.222331 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.078968 0.222341 -0.503673 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.009047 -0.545813 0.139228 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.366907 -0.220566 -0.237031 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.729952 -0.355017 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.526996 0.115996 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.096530 0.030647 -0.487868 0.000000 -0.000000 1.000000 242 199 142 1.000000
+-0.241853 0.634305 -0.049182 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.084438 -0.600079 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.230541 -0.538940 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.373301 0.276792 0.504127 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.005418 -0.366547 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.360654 0.665915 0.073419 0.000000 1.000000 0.000000 246 210 146 1.000000
+0.107437 -0.087464 0.201279 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.387052 0.205501 1.000000 0.000000 0.000000 248 210 157 1.000000
+0.121338 0.463082 -0.136168 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.218823 0.463082 0.128162 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.313399 -0.132274 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.419474 -0.463766 -1.000000 0.000000 0.000000 246 209 143 1.000000
+-0.228590 0.613231 -0.482193 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.430211 0.008440 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.238015 -0.545813 -0.487781 0.000000 1.000000 0.000000 246 204 142 1.000000
+0.349593 0.335798 -0.241288 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.084039 0.481344 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.115864 -0.087464 -0.211951 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.127869 -0.720915 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.209068 0.114479 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.305639 0.389461 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.046989 -0.055175 -1.000000 0.000000 0.000000 248 211 145 1.000000
+-0.021416 -0.545813 0.267805 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.146439 -0.138803 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.600938 -0.100218 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.076220 -0.485306 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.658817 -0.191840 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.126595 -0.545813 -0.376185 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.620581 0.268183 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.304236 -0.267306 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.314223 -0.370147 0.448732 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.293808 -0.119074 0.141906 0.000000 -1.000000 -0.000000 242 208 148 1.000000
+0.221409 -0.119074 -0.244057 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.070017 0.463082 -0.273636 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.373301 -0.186606 0.501456 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.237453 -0.087464 0.355230 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.367951 -0.359878 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.006207 -0.119074 -0.068587 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.109163 -0.087464 -0.091582 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.329871 0.613231 -0.404075 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.676251 -0.274952 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.132937 0.086622 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.233308 0.260263 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.196755 -0.545813 -0.364631 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.003069 0.602694 0.446588 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.370666 -0.492105 -0.350840 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.216381 -0.545813 0.206611 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.291658 0.665915 0.460886 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.366907 0.500430 -0.461270 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.298059 0.613231 0.357686 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.350109 -0.529391 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.312827 0.634305 -0.218399 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.137227 -0.087464 -0.415672 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.017148 -0.722671 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.304215 0.217700 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.149192 0.518439 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.169852 0.491957 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.307643 -0.183451 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.365313 -0.051362 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.514124 -0.095098 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.120283 0.028140 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.090092 -0.173715 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.271477 -0.712201 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.496250 0.249552 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.080097 -0.087464 -0.289694 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.357274 0.602265 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.169458 -0.545813 0.192951 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.319256 -0.236829 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.258891 -0.087464 0.090975 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.622679 -0.161842 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.365757 0.473618 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.533148 0.339951 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.154456 -0.119074 0.051933 0.000000 -1.000000 -0.000000 241 205 141 1.000000
+-0.358624 -0.706578 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.292325 0.145595 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.169544 -0.415957 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.161193 0.463082 -0.084285 0.000000 -1.000000 -0.000000 248 205 148 1.000000
+0.085286 -0.587434 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.171722 0.463082 0.088989 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.198032 0.568450 -0.363751 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.238479 0.470985 0.380046 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.314223 -0.499406 0.463384 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.127036 -0.087464 -0.044923 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.370666 -0.536351 0.249548 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.192396 -0.485626 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.172297 0.463082 -0.107927 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.307568 0.016695 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.246166 0.328738 0.444985 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.317983 0.551026 0.453189 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.128106 -0.093449 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.139607 0.248265 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.030602 0.268335 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.211655 -0.452216 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.001144 -0.704400 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.104884 0.470985 0.098355 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.308845 -0.276264 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349940 0.665915 -0.370629 0.000000 1.000000 0.000000 243 207 143 1.000000
+-0.345833 -0.211737 -0.463752 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.598460 0.140880 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.114693 -0.260204 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.585485 0.230281 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.152612 -0.545813 -0.118696 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.243100 -0.404757 0.506344 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.121049 0.606639 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.148745 0.470985 0.432178 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.087095 -0.119074 0.375771 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.305783 -0.545813 -0.068758 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.221986 0.171227 -0.503673 0.000000 0.000000 -1.000000 249 217 156 1.000000
+-0.366907 0.168841 0.202666 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.298291 0.266326 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.221017 0.388813 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.098892 0.368251 0.505358 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.282700 -0.590176 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.236137 -0.340880 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.260936 0.568450 -0.272726 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.212685 -0.312876 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.329275 0.141997 1.000000 0.000000 0.000000 254 212 158 1.000000
+-0.230898 -0.545813 -0.149492 0.000000 1.000000 0.000000 247 205 141 1.000000
+-0.366907 0.531968 -0.267442 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.444668 0.112515 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.319819 -0.087464 0.016634 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.014647 0.287948 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.126853 0.470985 -0.157956 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.294624 -0.751278 -0.535284 0.000000 0.000000 -1.000000 236 200 136 1.000000
+-0.305568 -0.294536 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.315882 0.360792 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.130473 0.470985 0.194564 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.108051 -0.260461 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.127182 -0.542801 0.507856 -0.000000 0.069431 0.997587 248 235 215 1.000000
+-0.325999 -0.448108 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.019988 0.482803 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.318789 0.665915 0.452374 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.225919 0.446492 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.183250 0.539474 -0.535104 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.302634 -0.061386 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.170101 0.395082 0.507856 -0.000000 0.060123 0.998191 248 235 215 1.000000
+-0.366907 0.374967 0.086871 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.321786 -0.172594 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.312733 -0.414896 -0.487868 0.000000 -0.000000 1.000000 245 213 153 1.000000
+-0.119095 -0.545813 -0.202420 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.081269 0.463082 -0.003485 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 -0.747377 -0.090609 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.198620 -0.087464 0.369176 0.000000 1.000000 0.000000 238 206 145 1.000000
+-0.059784 -0.119074 -0.052191 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.460617 0.175921 -1.000000 0.000000 0.000000 243 211 150 1.000000
+0.319145 -0.087464 -0.316001 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.545332 0.056745 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.215218 -0.230234 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.606427 0.032236 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.073326 -0.545813 0.068451 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.231027 -0.220008 -0.487868 0.000000 -0.000000 1.000000 245 202 145 1.000000
+0.281230 0.634305 0.201345 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.146995 -0.119157 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 0.550697 0.352478 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.430287 -0.242428 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.566912 -0.078002 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.504767 -0.385613 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.229069 -0.647736 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.204901 -0.443572 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.438893 0.250244 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.218648 -0.404737 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.022888 -0.459551 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.013276 -0.484483 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.015056 0.463082 -0.181459 0.000000 -1.000000 -0.000000 244 200 143 1.000000
+0.197578 0.076723 -0.487868 0.000000 -0.000000 1.000000 251 209 157 1.000000
+-0.307445 0.634305 -0.029855 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.228423 0.470985 0.294822 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.141490 -0.114850 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.633948 -0.065043 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.190541 -0.087464 0.169761 0.000000 1.000000 0.000000 249 217 156 1.000000
+0.349593 0.450721 0.059501 -1.000000 0.000000 0.000000 241 205 141 1.000000
+-0.366907 -0.104990 0.171590 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.231580 -0.545813 -0.011717 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.211788 -0.545813 -0.292511 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.128753 0.364153 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.012325 -0.413851 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.205093 -0.786236 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.253405 0.551382 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.254850 -0.535276 0.456717 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.258192 -0.545813 -0.121485 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.538751 -0.174208 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.028876 0.470985 0.286688 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.039588 -0.085138 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.210872 -0.417971 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.370953 0.665915 0.465658 0.000000 1.000000 0.000000 252 215 156 1.000000
+-0.366907 -0.040994 0.146887 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.630708 -0.002337 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.277193 0.392181 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.216447 0.022436 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.060246 -0.545813 -0.044751 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.115166 0.507969 -0.503673 0.000000 0.000000 -1.000000 243 210 153 1.000000
+0.289007 0.477583 0.301042 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.197281 0.143646 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.091475 0.191063 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.241614 0.063886 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.257499 0.528505 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.692999 -0.165780 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.305211 -0.633804 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.328101 0.503988 0.444635 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.293987 0.634305 -0.429679 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.040174 -0.044723 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.049197 -0.459377 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.075020 -0.017799 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.283966 0.442009 -0.253270 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.363867 -0.622751 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.304492 0.455551 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.044028 -0.598497 0.458165 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.160665 0.228126 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.787685 -0.220044 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.196354 -0.119074 -0.135959 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.104321 -0.119074 0.436367 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.501087 -0.149268 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.093608 0.231675 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243055 0.477631 -0.503673 0.000000 0.000000 -1.000000 245 215 153 1.000000
+-0.366907 -0.528395 0.028658 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.426227 -0.218584 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.440261 -0.063964 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.267801 0.019344 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.332262 -0.545813 -0.265683 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.041183 -0.143505 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.069126 0.538448 -0.487868 0.000000 -0.000000 1.000000 239 202 143 1.000000
+-0.329318 -0.119074 -0.185654 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.134953 0.470985 -0.026309 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.045926 0.463082 -0.078867 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.225834 0.508575 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.661305 0.330213 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.138405 -0.087464 -0.300757 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.043203 -0.305316 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.717628 0.332341 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.595843 0.207001 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.133650 0.665915 -0.513381 0.000000 1.000000 0.000000 245 211 151 1.000000
+0.071115 -0.057342 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.222434 0.470985 -0.299538 0.000000 1.000000 0.000000 249 212 153 1.000000
+-0.218300 0.218404 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.316898 -0.087464 -0.363328 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.285247 0.556920 0.100297 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.647233 0.335281 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.513856 -0.454345 1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.263575 -0.087464 0.246212 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.362721 -0.300402 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.126045 0.170908 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.209767 -0.210320 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.516117 0.370190 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.662852 0.274904 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.511252 0.194812 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.370666 -0.571455 -0.198619 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.131902 0.470985 0.214593 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.058133 0.280422 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.417834 -0.246977 1.000000 0.000000 0.000000 254 222 161 1.000000
+0.370666 0.590769 -0.292548 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.237344 -0.352454 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.314223 0.596119 0.468921 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.306725 -0.598497 0.463391 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.314223 0.151068 0.473789 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.140200 -0.087464 -0.201516 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.160723 -0.023013 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.175236 -0.545813 -0.098487 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.783559 -0.256158 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.292717 -0.492911 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.314873 -0.412521 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.056647 0.470985 -0.122425 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.366907 -0.676226 -0.476750 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.365598 -0.112058 1.000000 0.000000 0.000000 243 205 146 1.000000
+-0.228585 0.417516 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.311894 -0.545813 0.223628 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.139861 -0.490048 -0.503673 0.000000 0.000000 -1.000000 247 211 147 1.000000
+-0.363451 -0.181435 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.288099 0.442009 0.450169 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.351000 0.102345 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.026274 0.650572 -0.503673 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.366907 0.431047 -0.442326 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.077201 0.603977 -0.535284 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.269696 -0.119074 0.038630 0.000000 -1.000000 -0.000000 241 205 141 1.000000
+0.370666 -0.371444 0.412583 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.142132 0.545758 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.341262 -0.087464 0.052178 0.000000 1.000000 0.000000 241 205 141 1.000000
+0.061951 -0.124224 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.521945 0.217808 1.000000 0.000000 0.000000 241 207 147 1.000000
+-0.051722 -0.092981 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.148394 0.083821 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.168745 0.421218 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.028377 0.225345 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.127631 0.443473 0.444635 0.000000 0.000000 -1.000000 251 209 147 1.000000
+-0.057796 0.658012 0.502704 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.014053 -0.087464 -0.354427 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.013115 -0.429036 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.156889 -0.119074 0.048738 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.064392 -0.100507 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.512389 -0.016433 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.192374 0.470985 -0.230708 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.141084 -0.545813 0.047137 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.037173 0.549793 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.701623 -0.037208 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.059413 0.111925 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.409085 0.061042 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.297004 -0.387365 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.219279 0.405912 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.118289 0.370307 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.205590 -0.233806 -1.000000 0.000000 0.000000 237 209 147 1.000000
+-0.366907 0.064051 0.279427 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.280848 0.303041 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.246859 -0.264753 0.499316 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.131369 0.426978 -0.487868 0.000000 -0.000000 1.000000 248 216 155 1.000000
+-0.327975 0.044759 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.025068 -0.087464 0.058162 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.219392 0.632666 0.403422 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.233582 0.199190 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.142108 -0.554707 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.018368 0.451186 0.444635 0.000000 0.000000 -1.000000 247 205 143 1.000000
+0.117748 -0.535276 0.455929 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.534141 0.148134 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.214094 -0.545813 0.415207 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.010304 -0.119074 -0.232129 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.340409 -0.319109 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.241292 0.463082 -0.128421 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.253637 0.505131 -0.191049 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 -0.488979 0.459920 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.036590 -0.545813 -0.221819 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.260454 0.568450 -0.144292 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 0.252879 0.248517 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.757711 0.040871 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.632362 0.184573 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.247587 0.624073 -0.535284 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.297325 -0.596363 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.322093 -0.749397 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.071394 -0.119074 -0.177465 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.090890 0.295101 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.125807 -0.377341 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.281896 -0.026239 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.554817 -0.453708 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.102703 -0.545813 -0.157408 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.134095 -0.545813 -0.062520 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.206537 -0.119074 -0.390644 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.029889 0.213862 -1.000000 0.000000 0.000000 238 206 145 1.000000
+0.370666 0.660713 0.213457 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.130009 -0.400730 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.289007 0.489817 -0.033502 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.345833 -0.597987 -0.246161 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.169349 0.317881 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.609389 -0.400839 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.334027 0.613231 0.186802 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.230740 0.391959 0.458328 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.170952 0.211170 -1.000000 0.000000 0.000000 244 210 151 1.000000
+-0.261532 0.442009 0.057277 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.124366 -0.087464 0.137424 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.345833 0.173913 0.320443 1.000000 0.000000 0.000000 240 208 147 1.000000
+-0.114536 -0.387379 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.230815 0.470985 0.019134 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.379000 -0.105275 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.189857 -0.119074 0.383112 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.214656 -0.231898 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 -0.329087 -0.465973 -1.000000 0.000000 0.000000 243 202 134 1.000000
+0.319203 -0.364086 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.133754 -0.010565 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 -0.274677 0.452062 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.359736 0.593889 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.132228 0.442009 -0.362270 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.305835 -0.119074 0.168129 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+0.332373 -0.119074 -0.035853 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.233367 -0.119074 -0.183775 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.099863 -0.087464 0.214513 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.111058 -0.087464 0.023816 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.040797 -0.747977 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.285247 0.498680 -0.323303 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.163171 0.647720 0.507856 0.000000 -0.023073 0.999734 248 235 215 1.000000
+0.370666 -0.782145 -0.468242 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.616495 -0.497686 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.185098 -0.545813 -0.386579 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.349593 0.524156 0.114530 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.013581 -0.087464 0.247539 0.000000 1.000000 0.000000 242 209 154 1.000000
+-0.296409 0.653188 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.077250 0.326435 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.303003 -0.087464 -0.026722 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.140214 0.328738 0.449848 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.178274 0.351800 0.444635 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.115527 -0.385026 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.331919 0.549795 -0.487868 0.000000 -0.000000 1.000000 241 204 145 1.000000
+-0.366907 -0.650701 0.044287 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.069793 -0.020765 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.000947 -0.346031 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.353528 0.388498 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 -0.152969 0.448133 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.318179 0.352442 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.473880 0.249408 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.075853 -0.545813 -0.041447 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.370666 -0.014221 -0.534650 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.208345 0.470985 -0.204360 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.507851 -0.087822 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.035357 -0.171298 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.248522 0.499123 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+-0.345833 -0.127661 -0.122656 1.000000 0.000000 0.000000 249 211 152 1.000000
+0.370666 -0.786908 0.029761 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.179267 0.665915 -0.534546 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.218201 -0.483069 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 -0.570090 0.474693 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.274657 0.634305 0.266859 0.000000 1.000000 0.000000 246 213 158 1.000000
+0.284121 0.634305 -0.089764 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.336578 0.228413 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.065096 -0.227382 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.191473 0.541853 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.195862 -0.119074 -0.300186 0.000000 -1.000000 -0.000000 245 204 146 1.000000
+0.370666 0.385875 -0.405057 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.021213 -0.119074 -0.469761 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.108817 0.132188 -1.000000 0.000000 0.000000 244 203 145 1.000000
+-0.021174 -0.087464 0.159359 0.000000 1.000000 0.000000 246 205 147 1.000000
+-0.190883 0.438947 0.500493 -0.000000 0.569654 0.821885 248 235 215 1.000000
+-0.208035 0.642254 0.507856 0.000000 -0.035327 0.999376 248 235 215 1.000000
+-0.345833 0.548096 0.324103 1.000000 0.000000 0.000000 240 207 152 1.000000
+0.212826 0.111534 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.151173 0.609534 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+-0.007582 -0.535276 0.467326 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.254523 -0.053156 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.128774 0.195065 -0.503673 0.000000 0.000000 -1.000000 243 201 137 1.000000
+-0.366907 -0.095734 -0.462707 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.282124 -0.540544 -0.534349 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.349593 0.262731 0.239071 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.005547 0.597788 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.023159 -0.242783 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.229914 -0.087464 -0.456279 0.000000 1.000000 0.000000 237 201 137 1.000000
+-0.366907 -0.249158 -0.339624 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.032772 0.447415 -0.366696 0.000000 0.000000 -1.000000 241 198 141 1.000000
+0.324758 -0.119074 -0.136156 0.000000 -1.000000 -0.000000 251 214 155 1.000000
+-0.366907 -0.027448 -0.130751 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.325850 0.120066 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.632365 -0.128764 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314811 -0.164028 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.316669 -0.545813 0.376879 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.319163 -0.024044 0.444635 0.000000 0.000000 -1.000000 244 213 153 1.000000
+-0.345833 -0.069279 -0.412449 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.159299 -0.119074 -0.250559 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.289007 0.506966 -0.212069 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.344123 -0.205701 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.107368 -0.119074 -0.466075 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.342212 -0.730094 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.345833 -0.440101 -0.187107 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.221758 -0.110686 0.444635 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.326566 0.329676 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.021389 -0.590588 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.603794 0.352058 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.269273 0.005565 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 -0.313004 -0.305089 -1.000000 0.000000 0.000000 242 214 152 1.000000
+0.186280 -0.396947 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.607677 0.279144 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.130677 -0.435869 -0.503673 0.000000 0.000000 -1.000000 29 1 0 1.000000
+-0.021196 -0.087464 0.354654 0.000000 1.000000 0.000000 241 207 147 1.000000
+0.181351 0.299289 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.378127 -0.531553 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 0.387875 0.505782 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.058763 0.161707 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.084491 -0.307035 -0.503673 0.000000 0.000000 -1.000000 248 210 151 1.000000
+-0.330537 0.465700 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.366154 0.233077 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.148345 0.299868 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.024971 0.443598 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.015141 0.463082 0.392973 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.370666 -0.532954 -0.156823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.103327 -0.545813 0.184886 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.276029 -0.054760 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.104498 -0.545813 0.320657 0.000000 1.000000 0.000000 245 215 153 1.000000
+0.066773 0.384643 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.160490 0.665915 0.444894 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.402184 0.325186 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.214369 -0.545813 0.306512 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.218378 -0.468209 -1.000000 0.000000 0.000000 241 200 142 1.000000
+-0.345833 0.369675 -0.213404 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.302463 -0.087464 -0.405999 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.095835 0.328738 0.445292 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.194324 -0.564471 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.194411 -0.598497 0.446008 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.349593 -0.197999 -0.332920 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.047704 -0.087464 -0.161244 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.307231 -0.071137 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.046037 -0.119074 0.441837 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.016734 0.019619 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.455694 0.363254 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.238402 0.486517 0.444635 0.000000 0.000000 -1.000000 242 206 142 1.000000
+0.333850 0.617752 -0.535284 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.366907 0.610954 -0.357667 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.172231 -0.322851 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.084878 0.341191 0.507856 0.000000 -0.016331 0.999867 248 235 215 1.000000
+0.349593 0.066601 -0.081842 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.327044 0.286033 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.338730 -0.461211 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.109414 0.568450 -0.365438 0.000000 1.000000 0.000000 246 212 152 1.000000
+-0.345833 0.097822 0.168646 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.323252 0.350743 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.031345 0.328738 0.455335 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.101696 0.549700 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.292276 0.243813 1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.306688 -0.118880 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.282496 0.442009 0.055576 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.365292 -0.020370 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.225848 0.068544 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.001514 0.545484 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.264615 -0.308482 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.062775 0.446499 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.164718 -0.545813 0.229119 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.345833 0.238841 0.402085 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.067997 -0.330317 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.726108 -0.370474 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.358927 -0.377355 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.076725 -0.210784 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.039621 0.334174 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.377444 0.400605 0.448995 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.030755 0.470985 -0.072098 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.007051 0.519376 0.530103 0.000821 0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.306203 -0.418784 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.345833 0.312788 -0.009197 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.370666 0.042129 -0.231681 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.534243 -0.217436 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.239256 -0.087464 -0.345679 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.350224 -0.022937 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.308373 -0.410074 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.021872 -0.653138 -0.535284 0.000000 0.000000 -1.000000 236 199 140 1.000000
+-0.366907 -0.577997 -0.482441 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.652754 0.137524 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.311685 0.186727 0.551363 -0.164372 -0.596242 -0.785797 255 255 255 1.000000
+0.248860 -0.545813 -0.188093 0.000000 1.000000 0.000000 251 214 155 1.000000
+-0.299404 -0.060561 -0.487868 0.000000 -0.000000 1.000000 245 212 155 1.000000
+-0.029747 -0.248847 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.190092 0.433248 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.180384 -0.672529 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.107374 -0.119074 -0.093703 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+-0.205207 0.565443 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.545677 -0.007387 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.353891 0.251656 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.023280 0.642262 0.507856 -0.000000 0.035310 -0.999376 255 255 255 1.000000
+-0.366907 -0.268992 0.093500 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.081059 0.148684 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.315619 -0.087464 0.216541 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.345833 0.175318 -0.318056 1.000000 0.000000 0.000000 250 207 150 1.000000
+0.370666 -0.214456 0.216024 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.128568 -0.545813 -0.381861 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.330260 0.613231 0.078076 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.308980 -0.545813 -0.428127 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.191960 0.463082 0.182399 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.342657 0.296073 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.193428 0.440285 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.304758 0.613231 -0.302032 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.181119 -0.494971 -1.000000 0.000000 0.000000 242 210 149 1.000000
+0.370666 0.368894 0.225684 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.312176 -0.545813 -0.187955 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.625234 -0.062594 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.184080 -0.545813 0.367746 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.052238 -0.545813 -0.469416 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.229002 -0.119074 0.133530 0.000000 -1.000000 -0.000000 249 211 150 1.000000
+-0.323838 -0.501450 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.373301 -0.453837 0.494405 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.317983 -0.257742 0.449946 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.082355 0.638782 -0.535284 0.000000 0.000000 -1.000000 244 212 151 1.000000
+-0.317680 -0.545813 -0.363063 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 0.551267 0.016841 -1.000000 0.000000 0.000000 242 206 142 1.000000
+0.274711 0.613231 0.089480 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.052738 -0.087464 0.105958 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.595792 0.396102 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.198829 0.573223 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.188377 -0.005075 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.012771 0.121239 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.154739 0.134259 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.195057 0.565367 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.349593 -0.468631 -0.531094 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.281336 0.353689 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.001516 0.389973 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.030754 -0.540544 -0.531398 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.352681 0.665915 -0.135191 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.058202 0.095968 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.105905 0.276011 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.205849 0.395667 -1.000000 0.000000 0.000000 248 206 142 1.000000
+0.269947 0.558454 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.058200 0.514910 -0.366696 0.000000 0.000000 -1.000000 250 213 154 1.000000
+0.370666 0.368464 -0.500858 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.784750 -0.481923 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.346536 0.665915 0.205311 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.077853 -0.280732 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.135423 -0.335137 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.268159 -0.512060 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.288810 -0.545813 -0.285568 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.268734 0.395033 1.000000 0.000000 0.000000 238 201 142 1.000000
+0.140329 0.463082 0.305548 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.289007 0.565436 -0.363833 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.339304 -0.558596 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.120512 -0.471698 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.318101 0.634305 0.246633 0.000000 1.000000 0.000000 248 216 156 1.000000
+0.225250 -0.087464 -0.412868 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.119070 0.405284 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.256887 -0.459484 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.366907 -0.692100 -0.048515 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.169515 -0.620370 -0.535284 0.000000 0.000000 -1.000000 246 210 146 1.000000
+0.139030 -0.119074 0.316722 0.000000 -1.000000 -0.000000 248 206 144 1.000000
+0.003874 -0.119074 0.202964 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.143364 -0.358800 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.317403 -0.545813 0.234702 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.370666 0.156371 -0.135615 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.202647 -0.394762 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.163356 -0.087464 0.228200 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.330545 -0.583596 -0.535284 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.080852 0.237853 0.499196 -0.000000 0.583686 -0.811980 255 255 255 1.000000
+0.186614 -0.071793 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.173400 0.457420 -0.335085 0.000000 -0.000000 1.000000 240 204 140 1.000000
+-0.314223 -0.425578 0.453233 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.021600 0.470985 -0.295519 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.125472 0.391959 0.470072 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.366907 0.345084 -0.322384 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.214463 0.470985 0.249696 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.254924 0.299021 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.306216 0.265361 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.144993 0.254538 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.168710 -0.119074 -0.336200 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.517514 -0.321522 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.055713 0.520871 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.370666 -0.604920 -0.330949 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.011957 0.566612 -0.366696 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.016829 -0.568311 0.507856 -0.000000 0.032355 0.999476 248 235 215 1.000000
+-0.285247 0.564672 0.203144 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.088860 -0.545813 0.052796 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.259311 0.243672 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.084347 -0.547801 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.095852 0.115088 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.101252 0.463082 0.239503 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.006322 -0.087464 -0.112563 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.366907 0.339649 -0.475278 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.334001 -0.111854 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.381203 0.538832 0.444751 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.289109 -0.175635 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.258618 0.613231 -0.165962 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.099243 -0.544034 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.105582 0.463082 0.332402 0.000000 -1.000000 -0.000000 240 207 144 1.000000
+0.220297 -0.087464 0.261806 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.484172 0.413794 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.138163 -0.119074 -0.421109 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.217713 0.305195 1.000000 0.000000 0.000000 245 205 142 1.000000
+-0.167604 -0.257656 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+0.349593 0.469386 -0.513377 -1.000000 0.000000 0.000000 244 212 151 1.000000
+0.370666 -0.422191 -0.044908 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.346211 0.493396 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.173347 0.515393 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.370666 -0.172168 -0.055851 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.068958 0.414570 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.349593 -0.594857 0.085735 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.486087 -0.101137 1.000000 0.000000 0.000000 248 214 154 1.000000
+-0.158608 -0.598497 0.448439 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.100205 0.492885 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.043706 -0.087464 -0.386597 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.377444 -0.015514 0.466990 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.110380 -0.119074 -0.320889 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+0.370666 -0.166384 -0.137942 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.130739 0.258220 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.201807 -0.503224 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.163002 0.506694 -0.335085 0.000000 -0.000000 1.000000 247 211 147 1.000000
+0.349593 -0.109115 -0.392027 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.260748 -0.389362 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.178098 -0.666693 -0.535284 0.000000 0.000000 -1.000000 242 206 142 1.000000
+0.370666 -0.101014 0.027123 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.787936 -0.066447 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.288444 0.568450 0.339934 0.000000 1.000000 0.000000 245 204 146 1.000000
+-0.062461 0.536051 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.291747 -0.000989 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.119217 0.470985 0.078183 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.259387 -0.212296 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.521888 0.324302 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.121833 0.113774 -0.503673 0.000000 0.000000 -1.000000 242 209 144 1.000000
+0.215247 0.212361 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.016425 0.557057 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.351678 -0.137535 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.274843 -0.087464 0.304954 0.000000 1.000000 0.000000 243 215 153 1.000000
+0.108909 -0.119074 0.072315 0.000000 -1.000000 -0.000000 248 212 148 1.000000
+0.257396 0.478562 -0.122683 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.345833 0.155521 -0.058644 1.000000 0.000000 0.000000 252 214 155 1.000000
+-0.195036 -0.119074 -0.155549 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.145420 -0.213464 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.343775 0.613231 -0.450445 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.148013 -0.740049 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285032 0.634305 -0.213422 0.000000 1.000000 0.000000 249 217 156 1.000000
+-0.173567 0.398432 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.734208 0.215243 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.071000 0.624569 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.280807 -0.066305 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.467095 -0.253950 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.316161 -0.065675 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.005584 0.004350 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.337709 -0.396541 -1.000000 0.000000 0.000000 247 211 147 1.000000
+-0.253637 0.562038 -0.317194 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.036065 0.486635 -0.366696 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.054718 -0.545813 -0.090292 0.000000 1.000000 0.000000 248 216 155 1.000000
+0.150715 -0.555418 0.507856 -0.000000 0.051097 0.998694 248 235 215 1.000000
+0.349593 0.614261 -0.336075 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 -0.729386 -0.287249 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.093187 0.552903 -0.535284 0.000000 0.000000 -1.000000 249 217 156 1.000000
+0.290129 -0.407744 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.097126 -0.165056 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.595283 0.259883 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.488364 0.030444 1.000000 0.000000 0.000000 246 205 147 1.000000
+0.031956 -0.119074 0.342561 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.285247 0.561081 -0.147355 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.184375 0.304519 0.507856 -0.000000 0.069626 -0.997573 255 255 255 1.000000
+0.349593 0.254053 -0.276495 -1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.366907 -0.449853 -0.101385 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.396633 0.097297 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.304051 0.240530 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.295185 0.540576 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.015557 -0.249547 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.037262 0.495206 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.099305 0.540907 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.647549 0.040876 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.573333 0.375462 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.147566 0.568268 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.488282 0.351131 -1.000000 0.000000 0.000000 249 213 149 1.000000
+-0.244186 0.634305 0.294791 0.000000 1.000000 0.000000 246 204 142 1.000000
+0.349593 0.235407 -0.187219 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.104462 -0.436595 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.448637 -0.138291 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.517063 0.266084 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.227026 -0.087464 -0.017581 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.193084 -0.179003 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.097448 0.463082 0.379184 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.012533 -0.406611 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.187535 0.242273 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.228600 -0.119074 0.028116 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+-0.366907 0.415713 0.126280 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.292396 -0.591238 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.290710 0.236471 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.553355 -0.035973 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.307758 0.568478 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.049022 -0.430008 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.349593 0.557157 -0.080058 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.089843 -0.506209 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.332597 -0.150168 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.318367 -0.545813 0.038956 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.273651 0.613231 -0.407604 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+-0.345833 0.203194 -0.003042 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.337323 0.461671 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.091509 0.532997 0.498184 0.284193 -0.729458 -0.622194 255 255 255 1.000000
+0.193094 -0.545813 -0.213684 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.349593 -0.063999 0.349154 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.050245 -0.119074 0.129078 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.253637 0.486417 -0.024773 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 0.481138 0.400827 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.116698 0.470985 -0.308677 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.089181 -0.119180 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.262107 0.339355 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.261835 0.339406 -0.503673 0.000000 0.000000 -1.000000 246 206 143 1.000000
+0.349593 0.428138 -0.360767 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.170234 0.595847 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.643673 -0.258339 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.242022 0.588489 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.254148 0.053377 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.252807 -0.545813 0.057355 0.000000 1.000000 0.000000 240 204 140 1.000000
+0.003918 -0.233337 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.152770 -0.308733 -1.000000 0.000000 0.000000 240 212 150 1.000000
+-0.120755 0.657676 0.507856 0.000000 -0.000754 1.000000 248 235 215 1.000000
+0.257302 0.658012 0.504376 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.365513 0.024190 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.053877 -0.515293 0.507856 0.000000 -0.109287 -0.994010 255 255 255 1.000000
+-0.366907 -0.414249 0.166177 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.110799 -0.087464 0.395287 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.067410 -0.545813 0.162505 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.054735 0.153921 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.488465 0.036085 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.013351 -0.087464 -0.446672 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.370666 -0.246186 -0.127222 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.769696 0.150391 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.444054 0.398045 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.117025 0.080927 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.294457 0.576914 -0.487868 0.000000 -0.000000 1.000000 249 212 153 1.000000
+-0.366907 -0.333563 -0.292087 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.207615 -0.739371 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.322125 -0.344606 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.221476 -0.065508 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.165980 0.513216 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.096524 0.602779 0.507856 -0.000000 0.123277 -0.992372 255 255 255 1.000000
+0.349593 -0.378360 -0.492496 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.274801 -0.118986 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.242908 0.162087 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.357670 -0.598497 0.416637 0.000000 -1.000000 -0.000000 247 217 155 1.000000
+0.140676 -0.119074 0.404464 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.205447 0.322629 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.326769 0.121770 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.684063 -0.099968 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.083985 -0.545813 0.349775 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.231755 0.347775 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.108616 0.008811 -0.503673 0.000000 0.000000 -1.000000 243 211 150 1.000000
+0.324429 -0.545813 0.324157 0.000000 1.000000 0.000000 248 216 155 1.000000
+0.240076 -0.545813 0.402933 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.344158 -0.056608 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.204182 0.589904 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.494183 0.297463 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.597310 0.163487 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.261410 -0.060540 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.329402 -0.328784 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.396652 -0.093455 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.431764 -0.155766 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.548925 -0.229148 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.025076 -0.545813 -0.082904 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.345833 0.427366 -0.395072 1.000000 0.000000 0.000000 241 205 141 1.000000
+0.257396 0.450210 0.201045 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.353547 0.665915 -0.483502 0.000000 1.000000 0.000000 248 214 155 1.000000
+0.257396 0.493436 -0.318041 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.214724 -0.593586 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.603042 -0.180511 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.376237 0.278900 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.219392 0.617282 0.064787 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.244046 0.488250 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.019360 0.613176 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+-0.366907 -0.216260 -0.143502 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.007947 0.158234 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.266618 -0.545813 -0.472129 0.000000 1.000000 0.000000 241 208 143 1.000000
+-0.136723 -0.214839 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.413073 0.184957 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.379247 -0.318785 -1.000000 0.000000 0.000000 253 216 157 1.000000
+0.370666 -0.010022 -0.142231 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.352807 0.105050 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.133420 0.617894 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.298918 -0.545813 0.162723 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.090534 -0.087464 -0.404168 0.000000 1.000000 0.000000 247 211 147 1.000000
+0.211097 0.463082 -0.097231 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.242061 0.634305 -0.457399 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.271677 -0.240281 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.132633 -0.545813 0.120865 0.000000 1.000000 0.000000 237 205 144 1.000000
+0.349593 -0.120239 0.190659 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.046309 -0.087464 -0.273976 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.578939 0.091367 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.317799 -0.119074 0.309499 0.000000 -1.000000 -0.000000 247 209 150 1.000000
+-0.345833 -0.201486 0.153586 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 -0.137227 0.486503 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.377623 0.039271 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.345833 -0.020112 0.227803 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.108400 -0.026410 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.260525 0.121072 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.306174 -0.472713 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.171715 -0.545813 0.088365 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.281891 -0.570769 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.572214 0.238840 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.388751 -0.267671 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.113634 0.292530 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.457306 -0.345019 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.307847 -0.545813 -0.354708 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.370666 -0.234222 0.155705 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.283259 -0.323988 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.225053 0.403921 0.507856 -0.000000 0.079866 0.996806 248 235 215 1.000000
+-0.345833 -0.215867 -0.283531 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.027763 0.159463 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.030235 0.032869 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.239640 -0.545813 0.293352 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.121011 -0.670149 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.235448 0.602694 0.449646 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.126607 0.089343 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.125511 -0.530906 1.000000 0.000000 0.000000 246 206 141 1.000000
+-0.344694 -0.573037 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.191216 -0.590594 0.496450 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.370666 0.130884 -0.179959 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.251191 -0.587329 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.039470 -0.183733 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.059278 0.545282 0.444635 0.000000 0.000000 -1.000000 246 210 146 1.000000
+0.033853 0.046902 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.366907 0.113029 -0.428961 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.282943 0.489361 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.254093 0.442009 0.255565 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+-0.366907 0.037648 0.323079 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.331629 -0.204826 0.444635 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.070584 -0.545813 -0.381081 0.000000 1.000000 0.000000 238 201 142 1.000000
+-0.200941 0.015172 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.293495 0.570556 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.191391 -0.087464 0.274066 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.314223 0.436794 0.461456 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.034116 -0.119074 -0.311732 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.510444 -0.467262 -1.000000 0.000000 0.000000 250 208 146 1.000000
+-0.364727 -0.238745 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.118144 -0.545813 -0.148559 0.000000 1.000000 0.000000 248 210 151 1.000000
+-0.285247 0.531555 -0.223387 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.331276 -0.087464 0.121650 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.360679 0.391775 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.108187 -0.252353 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.262031 -0.334566 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.158944 -0.382845 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.780732 -0.357003 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.230819 -0.087464 0.180712 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.161685 -0.054494 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.173087 0.359679 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.207696 0.495355 -0.335085 0.000000 -0.000000 1.000000 245 208 149 1.000000
+0.370666 -0.399023 0.211462 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.139569 -0.545813 -0.045090 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.196102 0.124908 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.285490 0.335787 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.282450 -0.545813 0.363500 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.205430 0.070554 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.168354 -0.374589 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.647685 -0.009528 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.255169 0.442009 0.464538 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.333832 -0.060663 -1.000000 0.000000 0.000000 248 216 155 1.000000
+0.331494 -0.562925 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.169957 0.470985 0.387836 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.781366 -0.205133 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.294043 0.077488 1.000000 0.000000 0.000000 240 204 140 1.000000
+0.349593 0.400264 -0.143210 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.032997 -0.468584 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.416037 0.102471 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.335375 0.553989 0.444635 0.000000 0.000000 -1.000000 250 213 154 1.000000
+-0.104791 -0.087464 -0.237620 0.000000 1.000000 0.000000 249 217 156 1.000000
+-0.366907 -0.192447 0.356032 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.147544 0.446563 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.598746 0.278979 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.500130 -0.273747 1.000000 0.000000 0.000000 241 209 148 1.000000
+0.370666 -0.644518 -0.492731 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.004164 0.242370 0.499924 -0.000000 0.501843 -0.864959 255 255 255 1.000000
+-0.338931 0.181660 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.206160 -0.147417 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.345064 -0.362843 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.061803 -0.545813 -0.466920 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.202553 -0.119074 -0.098979 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.025284 -0.545813 -0.232170 0.000000 1.000000 0.000000 249 212 153 1.000000
+-0.345833 0.618863 -0.088820 1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.057197 -0.087464 0.307317 0.000000 1.000000 0.000000 248 216 155 1.000000
+-0.310971 0.212890 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.143267 0.145572 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.320951 0.634305 0.434723 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.151897 -0.119074 -0.175520 0.000000 -1.000000 -0.000000 241 209 148 1.000000
+0.349593 0.072377 0.246165 -1.000000 0.000000 0.000000 247 209 148 1.000000
+-0.366907 -0.414052 0.326051 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.086718 -0.375187 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.087884 -0.545813 0.374424 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.366907 -0.364493 0.337417 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.334425 0.399652 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.589598 -0.257219 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.163914 0.123036 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.349136 -0.072513 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.258131 0.613231 -0.376218 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.447801 -0.428948 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.295734 -0.087464 0.073216 0.000000 1.000000 0.000000 242 210 150 1.000000
+-0.151778 -0.052752 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.081272 -0.521824 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.068672 0.004036 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.212933 0.470985 0.360351 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.237052 0.613231 0.205230 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.341201 -0.417359 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.349593 0.460549 0.351474 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 0.054159 0.077308 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.279208 -0.087464 0.389554 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.736242 -0.025025 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.181451 0.463082 -0.254338 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.126260 -0.554312 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.084377 -0.659751 -0.535284 0.000000 0.000000 -1.000000 251 214 155 1.000000
+-0.345833 -0.279916 0.180496 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.143216 0.048729 -0.487868 0.000000 -0.000000 1.000000 251 214 155 1.000000
+0.349593 -0.163008 0.040956 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.227697 -0.488010 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.263487 0.059440 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.137002 -0.484858 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.339488 -0.674406 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.633967 -0.381089 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.306119 0.154001 -1.000000 0.000000 0.000000 245 213 150 1.000000
+-0.083297 0.391959 0.464323 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.160165 0.406236 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.303365 0.294833 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.235582 -0.545813 0.002977 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.366907 -0.044314 0.367278 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.596474 0.306302 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.504555 0.123280 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.268928 -0.119074 -0.370135 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.016543 -0.545813 -0.438252 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.584991 -0.493377 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.167064 0.541672 -0.335085 0.000000 -0.000000 1.000000 245 208 149 1.000000
+-0.366907 -0.414417 -0.416143 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.301379 0.099426 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.164260 0.347391 -0.487868 0.000000 -0.000000 1.000000 238 210 148 1.000000
+0.329068 -0.545813 0.075599 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.043993 -0.545813 0.125555 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.534706 -0.427030 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.414436 -0.308688 1.000000 0.000000 0.000000 250 207 150 1.000000
+0.349593 0.132890 0.178804 -1.000000 0.000000 0.000000 246 205 147 1.000000
+0.370666 -0.169167 0.270705 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.272982 0.229035 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.374251 -0.172908 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.020433 0.555245 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.246859 -0.511249 0.500888 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.109157 -0.119074 0.317349 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.287462 -0.153409 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.265307 0.613231 0.250519 0.000000 -1.000000 -0.000000 241 205 141 1.000000
+-0.036698 -0.511593 0.507856 0.000000 -0.114629 -0.993408 255 255 255 1.000000
+-0.098390 -0.211398 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.345833 0.076724 -0.289187 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.000203 0.463082 0.247122 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.307374 0.434213 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.712878 -0.194401 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.096208 -0.446136 -0.503673 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.063907 -0.087464 -0.013927 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.198859 -0.317752 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.096281 -0.604120 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.358630 -0.299465 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.370666 -0.697453 0.263689 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.364780 -0.385304 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.262584 -0.229481 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.359744 0.061009 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.313912 0.436733 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.366907 -0.611233 -0.395531 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.264564 0.634305 -0.241502 0.000000 1.000000 0.000000 244 213 153 1.000000
+-0.249445 0.129474 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 -0.722524 0.090344 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.247742 0.309193 -1.000000 0.000000 0.000000 244 206 145 1.000000
+0.087154 -0.545813 0.280459 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.213146 0.078856 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.227119 -0.119074 0.318916 0.000000 -1.000000 -0.000000 241 201 138 1.000000
+-0.377444 -0.339369 0.464134 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.302232 0.341686 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.143445 0.036839 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.717173 -0.439687 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.543560 -0.168116 1.000000 0.000000 0.000000 235 203 142 1.000000
+0.370666 -0.374300 -0.384977 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.005460 -0.329553 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.181008 -0.119074 -0.031405 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.207850 -0.087464 0.105650 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.347876 0.439821 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.037023 -0.545813 0.066241 0.000000 1.000000 0.000000 243 207 143 1.000000
+0.132856 0.558250 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.539693 -0.108598 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.234721 -0.755907 -0.535284 0.000000 0.000000 -1.000000 243 200 143 1.000000
+-0.377444 -0.549303 0.474022 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.271502 -0.119074 -0.094186 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.291106 -0.085807 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.473180 -0.055631 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.032767 -0.025877 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.517474 0.122243 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.273940 -0.224384 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.598279 -0.293089 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.287419 0.568450 -0.314949 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.119362 -0.545813 -0.269286 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.370666 0.186186 0.106412 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.248423 -0.079501 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.463630 -0.179849 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.305014 0.314183 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.028216 -0.087464 -0.223001 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.240306 -0.003817 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.194343 -0.373351 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.344862 0.302415 -0.487868 0.000000 -0.000000 1.000000 242 206 142 1.000000
+0.077577 -0.545813 -0.214392 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.034203 -0.189767 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.257508 -0.155897 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.244356 0.602694 0.468993 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.270911 0.002817 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.482307 0.082711 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.033265 -0.502333 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.301025 0.634305 -0.333990 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.410503 0.017443 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.322276 -0.554025 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.088488 0.605724 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.321376 -0.222388 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.243219 -0.087464 0.344267 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.214895 0.212802 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.006009 -0.039229 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.179823 -0.384098 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.284928 0.442009 -0.133734 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.271467 -0.023946 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.105732 -0.260983 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.023707 0.391959 0.470371 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.155285 -0.119074 -0.383336 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+-0.250945 0.658012 0.491086 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.377444 0.118845 0.468983 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.131627 0.343914 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.166433 -0.527646 -0.487868 0.000000 -0.000000 1.000000 240 212 150 1.000000
+-0.048528 0.463082 0.101584 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.197863 0.335993 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.232858 0.463082 -0.163061 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.223152 0.617390 0.278941 -1.000000 0.000000 0.000000 247 204 147 1.000000
+0.270072 0.634305 -0.144929 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.276156 0.568450 0.355526 0.000000 1.000000 0.000000 241 209 148 1.000000
+0.042836 0.450068 -0.503673 0.000000 0.000000 -1.000000 240 203 144 1.000000
+0.083481 0.447677 0.498451 0.000000 -0.793630 -0.608401 255 255 255 1.000000
+-0.230587 -0.552978 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.000132 -0.545813 0.329796 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.047801 0.076318 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.086628 0.463082 -0.052353 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.144482 -0.527444 -1.000000 0.000000 0.000000 247 204 147 1.000000
+0.349593 -0.392108 0.370399 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.324111 -0.469528 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.285756 -0.129410 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.180782 -0.087464 -0.393437 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.349593 0.197623 -0.038240 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.273591 -0.087464 -0.285749 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.087775 -0.545813 0.257480 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.090703 -0.087464 -0.333248 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.248153 -0.119074 -0.232167 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.349593 0.437113 -0.174684 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.370666 -0.090837 -0.045046 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.249322 -0.087464 -0.367303 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285247 0.478446 -0.219265 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.007719 -0.042218 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.276726 -0.323122 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.130364 -0.486059 0.500817 -0.000000 0.394901 0.918724 248 235 215 1.000000
+0.370666 0.443048 0.393515 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.067465 0.463082 0.391036 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.366907 -0.482428 -0.514873 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.026441 -0.334191 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 -0.489310 0.185760 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.183656 -0.545813 0.113208 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.051778 0.042788 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.058185 0.186612 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.228209 -0.119074 0.392120 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.221125 0.020360 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.349947 -0.052917 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.349593 -0.136002 -0.304161 -1.000000 0.000000 0.000000 242 214 155 1.000000
+-0.366907 0.126378 -0.492611 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.379301 -0.528101 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.021627 -0.056178 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.343141 0.613231 -0.003736 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.352377 -0.233162 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.644696 -0.345661 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.247689 0.072317 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.020871 -0.289672 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.199307 0.665915 0.467728 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.737021 0.100135 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.170728 -0.119074 0.135614 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.075268 -0.087464 -0.076711 0.000000 1.000000 0.000000 244 213 153 1.000000
+-0.090829 0.536019 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.566481 0.013490 1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.369541 0.338486 0.503078 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.128710 -0.119074 0.243141 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.333868 -0.087464 -0.469149 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.256285 0.128436 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.269033 0.613231 -0.007837 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.349593 0.418532 0.305251 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.274578 0.209992 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.339141 -0.110905 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.242648 -0.503852 -0.487868 0.000000 -0.000000 1.000000 246 218 156 1.000000
+-0.366907 0.020183 0.386255 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 -0.434025 0.459436 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.261092 -0.119074 -0.408788 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.366907 -0.698709 -0.425250 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.302964 0.100930 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.219392 0.631588 -0.248086 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.067491 -0.093055 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.079816 -0.535337 0.507856 -0.000000 0.080267 0.996773 248 235 215 1.000000
+0.370666 -0.267537 -0.488121 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.459286 -0.196751 1.000000 0.000000 0.000000 234 201 138 1.000000
+-0.366907 -0.087046 -0.100997 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.076115 -0.353981 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.478274 0.026854 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.111513 -0.517896 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.014389 -0.119074 -0.299700 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.501485 0.192202 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.333594 -0.020481 1.000000 0.000000 0.000000 247 204 147 1.000000
+0.370666 -0.646761 -0.137525 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.613467 0.114521 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.232749 0.150208 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.139829 -0.149314 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.343749 -0.189471 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.422585 -0.305504 -1.000000 0.000000 0.000000 250 207 150 1.000000
+0.231296 0.500296 0.444635 0.000000 0.000000 -1.000000 237 200 141 1.000000
+-0.243294 -0.087464 -0.004457 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.258290 0.253421 -1.000000 0.000000 0.000000 243 209 149 1.000000
+0.084354 -0.545813 -0.363504 0.000000 1.000000 0.000000 250 213 154 1.000000
+-0.366907 0.238997 -0.086749 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.121893 0.348872 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.128284 -0.344536 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.025244 0.463082 -0.291407 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.406545 -0.017381 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.224390 -0.430897 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.030333 -0.087464 0.298489 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.488605 -0.060849 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.217817 -0.545813 -0.195279 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.449776 0.321266 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.521049 -0.050912 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.005485 0.099108 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.007531 -0.407520 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.021457 -0.119074 -0.356373 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.366907 -0.021830 0.311163 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.072380 0.631050 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.190749 -0.551080 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.264573 -0.545813 -0.383425 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.324101 -0.779727 -0.535284 0.000000 0.000000 -1.000000 245 204 146 1.000000
+0.159988 -0.545813 -0.346193 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.550470 0.153005 1.000000 0.000000 0.000000 241 209 148 1.000000
+-0.345833 -0.409280 0.417906 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.583248 -0.143136 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.264740 -0.119074 -0.072425 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.232565 -0.087464 -0.142978 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.017696 -0.545813 0.212204 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.038811 0.470985 -0.221813 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.377444 0.298909 0.465886 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.087279 0.442009 -0.347766 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.022231 -0.119074 0.250212 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.642103 0.234198 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.550910 -0.371416 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.264644 -0.095105 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.075972 0.470985 -0.136689 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.345833 0.565829 0.055114 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.155007 0.463082 -0.198857 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.288575 0.175685 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.454788 0.272987 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.078194 -0.119074 0.177428 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.192050 0.021812 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.199066 -0.285709 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.027812 -0.119074 0.074965 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.665690 -0.047579 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.005614 -0.087464 0.431207 0.000000 1.000000 0.000000 240 208 147 1.000000
+0.201346 -0.439408 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.100776 0.665915 0.457305 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.073303 -0.584634 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.388604 -0.054554 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.117752 0.564115 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.414157 -0.302806 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.357347 -0.226413 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.324241 -0.545813 -0.065086 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.100752 0.071660 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.445617 -0.051791 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.055872 0.463082 -0.224778 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.313426 -0.388645 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.370666 0.078673 -0.168313 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.248573 -0.241867 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.665661 0.285520 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.362947 0.280824 -0.535284 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.349593 0.507126 -0.324904 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.349593 -0.042472 -0.182360 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.345833 0.351008 0.192759 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.092747 -0.342136 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.328056 -0.119074 -0.432904 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.641756 0.090611 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.127417 -0.090689 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.266570 0.171300 -0.487868 0.000000 -0.000000 1.000000 249 207 143 1.000000
+0.257396 0.524409 0.404162 -1.000000 0.000000 0.000000 238 202 138 1.000000
+-0.061644 -0.119074 0.072155 0.000000 -1.000000 -0.000000 240 203 144 1.000000
+-0.366907 -0.146460 -0.207419 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.529727 0.073658 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.079750 -0.433245 -0.503673 0.000000 -0.000000 1.000000 113 95 95 1.000000
+-0.345833 -0.062699 0.441345 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.245585 -0.074453 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+-0.285139 0.568450 0.274509 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.093467 0.165862 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.016807 0.337221 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.318837 -0.087464 -0.237316 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.193231 -0.171069 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.024181 0.439653 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.325645 -0.103967 -0.487868 0.000000 -0.000000 1.000000 244 207 149 1.000000
+0.155264 0.204157 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.118911 -0.119074 0.234110 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.109842 -0.325498 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.532946 -0.235141 -1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.345833 -0.494679 0.002667 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.007498 -0.093337 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.115778 -0.119074 -0.274239 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.370666 0.256645 0.415922 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.245156 -0.302305 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.222510 -0.119074 0.016823 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.349593 -0.425836 0.410416 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.391080 -0.212681 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.127959 -0.111396 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.064365 -0.356117 -0.503673 0.000000 0.000000 -1.000000 240 203 144 1.000000
+0.109670 -0.639622 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.219676 0.292975 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.200420 -0.018682 -0.487868 0.000000 -0.000000 1.000000 250 213 154 1.000000
+0.349593 0.308984 -0.440681 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.378436 -0.226953 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.128124 -0.330557 -0.503673 0.000000 0.000000 -1.000000 244 203 135 1.000000
+-0.339029 0.634305 0.170317 0.000000 1.000000 0.000000 241 205 141 1.000000
+-0.366907 0.472554 0.080115 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.189516 -0.545813 0.302613 0.000000 1.000000 0.000000 242 211 153 1.000000
+0.349593 -0.433565 0.122259 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.267863 0.613231 0.397318 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.143887 -0.087536 0.444635 0.000000 -0.000000 1.000000 244 212 151 1.000000
+-0.321290 -0.119074 -0.281880 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+0.257396 0.444441 0.152002 -1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.146219 -0.119074 -0.084942 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.186391 -0.087464 0.320530 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.777833 0.131874 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.246447 0.463082 -0.025456 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.252319 -0.545813 0.248378 0.000000 1.000000 0.000000 252 215 156 1.000000
+0.370666 -0.564767 -0.244861 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.469482 0.259610 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.095438 -0.119074 0.296979 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.340457 0.022491 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.223536 -0.087464 0.442693 0.000000 1.000000 0.000000 244 212 151 1.000000
+0.370666 -0.156814 0.135628 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.284776 -0.464132 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.442988 0.191108 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.075493 0.470985 0.286242 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.275713 -0.119074 0.329537 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.130947 0.080695 -0.503673 0.000000 0.000000 -1.000000 241 205 141 1.000000
+0.186771 -0.087464 -0.046115 0.000000 1.000000 0.000000 245 207 148 1.000000
+0.231480 -0.358165 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.186369 0.483540 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.226604 0.303923 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.345833 -0.295866 -0.135067 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.086890 0.437621 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.215511 0.470985 0.071085 0.000000 1.000000 0.000000 244 211 148 1.000000
+-0.265828 0.634305 -0.125065 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.270878 -0.119074 0.185425 0.000000 -1.000000 -0.000000 246 208 149 1.000000
+0.282887 0.442009 -0.359742 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.105943 -0.545813 -0.314257 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.055611 0.379614 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.258721 0.613231 -0.325181 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.358767 0.156332 -1.000000 0.000000 0.000000 243 211 150 1.000000
+0.053984 -0.782894 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.312354 -0.119074 -0.397128 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.319355 0.405028 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.240866 0.442009 -0.357562 0.000000 -1.000000 -0.000000 245 209 145 1.000000
+0.345776 0.658012 0.506521 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.223614 -0.545813 0.093438 0.000000 1.000000 0.000000 245 205 142 1.000000
+0.230629 -0.087464 -0.466016 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.165623 -0.087464 -0.114713 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.508630 0.284836 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.261476 -0.119074 -0.443758 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.285247 0.567677 0.405685 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.330141 -0.087464 0.402390 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.257924 0.634305 0.377678 0.000000 1.000000 0.000000 242 208 148 1.000000
+0.271684 -0.374337 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.016826 -0.119074 -0.147196 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.267119 -0.087464 -0.241041 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.332071 0.226883 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.265858 0.027618 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.406931 -0.131747 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.358414 0.267297 -0.535284 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.279599 -0.087464 0.238797 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.054696 0.601631 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.156991 -0.520250 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.348798 0.570852 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 0.081707 -0.014818 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.456401 -0.269593 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.428342 0.238974 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.369541 0.024354 0.502845 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.571024 -0.081955 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.349593 0.338613 0.055293 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.317431 0.116687 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.139069 -0.119074 -0.013455 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.259391 0.287690 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.273857 -0.237599 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.085785 -0.119074 0.112042 0.000000 -1.000000 -0.000000 245 205 140 1.000000
+0.370666 -0.732627 -0.142184 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.220178 -0.119074 0.185546 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.098268 0.463082 0.137955 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 -0.734374 0.189740 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.592386 -0.009707 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.093894 0.141939 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.197957 -0.001363 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.203096 0.596491 0.506007 -0.000000 0.942346 -0.334639 255 255 255 1.000000
+0.062943 -0.087464 -0.144579 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.196071 -0.087464 -0.265979 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.016533 0.545508 -0.335085 0.000000 -0.000000 1.000000 243 207 143 1.000000
+-0.146861 -0.718492 -0.535284 0.000000 0.000000 -1.000000 245 205 142 1.000000
+-0.345833 -0.065663 -0.269197 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.273342 0.614610 -0.503673 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.129993 -0.666513 -0.535284 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.074356 -0.590594 0.506611 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.420969 -0.267980 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.349593 0.153849 -0.219117 -1.000000 0.000000 0.000000 248 208 145 1.000000
+-0.345833 0.120922 -0.206907 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.089963 -0.119074 -0.407512 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.291433 -0.290407 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.365949 0.665915 -0.147070 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.370666 0.203463 -0.274560 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.478044 -0.243842 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.317983 0.508433 0.470299 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.083553 -0.050186 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.035549 -0.540544 -0.514467 0.000000 1.000000 0.000000 249 212 153 1.000000
+-0.366907 -0.746147 -0.521097 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.275136 0.359694 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.343555 0.154451 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.613128 -0.443134 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.513214 0.423621 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 -0.286156 0.475613 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.475369 0.244020 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.081781 -0.646441 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.112085 0.470985 -0.249686 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.530386 -0.289795 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.019730 -0.132248 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+-0.261184 -0.545813 0.216068 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.140382 -0.119074 0.193514 0.000000 -1.000000 -0.000000 245 212 149 1.000000
+-0.257524 0.385791 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.096727 -0.456335 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.628337 -0.227253 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.313490 0.410818 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.256826 0.576870 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.141980 0.477024 -0.503673 0.000000 0.000000 -1.000000 237 201 137 1.000000
+-0.342301 0.255870 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.102609 -0.103389 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.186973 -0.087464 0.057404 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.366907 -0.462112 -0.387832 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.785478 -0.113090 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.318461 -0.087464 0.318359 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.332147 0.634305 0.132915 0.000000 1.000000 0.000000 241 203 144 1.000000
+0.241942 0.463082 0.294218 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.205894 -0.545813 0.250983 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.289007 0.533618 0.207846 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.213255 -0.545813 0.180293 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.088508 -0.087464 -0.137090 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.226885 -0.087464 -0.076950 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.166246 0.463082 0.290085 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.261081 -0.087464 0.139537 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.056437 -0.617711 -0.535284 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.196280 -0.119074 0.194448 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.253637 0.488472 -0.082284 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.052447 -0.119074 0.374444 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.377444 0.507904 0.444876 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.133277 0.041440 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.002159 -0.634356 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.368329 -0.193621 0.444635 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.370666 -0.680113 -0.223098 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.275434 0.634305 0.145525 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.226269 0.399021 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.507568 0.418401 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.215569 0.463082 0.079348 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.112920 -0.545813 0.162070 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.195656 -0.617476 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.329912 0.634305 -0.090605 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.370666 -0.661947 0.142892 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.110509 0.308667 0.507856 0.000000 -0.063600 0.997975 248 235 215 1.000000
+-0.138636 0.554406 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.123382 0.505725 -0.366696 0.000000 0.000000 -1.000000 247 211 147 1.000000
+0.183552 0.262183 0.507796 -0.000000 0.200008 -0.979794 255 255 255 1.000000
+-0.257153 -0.250458 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.054182 -0.167784 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.103004 -0.087464 0.108484 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.744615 0.319955 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.192094 -0.740303 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.030217 -0.087464 -0.085634 0.000000 1.000000 0.000000 255 218 159 1.000000
+-0.366907 0.545450 -0.337232 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.710488 0.055103 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.204786 0.177231 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.275366 0.527424 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.671421 0.338198 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.118684 0.269628 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.037813 0.218812 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.044556 0.463082 0.212104 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.288258 0.480239 -0.503673 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.330436 0.078193 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.309119 -0.220343 -0.503673 0.000000 0.000000 -1.000000 251 214 155 1.000000
+0.349593 -0.402675 -0.120555 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.530217 -0.121905 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.062231 -0.477355 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.225182 -0.173579 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.127507 -0.004271 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.326717 -0.121089 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.021000 0.090158 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.209677 0.506047 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.020260 -0.304085 -1.000000 0.000000 0.000000 242 214 155 1.000000
+0.125490 -0.581424 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.173663 -0.087464 0.018082 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.526806 -0.486303 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.525941 -0.121788 -1.000000 0.000000 0.000000 247 211 147 1.000000
+0.348240 0.305946 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.433643 0.012842 1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.068700 -0.119074 0.206672 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.024060 -0.127663 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.105033 0.615466 0.507856 -0.000000 0.095175 -0.995461 255 255 255 1.000000
+0.195506 -0.130308 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.366907 -0.515332 -0.403897 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.003336 -0.119074 0.037071 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.146652 -0.077005 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.282143 -0.660654 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.537166 -0.495236 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.031840 0.442009 0.471274 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+0.053637 -0.545813 -0.136961 0.000000 1.000000 0.000000 253 216 157 1.000000
+-0.335510 0.316870 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.544495 0.248758 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.267580 -0.695957 -0.535284 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.257396 0.509522 0.168508 -1.000000 0.000000 0.000000 247 211 147 1.000000
+0.174847 0.657821 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.293747 -0.540544 -0.525581 0.000000 1.000000 0.000000 248 206 144 1.000000
+0.176275 0.352446 0.481202 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.238088 0.505109 -0.366696 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.370666 -0.469415 -0.124651 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.235635 -0.075540 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.227104 0.111718 1.000000 0.000000 0.000000 238 197 139 1.000000
+0.370666 -0.056787 -0.510632 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.469207 0.219836 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.358688 0.433120 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.126316 0.503741 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.246167 -0.145152 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.257396 0.478773 0.386087 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.180577 0.463082 -0.018605 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.251631 -0.372563 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.250046 -0.345320 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.113187 -0.176296 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.330841 0.620004 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.554008 -0.395367 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.175316 -0.087464 -0.274436 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.327259 0.007822 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.202113 -0.119074 -0.247345 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.630001 0.369768 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.169215 0.463082 -0.326936 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.343602 -0.304514 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.329017 0.613231 -0.182349 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.274454 -0.087464 -0.313121 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.243170 -0.753559 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.234928 0.215787 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.189434 0.161458 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.521990 -0.331751 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.167396 -0.277420 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289093 -0.197378 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.008202 0.639115 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.053631 -0.181379 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.057794 -0.364512 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.527752 -0.133224 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.251685 -0.733047 -0.535284 0.000000 0.000000 -1.000000 242 206 142 1.000000
+0.328603 -0.545813 0.120281 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.210649 -0.545813 -0.283129 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.023986 -0.087464 -0.042496 0.000000 1.000000 0.000000 245 207 148 1.000000
+0.097059 -0.087464 -0.353263 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.262678 0.442009 -0.043167 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.319079 0.634305 0.004998 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.646452 -0.180102 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.308880 0.041794 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.285247 0.511022 -0.279155 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.054269 -0.435948 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.687376 -0.273010 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.355270 -0.549011 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.196337 -0.087464 0.413732 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.517702 0.094691 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.366907 -0.103241 0.381944 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.423518 0.149499 -1.000000 0.000000 0.000000 243 215 153 1.000000
+0.349593 0.195984 -0.125692 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.174847 0.637391 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.258376 0.442009 -0.289775 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.494637 0.368348 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.435237 0.355108 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.269823 0.135269 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.255778 0.573305 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.206216 -0.087464 0.108350 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.295505 -0.119074 -0.152270 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.117055 -0.751589 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 -0.179274 -0.214932 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.266804 -0.418876 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.249434 0.574307 -0.487868 0.000000 -0.000000 1.000000 251 214 155 1.000000
+0.289007 0.451634 -0.106651 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.649179 0.027494 1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.366907 0.214428 0.229706 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.155034 -0.087464 -0.478448 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.034919 -0.545813 0.372051 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.013096 0.484120 0.444635 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.324450 -0.545813 0.271584 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.030862 -0.053577 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.612385 -0.015965 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.587986 0.246635 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.400902 0.203278 -1.000000 0.000000 0.000000 243 215 153 1.000000
+-0.091268 -0.087464 -0.048883 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.076364 0.264249 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.292533 -0.087464 -0.071215 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.138858 0.470985 -0.240171 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.245138 -0.545813 0.138969 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.133140 -0.087464 -0.346147 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.532404 -0.364633 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.227873 0.463082 -0.205334 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+-0.233754 0.368251 0.486526 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.090902 0.481713 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.027885 0.463082 0.090196 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.247509 0.052280 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.373939 0.441141 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.070038 0.564943 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+0.370666 0.215843 -0.003789 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.055701 -0.344772 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.220192 0.613231 -0.299751 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.085693 0.463082 0.197773 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.345833 0.116704 0.050017 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.202386 -0.309531 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+0.184437 -0.440116 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.300300 -0.119074 0.401395 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.139832 -0.545813 0.374034 0.000000 1.000000 0.000000 237 205 144 1.000000
+0.175582 0.568450 0.453523 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.059513 -0.545813 0.406305 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.322116 0.380148 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.060572 0.662615 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.060831 -0.535276 0.467969 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.243813 0.442009 0.454446 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.342726 0.046611 -0.487868 0.000000 -0.000000 1.000000 237 203 143 1.000000
+0.370666 -0.309529 0.089944 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.153096 -0.545813 -0.162835 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.178554 -0.103428 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.182925 -0.545813 0.027705 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.630977 0.099607 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.171854 -0.435677 -0.487868 0.000000 -0.000000 1.000000 245 209 145 1.000000
+0.329068 -0.545813 -0.163852 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.046949 -0.545813 -0.289461 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.149423 -0.087464 0.084525 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.162404 0.277327 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.448084 -0.222835 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.094393 -0.119074 -0.139571 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.271950 0.450155 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.199679 0.638573 -0.503673 0.000000 -0.000000 1.000000 244 212 151 1.000000
+-0.234548 0.533289 0.444635 0.000000 0.000000 -1.000000 239 203 139 1.000000
+-0.345833 0.379655 0.424670 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.319714 0.074079 0.555570 -0.563278 0.073687 -0.822975 255 255 255 1.000000
+-0.146468 -0.545813 -0.434568 0.000000 1.000000 0.000000 239 202 143 1.000000
+0.370666 0.244039 0.356475 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.542457 -0.055334 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.087073 0.202001 -1.000000 0.000000 0.000000 241 208 153 1.000000
+0.063312 -0.087464 0.214608 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.511975 0.337794 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.341806 -0.400176 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.154870 -0.087464 0.373314 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.241885 0.470985 0.173253 0.000000 1.000000 0.000000 244 208 144 1.000000
+0.349593 0.258097 0.069954 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.285182 0.440558 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.278298 -0.365492 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.021741 0.463082 0.022463 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.345833 -0.090259 0.259260 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.762795 -0.256148 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.416441 0.238041 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.033698 0.470985 0.142745 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.216259 -0.074905 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.291248 0.020816 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.112830 -0.244034 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.275870 -0.092579 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.268979 -0.119074 0.216331 0.000000 -1.000000 -0.000000 241 207 157 1.000000
+-0.285247 0.450616 0.286398 -1.000000 0.000000 0.000000 244 202 138 1.000000
+-0.216834 0.520628 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.086032 0.362544 -1.000000 0.000000 0.000000 244 211 156 1.000000
+-0.033306 0.568450 0.449365 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.366907 0.287638 0.034676 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.257941 0.350912 0.444635 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.055387 -0.087464 -0.476141 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.365193 0.174570 -0.535284 0.000000 0.000000 -1.000000 237 205 144 1.000000
+0.236010 -0.119074 0.066484 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.345833 0.170556 0.093616 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.152023 -0.087464 -0.012940 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.205606 0.405744 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.118816 -0.017237 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.276221 -0.410500 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.042292 0.127332 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.019128 -0.545813 -0.181808 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.006219 0.311907 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.098245 -0.315417 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.283666 -0.087464 0.145176 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.246245 -0.491461 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.029081 0.109599 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.474407 -0.100202 -1.000000 0.000000 0.000000 253 219 159 1.000000
+-0.366907 -0.158557 -0.145363 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.320640 -0.626409 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.102112 -0.722629 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.134213 0.299593 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+0.346308 -0.598497 0.461739 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.482970 0.253576 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.371172 0.354632 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.062565 0.470985 0.058694 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.349593 -0.033920 0.077997 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.558777 0.021436 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.345833 0.240657 -0.040691 1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.366907 -0.241751 -0.490044 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.123344 0.313929 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.428654 0.102019 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314175 -0.710497 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.132509 0.639839 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.783133 0.232848 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.328411 0.423898 1.000000 0.000000 0.000000 244 216 154 1.000000
+-0.114494 0.226005 0.496016 0.000000 -0.786425 0.617686 248 235 215 1.000000
+0.381203 0.179381 0.473402 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.222259 -0.087464 0.396657 0.000000 1.000000 0.000000 240 203 144 1.000000
+-0.345833 0.493764 0.171179 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.349593 0.558079 0.141708 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.479283 -0.356260 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.364607 -0.018322 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.296003 -0.253928 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.038462 -0.087464 -0.000723 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.289007 0.555126 0.415849 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.001364 -0.545813 -0.316203 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.350348 0.351570 -0.535284 0.000000 0.000000 -1.000000 242 210 149 1.000000
+0.078937 0.519263 -0.366696 0.000000 0.000000 -1.000000 241 205 141 1.000000
+0.186762 -0.087464 0.353574 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.278817 0.286269 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.323488 -0.147723 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.349593 0.549756 -0.316982 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.319176 -0.119074 0.094283 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.229372 -0.087464 -0.215473 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.190845 0.251936 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.071660 -0.087464 0.425762 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.180945 -0.119074 0.203949 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.490139 0.087690 -1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.209943 0.234966 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.191171 -0.190139 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.508548 0.299316 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.066917 0.174429 1.000000 0.000000 0.000000 243 203 138 1.000000
+-0.196638 0.495349 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.006283 -0.545813 0.421755 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.539224 0.289561 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.013402 0.248081 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.141395 0.368251 0.484956 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.349593 0.213997 0.145116 -1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.155889 0.451864 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.477181 -0.179915 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.445383 0.471977 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.320236 -0.296563 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.250726 -0.545813 -0.265166 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.284823 0.613231 -0.258768 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.070212 -0.545813 -0.307801 0.000000 1.000000 0.000000 242 213 157 1.000000
+-0.294090 -0.087464 -0.201687 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.339281 0.634305 -0.277550 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.532630 -0.154832 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.370666 0.267571 -0.162096 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.112985 0.349750 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.512245 0.334134 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.133625 0.216000 1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.129211 0.169049 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.186101 -0.222222 -0.487868 0.000000 -0.000000 1.000000 243 203 140 1.000000
+-0.366907 0.068868 -0.436099 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.126825 -0.432793 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.044551 0.621682 0.444635 0.000000 0.000000 -1.000000 247 214 151 1.000000
+-0.155777 -0.545813 0.325638 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.164857 -0.043046 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.142928 0.463082 0.015311 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.246859 -0.420976 0.482639 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.255824 0.613231 -0.446833 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.034786 -0.035290 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.012331 0.153375 -0.503673 0.000000 0.000000 -1.000000 243 205 144 1.000000
+-0.095557 -0.564973 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.113996 0.634502 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.331871 0.175264 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.322558 -0.510989 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.330592 0.008663 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.496548 0.148946 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.199004 -0.545813 0.374916 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.253637 0.520186 0.112614 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.155907 0.083838 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.202179 0.313079 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.222583 -0.197554 1.000000 0.000000 0.000000 240 203 144 1.000000
+0.370666 -0.264521 -0.314209 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.341833 -0.171639 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.051633 0.175771 -0.503673 0.000000 0.000000 -1.000000 238 201 142 1.000000
+-0.042625 0.368251 0.504712 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.146444 -0.545813 -0.273866 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.227257 -0.567873 0.507856 -0.000000 0.032991 0.999456 248 235 215 1.000000
+-0.345833 -0.365134 -0.134932 1.000000 0.000000 0.000000 247 209 150 1.000000
+-0.239284 0.299846 -0.487868 0.000000 -0.000000 1.000000 240 204 140 1.000000
+0.370666 0.510417 0.321421 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.125811 -0.471093 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.052663 -0.784140 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.257396 0.519926 0.041282 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.513856 0.227000 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.334157 0.613231 -0.130821 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.261968 -0.587427 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.021230 -0.087464 0.279254 0.000000 1.000000 0.000000 247 205 141 1.000000
+-0.070958 0.371218 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.287642 -0.351157 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.540729 -0.162954 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 0.138355 0.500905 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.343534 -0.466595 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.170904 -0.588372 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.222411 -0.561398 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.492088 -0.284753 -1.000000 0.000000 0.000000 247 215 154 1.000000
+0.307985 -0.545813 -0.017722 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.667350 -0.456465 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.152869 -0.557082 0.444635 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.083838 0.071322 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.228128 -0.576282 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.114863 -0.119074 0.366665 0.000000 -1.000000 -0.000000 243 201 139 1.000000
+0.370666 -0.558131 0.409512 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.005915 -0.491250 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.300200 0.524640 -0.503673 0.000000 0.000000 -1.000000 244 212 151 1.000000
+0.381203 -0.498891 0.461736 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.328619 0.658322 -0.503673 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.313279 0.320014 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.273532 0.477868 0.476245 0.000000 -0.000000 1.000000 242 206 142 1.000000
+-0.239526 -0.119074 -0.316819 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.331637 -0.087464 0.360668 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.325509 -0.176009 -0.503673 0.000000 0.000000 -1.000000 247 213 153 1.000000
+0.370666 -0.751223 0.298456 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.264116 0.613231 0.354691 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.066346 0.463082 -0.311847 0.000000 -1.000000 -0.000000 247 211 147 1.000000
+-0.366907 -0.447154 -0.342387 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.446409 -0.339459 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.560638 -0.066284 1.000000 0.000000 0.000000 250 213 154 1.000000
+0.052024 0.309938 0.507856 0.000000 -0.061754 0.998091 248 235 215 1.000000
+0.024940 0.006939 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.459314 0.310417 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.079144 -0.398792 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+-0.366907 -0.462305 -0.476186 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.285771 0.051004 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.022107 -0.087464 0.134945 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.161850 -0.087464 -0.445773 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.112142 -0.142950 -0.487868 0.000000 -0.000000 1.000000 246 210 146 1.000000
+0.024133 -0.695768 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.050326 -0.268010 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.349593 -0.030490 -0.095982 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.141405 -0.104696 0.444635 0.000000 -0.000000 1.000000 240 204 140 1.000000
+-0.169233 -0.119074 0.292248 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.263234 0.634305 0.052182 0.000000 1.000000 0.000000 240 206 146 1.000000
+0.225562 -0.138464 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.173718 -0.119074 -0.208643 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.314115 -0.087464 -0.309609 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.345010 0.258900 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.152006 -0.044098 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.036215 -0.263055 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.071795 0.345614 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.447185 -0.147988 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.054727 -0.087464 -0.333629 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257396 0.481884 0.329550 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.162640 -0.298928 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.516443 0.158375 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122316 -0.569492 -0.535284 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.293753 -0.087464 -0.147091 0.000000 1.000000 0.000000 242 210 149 1.000000
+0.184638 -0.119074 0.089052 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.255679 -0.087464 0.013865 0.000000 1.000000 0.000000 243 207 143 1.000000
+-0.281938 0.442009 0.372137 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.152914 0.470985 -0.167073 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.333785 0.613231 0.312260 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+0.332096 -0.240687 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.370990 -0.154426 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.291282 0.122969 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.331914 -0.545813 -0.006180 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.349593 -0.455280 -0.028615 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.004094 -0.119074 0.401462 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.283571 -0.435798 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.606868 0.003991 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.119068 -0.144108 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.285247 0.567410 -0.079948 -1.000000 0.000000 0.000000 250 213 154 1.000000
+0.147597 -0.545813 0.284243 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.171657 0.463082 0.168655 0.000000 -1.000000 -0.000000 249 213 149 1.000000
+-0.263254 -0.545813 -0.040807 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.391187 0.024485 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.058853 0.289367 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.242181 -0.087464 -0.176623 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.064373 -0.269885 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.621323 -0.058511 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.325637 0.613231 -0.348210 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.592195 -0.136970 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.013427 0.470985 0.072155 0.000000 1.000000 0.000000 249 217 156 1.000000
+-0.224715 0.470985 0.339420 0.000000 1.000000 0.000000 242 202 137 1.000000
+-0.345833 -0.003769 -0.161787 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.510232 0.328221 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314223 0.004680 0.476112 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.129765 -0.174410 -0.487868 0.000000 -0.000000 1.000000 250 218 155 1.000000
+-0.340104 -0.119074 0.202521 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.169062 0.470985 0.211977 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.370666 0.095834 0.274403 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.139268 -0.087464 0.146226 0.000000 1.000000 0.000000 247 205 143 1.000000
+0.349593 0.013894 0.088527 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.021418 -0.545813 0.279241 0.000000 1.000000 0.000000 246 210 144 1.000000
+-0.189108 -0.196485 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.086565 -0.119074 -0.216237 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.271631 0.274197 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.530058 0.067663 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.276125 -0.545813 -0.099820 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.278413 0.370093 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.354452 0.330742 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.208886 -0.523730 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.155284 0.149262 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.639607 -0.241159 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.201784 0.320001 0.507856 0.000000 -0.047128 0.998889 248 235 215 1.000000
+-0.051946 -0.545813 -0.419487 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.024536 0.568450 0.450816 0.000000 1.000000 0.000000 241 203 144 1.000000
+0.258835 0.613231 -0.285027 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.156383 -0.087464 0.220444 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.069792 -0.119074 -0.311738 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.366907 -0.066434 -0.493081 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.106316 -0.590594 0.497172 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.272446 0.613231 0.060153 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.317018 0.391523 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.102684 -0.744750 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.381203 0.585037 0.446130 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.261324 -0.401504 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.340889 0.251176 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.293649 -0.331250 1.000000 0.000000 0.000000 248 216 155 1.000000
+0.083382 -0.066393 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.166771 0.463082 0.092145 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+-0.050457 0.507202 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.743712 -0.189587 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.060537 0.463886 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.345833 0.505003 -0.294657 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.216606 0.462371 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.095921 -0.119074 -0.003887 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.268762 -0.156716 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.369155 0.523128 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.565724 -0.328876 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.258324 -0.402050 -1.000000 0.000000 0.000000 252 216 152 1.000000
+-0.249827 -0.545813 0.171448 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.026301 0.470985 0.155958 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.269366 -0.545813 -0.181140 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.727774 -0.152000 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.062073 0.487458 -0.335085 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.023334 -0.545813 -0.396158 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.490451 0.169072 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.103694 -0.119074 0.050509 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.115045 0.121916 1.000000 0.000000 0.000000 245 214 148 1.000000
+0.349593 -0.460083 0.029143 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.221030 -0.411715 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.145756 -0.590594 0.504763 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.130011 0.612033 -0.487868 0.000000 -0.000000 1.000000 242 205 146 1.000000
+-0.366907 -0.381212 -0.366448 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.309836 -0.023081 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.140702 -0.319937 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.208348 -0.119074 0.076110 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.333073 0.084316 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.275320 -0.545813 0.124565 0.000000 1.000000 0.000000 250 218 157 1.000000
+-0.059862 -0.273271 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.148371 -0.291353 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+-0.345833 0.412652 0.082700 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.010723 0.302602 0.507856 0.000000 -0.072410 0.997375 248 235 215 1.000000
+0.370666 -0.004324 0.243344 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.070082 -0.188191 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.519848 -0.195551 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.156810 0.470985 -0.069208 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.200657 -0.278949 -0.503673 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.035142 0.222117 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.349593 -0.152579 -0.242250 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.115253 0.625692 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.198188 -0.087464 -0.416882 0.000000 1.000000 0.000000 243 207 143 1.000000
+0.109911 -0.545813 -0.420818 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.095375 0.573695 -0.487868 0.000000 -0.000000 1.000000 244 212 151 1.000000
+0.349593 0.507007 -0.241299 -1.000000 0.000000 0.000000 237 204 149 1.000000
+-0.254408 -0.025654 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370764 0.204198 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.507170 -0.378435 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.638437 0.415414 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.202371 -0.109979 -0.503673 0.000000 0.000000 -1.000000 249 213 149 1.000000
+0.254720 -0.119074 0.264930 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.263224 -0.446660 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.341119 -0.288220 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.245504 0.448840 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.571586 0.361934 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.421978 0.289954 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.490030 0.369121 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.178127 0.050215 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.370666 -0.210941 -0.299147 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.339129 -0.109512 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.652713 -0.415887 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.233338 -0.119074 -0.112042 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.334316 0.565069 -0.503673 0.000000 0.000000 -1.000000 247 214 151 1.000000
+0.277039 0.597540 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.061791 0.537152 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.338360 -0.087464 -0.110576 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.055466 0.059748 -0.503673 0.000000 0.000000 -1.000000 247 204 147 1.000000
+-0.253637 0.527080 -0.015002 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.578879 0.194543 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.349593 -0.592510 -0.096200 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.349593 -0.529916 0.213285 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.289634 -0.039627 -1.000000 0.000000 0.000000 248 216 155 1.000000
+0.052531 0.290076 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 0.313038 -0.075955 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.080661 -0.087464 0.271087 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.353599 0.629062 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.572028 -0.293134 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.134516 -0.341444 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.083815 -0.087464 0.150006 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.101071 0.463082 0.244420 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.512782 -0.436835 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.133974 0.470985 -0.333213 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.299109 -0.087464 -0.030222 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.307706 0.613231 -0.062241 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.345833 -0.444360 0.069610 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.381693 0.328034 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.036279 -0.119074 -0.150016 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.154909 0.510305 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.223152 0.621317 0.350827 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.607243 -0.535013 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.286949 -0.308028 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+0.349593 0.214933 -0.465604 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.036444 0.612735 -0.535284 0.000000 0.000000 -1.000000 251 219 158 1.000000
+-0.188095 -0.536287 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.506029 -0.130129 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.395561 -0.064799 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.212735 -0.119074 -0.059648 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.037515 -0.519238 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.045076 -0.362006 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.474922 -0.204510 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.198261 -0.270503 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.127669 0.409289 0.507856 -0.000000 0.091821 0.995776 248 235 215 1.000000
+0.349593 -0.173415 -0.469828 -1.000000 0.000000 0.000000 243 201 139 1.000000
+0.246859 0.239971 0.503534 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.044530 -0.565061 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.306153 -0.306099 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.005921 0.444156 -0.335085 0.000000 -0.000000 1.000000 245 209 145 1.000000
+-0.119783 0.220456 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.216164 0.076751 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.043510 0.577043 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.165536 -0.119074 0.153400 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.150892 0.626777 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.043986 -0.126765 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.011353 0.525054 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.222834 -0.031402 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.005615 -0.545813 0.033260 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.349593 0.014916 0.305420 -1.000000 0.000000 0.000000 243 203 140 1.000000
+-0.366907 0.224486 -0.319227 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.576040 0.315944 -1.000000 0.000000 0.000000 244 214 152 1.000000
+-0.355071 0.526425 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.033951 0.225739 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.024070 0.596277 0.503354 0.000000 -0.999309 0.037180 248 235 215 1.000000
+0.218039 0.040341 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.241047 -0.545813 -0.080532 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.219392 0.621062 0.117218 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.167421 0.470985 0.027900 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.371812 -0.336881 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.428154 0.436014 1.000000 0.000000 0.000000 239 207 146 1.000000
+-0.007286 0.408267 0.507856 -0.000000 0.089547 0.995983 248 235 215 1.000000
+-0.272025 -0.539396 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.109999 0.074014 -0.503673 0.000000 0.000000 -1.000000 248 205 148 1.000000
+-0.326228 -0.540544 -0.520580 0.000000 1.000000 0.000000 240 206 146 1.000000
+0.256992 -0.345245 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.118234 -0.224661 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.537830 -0.280440 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.328710 -0.087464 0.284077 0.000000 1.000000 0.000000 246 204 142 1.000000
+0.330013 0.634305 -0.409166 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.054384 0.471681 0.444635 0.000000 0.000000 -1.000000 243 210 147 1.000000
+0.349593 0.458081 -0.439414 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.277262 -0.363886 -0.487868 0.000000 -0.000000 1.000000 239 205 132 1.000000
+0.370666 -0.587772 0.174205 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.224827 0.432000 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.370666 0.632746 0.246473 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.306251 -0.196386 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.537807 0.076710 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314223 0.104727 0.445958 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.147375 -0.119074 -0.165061 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+0.074661 -0.087464 0.040922 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.319352 -0.119074 -0.226111 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.264302 0.204521 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.292232 0.658012 0.505010 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.168896 0.423095 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.317005 -0.497649 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.566298 0.296449 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.227792 0.463082 -0.255507 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.294812 0.604164 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.009800 -0.745414 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.159927 0.535660 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.134483 -0.442405 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.288089 -0.119074 0.100890 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.255780 0.665915 -0.526551 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.294887 -0.119074 -0.225808 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+-0.330838 0.381046 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.210627 -0.087464 -0.343503 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.327600 0.613231 0.066129 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.343349 0.634305 0.357231 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.049489 -0.119074 -0.415612 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.242507 0.387672 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.184310 0.044939 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+0.257396 0.486030 -0.264711 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370666 -0.609019 -0.173528 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.472777 -0.329661 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.626125 -0.222549 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.250269 0.645687 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.039518 0.022928 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.191161 0.290177 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.141295 -0.119074 -0.442622 0.000000 -1.000000 -0.000000 238 202 138 1.000000
+-0.061961 -0.730915 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.213499 0.032770 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.170077 0.582189 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.082141 -0.060337 -0.487868 0.000000 -0.000000 1.000000 250 213 154 1.000000
+0.370666 -0.058066 -0.403263 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.147811 0.537655 -0.487868 0.000000 -0.000000 1.000000 241 204 145 1.000000
+-0.282889 -0.277633 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.256343 -0.119074 -0.335740 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.262909 0.634305 -0.492928 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.349593 0.529831 -0.180982 -1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.061596 -0.545813 0.290640 0.000000 1.000000 0.000000 239 205 145 1.000000
+0.282126 -0.545813 -0.154999 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.270272 -0.545813 0.323384 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.077400 -0.680979 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.312193 -0.119074 -0.175351 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.349593 -0.064173 0.205564 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.219419 -0.087464 0.211882 0.000000 1.000000 0.000000 244 206 147 1.000000
+0.094327 0.470985 -0.032849 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.093629 -0.743737 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.562553 0.387445 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.170484 0.075449 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.016681 -0.131716 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.528391 -0.107493 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.156260 -0.092224 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.272183 0.634305 0.012079 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.262693 -0.119074 0.272429 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.110302 0.220730 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.631322 0.181443 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243100 0.176965 0.477258 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.040692 -0.119074 0.329669 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.300680 -0.206884 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.344520 0.298168 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.181618 0.178663 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.339571 0.473654 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.249466 -0.233686 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.261363 -0.119074 0.077409 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.359724 0.181828 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.112369 -0.537257 0.507856 0.000000 -0.077479 -0.996994 255 255 255 1.000000
+0.052760 0.568450 -0.362581 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257722 -0.119074 0.371743 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.345075 0.198595 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.132411 -0.119074 0.112559 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.253762 -0.545813 0.402232 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.236606 -0.545813 -0.361605 0.000000 1.000000 0.000000 249 212 153 1.000000
+-0.345833 -0.508341 0.438829 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.366907 0.135653 0.178388 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.390401 -0.394337 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.093430 0.005278 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.351879 0.249562 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.549138 0.040268 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.208296 -0.402728 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.170697 -0.531544 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.193605 -0.349723 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.314812 -0.087464 -0.364059 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.177478 0.470985 0.128773 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.075582 -0.533500 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.513716 -0.023230 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.307195 -0.427030 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.177944 0.470985 0.398830 0.000000 1.000000 0.000000 242 210 149 1.000000
+-0.268541 0.634305 0.338134 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.110131 0.470985 0.418572 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.101093 -0.545813 -0.038309 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.349593 0.329919 -0.098334 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.228790 -0.186494 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+0.280072 0.570293 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.288330 0.307969 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.103156 0.463082 -0.294059 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.283780 0.469891 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.205622 -0.119074 0.423961 0.000000 -1.000000 -0.000000 249 208 150 1.000000
+-0.345833 0.577357 -0.415443 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.245222 0.552491 -0.366696 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.366907 0.194802 -0.241977 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.280139 0.632275 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.167143 0.256560 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.290358 -0.087464 0.375231 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.292546 -0.545813 -0.242600 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.345833 -0.041715 -0.235990 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.241856 -0.119074 -0.479752 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.320444 -0.671671 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.444929 0.328499 1.000000 0.000000 0.000000 241 200 134 1.000000
+-0.315112 -0.538113 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.023849 -0.422096 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.162380 -0.545813 -0.397009 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.129516 -0.249778 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.597418 -0.056545 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.083339 -0.545813 -0.119341 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.587068 -0.425436 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.366907 -0.119612 -0.169878 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.340360 -0.393455 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.374147 -0.302511 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.285247 0.480293 0.190380 -1.000000 0.000000 0.000000 248 207 139 1.000000
+-0.115904 -0.477389 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.433036 -0.190612 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.230662 0.411432 0.507856 -0.000000 0.096586 0.995325 248 235 215 1.000000
+0.136293 0.442009 0.458603 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.044141 0.320224 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.678022 0.246729 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.186816 0.189522 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.628896 -0.042233 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.404474 -0.212366 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.301695 -0.087464 0.431513 0.000000 1.000000 0.000000 244 207 149 1.000000
+0.337326 -0.447576 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.482149 -0.157511 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.304625 0.053979 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.220005 -0.119074 -0.430285 0.000000 -1.000000 -0.000000 241 205 141 1.000000
+0.289007 0.554832 -0.118725 1.000000 0.000000 0.000000 248 211 152 1.000000
+0.344139 0.613231 -0.253489 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.045027 -0.087464 -0.408697 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.308625 0.634305 0.413720 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.187786 -0.019904 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.250134 0.613231 -0.218888 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+-0.253637 0.526676 0.042336 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.000457 0.008598 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.331729 0.627582 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.334213 -0.119074 -0.076444 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.261781 0.412803 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.300825 -0.186644 1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.129072 -0.087464 0.334213 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.052212 0.601751 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.316666 0.138036 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.261615 -0.119074 0.157941 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.685219 -0.348169 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349772 0.061422 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.243259 -0.680378 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.278085 -0.539437 -0.487868 0.000000 -0.000000 1.000000 240 204 140 1.000000
+0.149463 -0.545813 0.157649 0.000000 1.000000 0.000000 239 198 140 1.000000
+-0.249633 -0.545813 -0.447535 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.547425 -0.302467 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.068962 -0.062644 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.151511 -0.089852 1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.218812 -0.119074 -0.011236 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.341563 -0.348663 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.175622 0.625604 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.415266 -0.417086 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.247500 0.613231 -0.088680 0.000000 -1.000000 -0.000000 245 209 145 1.000000
+0.370731 0.627199 0.444635 0.000000 0.000000 -1.000000 250 218 157 1.000000
+-0.284100 -0.087464 -0.455229 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.145057 -0.415820 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.060461 -0.393475 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.321204 -0.087464 0.016966 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.348603 0.015471 -1.000000 0.000000 0.000000 247 211 147 1.000000
+0.370666 0.246168 0.273122 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.084820 -0.087464 -0.249246 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.289007 0.557618 -0.245603 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.285247 0.534699 -0.180077 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.181001 0.264243 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.145908 0.463082 0.353885 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+0.112790 -0.545813 0.077546 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.080340 -0.409171 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.311291 -0.711826 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.257261 0.442009 0.149518 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+-0.059838 -0.119074 -0.457630 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.323180 0.634305 0.381427 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.181102 -0.046099 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.000291 -0.528040 0.507856 0.000000 -0.090847 -0.995865 255 255 255 1.000000
+0.349593 0.478481 0.029136 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.055024 -0.326620 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.366907 -0.345707 0.101356 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.396110 -0.450285 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.350788 -0.250916 1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.345833 0.079557 0.330918 1.000000 0.000000 0.000000 244 211 156 1.000000
+0.370666 0.652161 -0.008664 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.263899 0.369976 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.014932 -0.154674 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.034352 -0.338986 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.471614 0.360252 1.000000 0.000000 0.000000 240 207 142 1.000000
+0.349593 -0.539281 -0.495576 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.323450 0.634305 -0.498882 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.035725 -0.119074 -0.196451 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.178726 0.353865 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.052703 -0.119074 -0.242201 0.000000 -1.000000 -0.000000 253 216 157 1.000000
+0.138000 -0.173581 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.341464 0.634305 -0.301965 0.000000 1.000000 0.000000 242 214 152 1.000000
+-0.328277 0.193106 0.444635 0.000000 0.000000 -1.000000 249 217 156 1.000000
+0.311091 0.600491 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.156897 0.021824 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.281257 -0.150905 -0.503673 0.000000 0.000000 -1.000000 249 217 156 1.000000
+0.094321 0.568450 0.451027 0.000000 1.000000 0.000000 242 210 149 1.000000
+-0.078515 -0.087464 0.180251 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.251966 0.470985 0.112774 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.117070 0.099128 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.285958 -0.010075 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.387088 -0.318797 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.186105 -0.217975 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.023408 -0.289115 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.457971 0.216173 -1.000000 0.000000 0.000000 248 216 155 1.000000
+0.188911 -0.087464 -0.159887 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.460929 -0.397170 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.264588 -0.153227 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.268981 -0.786322 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.226921 -0.545813 -0.332692 0.000000 1.000000 0.000000 252 215 156 1.000000
+-0.345833 -0.470075 0.034571 1.000000 0.000000 0.000000 239 203 139 1.000000
+-0.054488 0.194900 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.566966 0.430640 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.080315 -0.403078 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.086854 0.470985 -0.177734 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.031952 0.423835 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.058712 -0.087464 0.420358 0.000000 1.000000 0.000000 239 203 139 1.000000
+-0.093899 -0.087464 0.255238 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.242593 0.470985 -0.168717 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.535348 0.039407 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.122204 0.417785 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.035704 -0.775636 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.302112 -0.087464 0.054660 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.381203 -0.055919 0.465618 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.654324 0.308338 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.746506 -0.486845 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.194521 -0.087464 0.143574 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.225866 0.630019 -0.535284 0.000000 0.000000 -1.000000 248 211 152 1.000000
+0.370666 -0.090025 -0.362678 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.342916 -0.043037 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.026883 -0.320606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.592758 -0.520910 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.575110 -0.448383 1.000000 0.000000 0.000000 241 205 141 1.000000
+-0.278455 -0.545813 0.043284 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.312664 0.613231 0.104848 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.223306 0.069489 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.020672 -0.565676 0.444635 0.000000 0.000000 -1.000000 247 209 150 1.000000
+-0.081554 -0.594197 0.444635 0.000000 0.000000 -1.000000 250 213 154 1.000000
+-0.366907 0.632340 -0.151924 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.368176 -0.443945 1.000000 0.000000 0.000000 241 209 149 1.000000
+-0.258800 -0.661827 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.273384 -0.150770 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.007146 -0.202983 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.106081 -0.087464 0.392494 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.223152 0.620112 -0.169486 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.195060 -0.455404 1.000000 0.000000 0.000000 243 203 140 1.000000
+-0.366907 -0.468013 -0.255929 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.292022 0.093598 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.572230 -0.263978 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.117777 0.470985 -0.186806 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.365804 0.348497 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.657749 0.060335 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.342709 0.215843 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.146363 -0.406194 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.285020 0.613231 0.299252 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.478088 -0.061897 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.130647 -0.570151 0.444635 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.366907 -0.123063 -0.043980 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.120907 0.519719 -0.503673 0.000000 0.000000 -1.000000 246 206 143 1.000000
+-0.158475 -0.632206 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.539996 0.212258 -1.000000 0.000000 0.000000 250 220 158 1.000000
+0.081283 -0.119074 -0.463296 0.000000 -1.000000 -0.000000 252 214 153 1.000000
+-0.032273 -0.579198 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.606322 0.095851 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.292771 -0.043456 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.338028 0.070511 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.327698 0.613231 0.205361 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.316487 -0.545813 -0.403508 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.074877 -0.087464 0.051654 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.345833 0.453463 0.159638 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 0.629108 0.507461 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.449497 -0.484945 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.019809 -0.545813 -0.036264 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.250564 0.634305 0.428063 0.000000 1.000000 0.000000 239 206 141 1.000000
+-0.369541 -0.481161 0.507753 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.261714 -0.373856 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.200947 -0.545813 -0.058551 0.000000 1.000000 0.000000 248 207 149 1.000000
+-0.012136 0.159918 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.321954 -0.379391 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.450533 -0.040461 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.060255 -0.119074 -0.365645 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.349593 -0.258950 -0.159230 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.412213 -0.492236 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.121857 0.580112 0.498808 0.000000 -0.763485 0.645826 248 235 215 1.000000
+-0.186895 0.561750 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.171143 -0.473909 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.112182 -0.119074 -0.390877 0.000000 -1.000000 -0.000000 247 207 144 1.000000
+0.349593 0.178160 0.387261 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.083686 -0.111217 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.196674 0.345434 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.579125 -0.344303 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.104911 0.470985 0.278356 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.414832 0.048606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.179047 -0.558531 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.471711 -0.443512 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.186911 0.531107 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.334168 -0.280748 1.000000 0.000000 0.000000 242 210 149 1.000000
+-0.306177 -0.545813 -0.229076 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.334328 0.224079 -1.000000 0.000000 0.000000 245 204 146 1.000000
+0.078878 -0.545813 0.144648 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.279157 -0.262301 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.212219 0.511844 -0.503673 0.000000 0.000000 -1.000000 252 215 156 1.000000
+0.262046 0.613231 0.166783 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.345158 -0.206678 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.143823 0.116938 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.508932 0.126303 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.168577 -0.119074 0.290175 0.000000 -1.000000 -0.000000 235 199 135 1.000000
+0.195113 0.390127 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.178624 -0.169302 -1.000000 0.000000 0.000000 249 215 156 1.000000
+0.223152 0.624914 -0.361494 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.109169 -0.217031 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.345833 -0.154697 -0.379132 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.200625 -0.545813 0.218098 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.366907 0.269654 0.164797 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.538535 -0.477171 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.208975 -0.087464 -0.041547 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.370666 0.037716 -0.180616 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.088126 -0.214265 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.492027 -0.080019 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.053039 -0.119074 0.397077 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.119514 0.467671 0.476245 0.000000 -0.000000 1.000000 242 206 142 1.000000
+-0.366907 -0.372150 0.298513 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.107112 0.393842 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.230422 0.544794 0.476245 0.000000 -0.000000 1.000000 237 200 141 1.000000
+-0.366907 -0.113956 -0.499400 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.068847 0.464543 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.119217 -0.250013 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.315760 -0.787197 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.095691 0.335404 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.544202 0.233076 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.366907 0.583373 -0.488902 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.018135 -0.747178 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.243903 -0.169265 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.321086 0.602345 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.502276 0.311484 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.219663 0.463082 -0.012513 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.007191 0.463082 -0.064211 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.013973 0.395472 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.284009 -0.545813 -0.090725 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.219392 0.617360 -0.163239 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.218894 -0.094619 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.472312 0.100358 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.164540 -0.735683 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.063821 0.658012 0.506045 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.262758 -0.087464 -0.045732 0.000000 1.000000 0.000000 243 205 146 1.000000
+-0.320769 0.613231 -0.193429 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.096508 -0.119074 0.004477 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.201681 -0.433529 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.350328 -0.302043 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.340933 -0.196929 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.103380 -0.040307 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.494402 0.099728 -1.000000 0.000000 0.000000 242 206 142 1.000000
+0.076038 0.343271 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.344572 -0.477152 -0.487868 0.000000 -0.000000 1.000000 243 207 143 1.000000
+-0.069561 -0.087464 -0.088661 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.259352 -0.760652 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.318931 0.269933 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.094744 -0.008192 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122136 0.299514 0.507856 0.000000 -0.076893 0.997039 248 235 215 1.000000
+0.336386 -0.088110 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.296788 0.634305 0.082929 0.000000 1.000000 0.000000 238 201 142 1.000000
+0.131133 -0.087464 0.064481 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.041153 0.273816 0.507856 -0.000000 0.114094 -0.993470 255 255 255 1.000000
+-0.341842 -0.244305 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.538862 0.390610 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.256833 0.463082 0.423791 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.000627 0.472259 -0.366696 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.366907 0.293770 0.428264 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.142157 -0.060213 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.571692 -0.361804 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.507246 0.279007 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.323681 -0.373639 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.381203 -0.395119 0.467963 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.515782 -0.236475 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.225087 0.317178 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.313737 0.322787 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.154166 0.484954 -0.366696 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.355786 0.517647 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.471819 -0.058146 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.300262 -0.096775 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.470372 -0.294421 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.257396 0.482522 -0.199628 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.273607 0.629496 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.093494 -0.119074 -0.108952 0.000000 -1.000000 -0.000000 241 209 148 1.000000
+0.343484 -0.227960 0.444635 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.273109 -0.119074 -0.179612 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.048611 -0.467261 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.370666 -0.455972 -0.268625 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.249137 -0.119074 -0.141997 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.062785 0.141005 -0.487868 0.000000 -0.000000 1.000000 246 204 142 1.000000
+0.135753 -0.087464 -0.338154 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.115839 -0.119074 0.348454 0.000000 -1.000000 -0.000000 244 211 154 1.000000
+0.246859 -0.553000 0.506616 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.592429 -0.186916 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.221578 0.463082 -0.093527 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.253126 -0.119074 -0.452703 0.000000 -1.000000 -0.000000 243 201 137 1.000000
+-0.222604 -0.574761 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.257396 0.498499 0.287119 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.315290 -0.087464 -0.164633 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.243100 0.224117 0.506160 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257351 -0.545813 -0.430039 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.053256 -0.119074 0.302687 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.299303 0.259212 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.019027 -0.119074 0.276851 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.577186 0.009099 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.008259 -0.627600 -0.535284 0.000000 0.000000 -1.000000 247 204 147 1.000000
+-0.265771 -0.119074 0.380749 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.210340 -0.083717 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.034520 -0.474645 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.300569 -0.449043 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.305367 -0.087464 -0.274152 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.003199 -0.375355 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.555427 0.315521 1.000000 0.000000 0.000000 242 210 149 1.000000
+0.370666 0.483468 -0.418233 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.538853 -0.317028 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.032547 -0.119074 -0.001834 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.330191 -0.119074 -0.336371 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.033832 0.387524 0.507856 -0.000000 0.043202 0.999066 248 235 215 1.000000
+-0.285247 0.543096 0.166224 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 0.126457 -0.459146 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.220077 0.463082 -0.247764 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.034730 -0.087464 -0.046715 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.139577 0.483865 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.156802 -0.119074 -0.384023 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.160752 0.244506 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.402752 0.021574 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.390345 -0.053481 -1.000000 0.000000 0.000000 239 207 146 1.000000
+0.179312 0.470985 -0.296619 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.331766 -0.419305 0.444635 0.000000 0.000000 -1.000000 241 209 148 1.000000
+-0.089770 0.463082 0.050614 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.025831 -0.087464 0.042169 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257506 0.568450 -0.012279 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.317121 -0.224659 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.006304 -0.087464 -0.316096 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.243100 -0.463504 0.502540 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.035767 -0.380494 -0.487868 0.000000 -0.000000 1.000000 243 211 151 1.000000
+0.013609 0.463082 0.287271 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.257396 0.541903 -0.193433 -1.000000 0.000000 0.000000 253 216 157 1.000000
+0.381203 0.406299 0.471924 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.520261 -0.194463 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.217523 -0.518879 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.238394 -0.119074 -0.279234 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.112568 -0.119074 -0.304031 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+-0.366907 -0.329832 -0.333702 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.203643 0.523500 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.497084 -0.299113 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.346104 -0.264178 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.278186 -0.087464 -0.348567 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.053104 0.297384 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.127364 -0.138332 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.406584 -0.103042 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.373265 -0.485341 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.304401 0.134828 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.567360 0.290210 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.675469 0.177593 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.320716 -0.450255 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.310784 -0.213770 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.055111 -0.119074 -0.278920 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.053217 0.470985 0.341244 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.315280 -0.464085 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.158046 0.178566 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.511066 -0.364385 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.564488 0.152527 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.082119 0.606097 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.366907 0.170003 -0.211331 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.571600 0.426775 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.449001 0.407033 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.200008 -0.545813 0.163753 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.366907 -0.713266 -0.500272 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.342803 0.137847 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.756061 0.006032 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.100314 -0.087464 -0.198202 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.228036 -0.119074 -0.198878 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.019825 -0.087464 -0.197379 0.000000 1.000000 0.000000 242 214 152 1.000000
+-0.020174 -0.545813 0.101282 0.000000 1.000000 0.000000 229 198 132 1.000000
+-0.095904 0.442907 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.254548 0.211006 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.505531 0.257478 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.076592 0.391959 0.445945 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.055619 -0.689545 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.196509 -0.545813 -0.034150 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.253637 0.506213 -0.116861 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.423855 -0.258481 -1.000000 0.000000 0.000000 241 209 148 1.000000
+0.078494 0.200463 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.308237 0.083108 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.104409 -0.504960 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.148467 0.470985 0.253804 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.178063 -0.503062 0.507856 0.000000 -0.126920 -0.991913 255 255 255 1.000000
+-0.205300 0.102156 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.147498 0.290385 0.507856 0.000000 -0.090132 0.995930 248 235 215 1.000000
+0.207294 0.625739 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.764909 -0.371697 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.025427 0.195640 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.168699 -0.119074 0.250084 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.255773 0.516437 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.161952 0.647680 -0.503673 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.253637 0.546990 0.291368 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.284809 0.442009 0.231861 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.219985 -0.545813 -0.128221 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.470463 -0.177093 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.251879 0.613231 -0.085295 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.370666 -0.564259 -0.526145 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286781 0.442009 0.285776 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.319312 -0.119074 0.219453 0.000000 -1.000000 -0.000000 245 212 157 1.000000
+-0.345833 0.504635 -0.494711 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.097216 -0.087464 -0.166372 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.554376 -0.093659 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.300156 0.187098 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.620270 0.176914 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.347568 -0.244411 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.001766 -0.446781 -0.487868 0.000000 -0.000000 1.000000 243 207 143 1.000000
+0.314351 -0.630154 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.203509 -0.782728 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.523493 -0.049871 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.371163 0.153332 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.043899 -0.087464 0.396619 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.309904 0.388880 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.022395 -0.545813 -0.444761 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.004854 -0.119074 -0.029418 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.282209 -0.203582 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.333351 0.613231 0.388388 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.062404 0.262054 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.365132 0.186502 -1.000000 0.000000 0.000000 242 210 149 1.000000
+0.370666 0.588636 0.191775 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.057943 -0.545813 0.033013 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.101813 -0.483247 -0.487868 0.000000 -0.000000 1.000000 246 218 156 1.000000
+0.349593 0.413980 -0.421092 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.370666 0.207304 -0.162341 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.038862 -0.087464 -0.089573 0.000000 1.000000 0.000000 249 217 156 1.000000
+-0.318980 0.613231 -0.441117 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.211839 -0.087464 0.224153 0.000000 1.000000 0.000000 245 204 146 1.000000
+0.349593 0.074240 0.415135 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.345833 -0.365199 -0.085985 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.429859 0.188911 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.219392 0.615705 -0.022823 1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.202332 -0.678398 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.116983 -0.087464 0.175274 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.076366 0.280028 0.507856 0.000000 -0.105122 0.994459 248 235 215 1.000000
+0.237300 -0.092364 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.053529 -0.134772 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.585608 -0.450079 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.273438 -0.087464 -0.152279 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.388003 -0.456595 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.012663 -0.336423 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.271154 -0.035243 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.089029 0.405399 0.507856 0.000000 -0.083159 -0.996536 255 255 255 1.000000
+0.159203 0.107823 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.184197 0.479355 0.444635 0.000000 0.000000 -1.000000 237 201 137 1.000000
+0.070767 -0.119074 0.062542 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.271665 0.168176 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.139338 -0.087464 -0.060874 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.345833 0.060868 0.154524 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.370666 -0.030341 0.375629 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.670466 -0.059788 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.617284 0.299624 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.304307 -0.328614 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.382034 0.126918 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.134097 0.371363 0.507856 -0.000000 0.006973 0.999976 248 235 215 1.000000
+-0.345833 -0.036757 0.044810 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.314120 0.015087 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.347655 0.561791 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.337190 0.126160 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.366907 0.154911 0.289064 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.046046 -0.119074 0.198531 0.000000 -1.000000 -0.000000 244 216 154 1.000000
+0.370666 -0.521374 0.013684 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.178623 0.329907 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.528572 -0.407403 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.237438 -0.657167 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.156737 -0.119074 -0.137396 0.000000 -1.000000 -0.000000 239 207 146 1.000000
+0.255304 0.463082 0.111174 0.000000 -1.000000 -0.000000 244 203 145 1.000000
+0.083071 0.493885 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.584788 -0.367510 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.632680 0.313077 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.284175 -0.119074 -0.266666 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.366907 -0.201594 -0.414009 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.322628 -0.513158 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.243959 0.634305 -0.373288 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.039167 0.291430 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.014465 -0.381188 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.366907 -0.194640 0.273561 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.481610 0.205961 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.243100 -0.103846 0.477316 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.748831 -0.414063 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.183520 -0.087464 -0.232692 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.332892 -0.087464 -0.201611 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.081053 0.470985 -0.224115 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.053482 -0.554203 -0.503673 0.000000 0.000000 -1.000000 239 202 143 1.000000
+-0.116411 0.633989 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.129237 -0.425396 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.363496 0.016348 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.321589 0.091451 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.082898 -0.565526 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.350464 -0.129414 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.272627 0.255773 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.178807 -0.346338 -0.503673 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.366907 -0.002101 -0.054384 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.139018 0.463082 0.113848 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.188229 -0.119074 0.024606 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.370666 0.085881 0.108621 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.251137 -0.232282 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.123246 0.463082 0.340831 0.000000 -1.000000 -0.000000 241 209 148 1.000000
+0.344787 0.634305 -0.136112 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.042046 -0.660737 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.272686 -0.428053 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.190691 -0.597926 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.562391 0.130204 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.032303 -0.087464 -0.451267 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.147774 0.508626 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.117796 -0.119074 -0.233411 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.345833 0.548398 -0.051116 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.370666 0.020941 -0.508411 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.479556 -0.334607 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.370666 -0.340407 -0.496094 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.172702 -0.161954 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.048087 0.470985 0.197931 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.677626 0.067655 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.304067 -0.119074 -0.001364 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.641768 -0.291419 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.324564 -0.152651 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.202761 -0.544734 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.736436 -0.054003 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.565401 -0.134228 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.305779 0.322882 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.106316 -0.310743 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.139553 0.481459 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.349593 -0.378087 0.289453 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.011419 0.517989 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.210232 0.620950 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.109743 0.034747 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.036611 -0.119074 -0.389009 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.059784 -0.055856 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.105535 0.385891 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.070656 0.325256 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.300689 -0.150585 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.417317 0.264668 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.323562 -0.545813 0.370956 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.188620 0.541478 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.471842 0.058834 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.051503 -0.109972 1.000000 0.000000 0.000000 251 214 155 1.000000
+-0.277720 0.133696 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.562394 0.218378 1.000000 0.000000 0.000000 244 210 150 1.000000
+-0.351318 -0.341225 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.103400 -0.119074 -0.066391 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.357022 0.665915 0.442249 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.345833 -0.053123 0.248742 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.141318 -0.119074 -0.459089 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.622608 0.309415 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.310355 -0.621051 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.567386 -0.199323 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.196636 -0.087464 -0.119875 0.000000 1.000000 0.000000 247 215 154 1.000000
+0.349593 -0.395021 -0.360969 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.136012 0.463082 -0.119467 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.021382 0.416873 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.284503 -0.545813 0.278467 0.000000 1.000000 0.000000 241 203 144 1.000000
+0.025153 -0.390754 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.275762 0.334320 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.470766 0.409780 -1.000000 0.000000 0.000000 243 209 149 1.000000
+-0.181459 -0.568306 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.213510 -0.119074 0.350153 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.110389 -0.545813 0.084165 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.261108 -0.084122 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.332676 0.510857 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.507671 -0.168189 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.256157 0.613231 0.233526 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.205552 -0.119074 -0.313654 0.000000 -1.000000 -0.000000 252 215 156 1.000000
+0.052529 0.254880 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.147730 0.475729 0.444635 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.181754 0.528048 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.022326 0.463082 -0.206929 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.014417 -0.328724 -0.503673 0.000000 0.000000 -1.000000 243 201 139 1.000000
+0.370666 0.562049 -0.504173 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.022151 0.368755 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.054921 0.463082 -0.030859 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.326839 -0.205036 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.282601 0.657324 0.444635 0.000000 0.000000 -1.000000 250 209 151 1.000000
+0.015281 0.470985 0.369538 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.324844 -0.087464 0.329352 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.366907 0.647744 -0.503011 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.046995 0.463082 -0.160912 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.053654 0.442009 0.475649 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+0.324802 -0.087464 0.160075 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.204784 -0.633701 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.369541 0.140144 0.501913 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.454618 0.222880 -1.000000 0.000000 0.000000 248 208 143 1.000000
+0.349593 -0.516736 -0.324584 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.289007 0.504284 -0.125538 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.355147 -0.209952 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.753698 -0.302333 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.305360 -0.119074 0.401473 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.315775 -0.054444 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.258262 0.222425 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.025849 -0.087464 0.208669 0.000000 1.000000 0.000000 245 202 145 1.000000
+-0.253637 0.543899 -0.240324 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.349593 0.123056 -0.149413 -1.000000 0.000000 0.000000 247 209 150 1.000000
+0.370666 0.614268 0.395700 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.167181 -0.787128 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.142865 0.030563 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.516681 0.349277 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.338100 -0.785633 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.063388 -0.545813 0.228173 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.144642 0.289898 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.474988 -0.023314 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.024622 -0.119074 -0.246817 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.038660 0.463082 -0.134991 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+0.349593 -0.146264 -0.384608 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.125927 -0.545813 0.044998 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.183051 -0.087464 -0.312044 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.093538 0.539801 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.332512 -0.286922 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.275295 -0.485150 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.229591 -0.119074 0.104222 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.188468 0.603014 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.057530 -0.119074 -0.191944 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.289007 0.567902 0.128054 1.000000 0.000000 0.000000 250 213 154 1.000000
+0.179699 -0.119074 0.326645 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.209515 0.469515 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.303913 0.524377 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.190583 -0.002697 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.266049 0.613231 -0.413225 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.253637 0.443151 0.416197 1.000000 0.000000 0.000000 247 204 147 1.000000
+-0.143270 -0.545813 -0.231529 0.000000 1.000000 0.000000 247 214 159 1.000000
+-0.053571 -0.498591 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.035580 -0.119074 0.174341 0.000000 -1.000000 -0.000000 242 209 144 1.000000
+0.290077 0.186069 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.381203 -0.314054 0.450084 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.175796 0.099136 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.559583 -0.248032 1.000000 0.000000 0.000000 245 213 153 1.000000
+-0.367787 0.658012 0.502485 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.057935 -0.132853 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.345833 -0.421603 -0.506105 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.558087 0.001119 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.628003 -0.212348 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.230503 -0.518238 0.507856 -0.000000 0.105033 0.994469 248 235 215 1.000000
+0.349593 -0.054452 0.123213 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.236473 -0.441409 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.384856 0.133186 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.689636 0.003960 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.278188 0.613231 -0.175203 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+0.203380 -0.087464 -0.107001 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 -0.370435 0.428082 1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.314223 0.636736 0.475230 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.091422 0.083370 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.283851 -0.119074 0.288936 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.241573 0.095191 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.148781 -0.405819 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+0.257396 0.450666 -0.293276 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.380638 0.366990 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.242508 -0.296048 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.085420 -0.485512 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.206506 0.175473 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.038943 -0.691205 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.236369 -0.561867 -0.487868 0.000000 -0.000000 1.000000 249 215 155 1.000000
+-0.101334 0.493042 -0.335085 0.000000 -0.000000 1.000000 240 203 144 1.000000
+-0.074167 -0.545813 -0.224612 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.228423 0.641957 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.361835 0.095040 0.444635 0.000000 0.000000 -1.000000 251 214 155 1.000000
+0.349593 0.233300 -0.101077 -1.000000 0.000000 0.000000 243 211 150 1.000000
+0.234272 0.546348 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.578722 -0.394052 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.396758 0.394858 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.037934 -0.119074 0.134122 0.000000 -1.000000 -0.000000 243 206 140 1.000000
+0.315210 0.440946 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.134026 0.336125 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.527250 -0.035168 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.569556 0.267297 -1.000000 0.000000 0.000000 249 212 153 1.000000
+0.349593 -0.117289 0.414532 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.156745 -0.563505 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.042970 0.256484 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.179522 0.470985 0.011684 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.018603 0.373105 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.235210 0.634305 0.197270 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.046266 -0.322697 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.101321 -0.087464 -0.390598 0.000000 1.000000 0.000000 234 198 134 1.000000
+0.370666 0.631309 -0.518985 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.373301 -0.264374 0.507031 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.025031 -0.119074 0.163304 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.076461 -0.087464 -0.009748 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.370666 -0.683495 -0.366064 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.126047 -0.087464 -0.164425 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.239435 -0.557171 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.348776 0.522544 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.195190 0.131359 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.004119 0.353027 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.781888 0.237962 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.628994 -0.390595 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.222725 -0.087464 0.253229 0.000000 1.000000 0.000000 237 200 141 1.000000
+-0.098682 0.567420 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.343208 0.343145 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.551169 0.137720 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.335361 0.016757 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.312925 -0.268894 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.123267 -0.519757 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.103041 0.463082 -0.252665 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.101548 -0.545813 0.316626 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.347603 0.039981 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.181603 -0.407571 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.238397 0.048423 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.164210 0.577980 -0.535284 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.099624 -0.119074 0.412066 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.318754 0.634305 0.282976 0.000000 1.000000 0.000000 243 211 151 1.000000
+-0.345833 0.591424 -0.216645 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.349593 -0.326023 0.269917 -1.000000 0.000000 0.000000 239 202 143 1.000000
+0.349593 -0.304125 0.374694 -1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.345833 0.237730 -0.183097 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.143901 0.328147 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.325078 -0.119074 0.040235 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.084741 0.417262 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.278653 -0.432886 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.412463 0.052028 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.269209 0.348680 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.623108 -0.365760 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.718929 0.227229 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.098824 -0.545813 -0.351037 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.243236 -0.446300 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.300146 -0.087464 -0.413092 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.003089 -0.545813 -0.363045 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.534177 0.360079 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.603137 -0.232064 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.202470 -0.592665 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.136164 -0.119074 -0.062781 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.253792 0.422836 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.615386 -0.484263 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.147595 0.000729 -0.487868 0.000000 -0.000000 1.000000 241 205 141 1.000000
+-0.151228 -0.136091 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.529260 0.077519 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.147610 -0.119074 0.006591 0.000000 -1.000000 -0.000000 251 214 155 1.000000
+0.349593 0.252185 -0.365139 -1.000000 0.000000 0.000000 241 204 145 1.000000
+0.349593 -0.205954 -0.062675 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.345833 0.528994 -0.225080 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.198234 0.288611 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.189315 0.391959 0.445519 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.355051 -0.324762 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.304856 0.634305 0.326416 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.162181 -0.095290 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.333636 -0.487228 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.016045 -0.087464 0.091122 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.348468 0.665915 0.432832 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.608561 -0.094481 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.333806 -0.119074 0.142249 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.242096 -0.087464 0.286911 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.344888 -0.192243 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.287010 0.412374 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.253023 -0.119074 -0.224115 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.144062 -0.589774 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.257489 -0.271413 1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.366907 -0.301592 0.155640 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.193749 0.038199 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.447552 -0.023955 1.000000 0.000000 0.000000 241 209 148 1.000000
+-0.366907 -0.461598 0.171200 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.283402 -0.545813 0.352252 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.314223 -0.303609 0.453189 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.255603 -0.338672 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.170119 -0.455311 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.152704 0.403557 1.000000 0.000000 0.000000 245 203 141 1.000000
+-0.106242 0.463082 0.151225 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.370666 0.277698 0.212117 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.215414 0.470985 0.417386 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.173980 -0.032274 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.048604 -0.616965 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.556399 0.328327 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.051496 0.044338 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.068596 -0.545813 -0.175481 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.331440 -0.267663 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.109613 0.344326 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.306357 -0.719342 -0.535284 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.349593 0.665262 0.382796 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.022213 0.258483 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.250548 -0.545813 0.315497 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.072869 -0.523508 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.210081 -0.651843 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.117303 0.470985 0.001826 0.000000 1.000000 0.000000 245 214 148 1.000000
+0.124994 -0.087464 -0.084804 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.214988 -0.373193 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.531573 0.269165 -1.000000 0.000000 0.000000 241 205 141 1.000000
+0.194376 0.423957 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.302797 -0.119074 -0.305014 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.043446 -0.119074 -0.068231 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+0.349593 -0.233866 -0.322926 -1.000000 0.000000 0.000000 241 197 140 1.000000
+0.083541 -0.365985 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.159657 0.356393 1.000000 0.000000 0.000000 237 201 137 1.000000
+0.349593 -0.067642 -0.324080 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.413734 -0.169639 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.276877 -0.275298 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.157154 0.615614 0.444635 0.000000 0.000000 -1.000000 248 214 154 1.000000
+0.174271 -0.317353 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.230383 -0.087464 0.153066 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.350391 -0.368435 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.165508 0.470985 0.331738 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.427244 -0.456147 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.296601 -0.119074 -0.045205 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+0.370666 -0.085845 0.175993 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.116919 0.129975 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.306248 -0.087464 0.110094 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.039618 -0.119074 0.285904 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.290968 -0.119074 -0.435285 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.250024 0.286832 1.000000 0.000000 0.000000 250 210 147 1.000000
+-0.332156 0.634305 0.281700 0.000000 1.000000 0.000000 246 210 146 1.000000
+-0.345833 -0.401614 -0.342125 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.051493 0.577152 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.317983 0.235829 0.451026 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.049600 0.487813 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.085666 0.470985 -0.145610 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.016370 -0.119074 -0.101128 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.562687 0.073049 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.202781 0.314506 -0.503673 0.000000 0.000000 -1.000000 244 212 151 1.000000
+-0.026538 -0.087464 -0.130306 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.252521 -0.545813 0.095256 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.366907 0.027832 -0.354426 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.341302 -0.087464 -0.023582 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.190341 -0.626992 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.486444 -0.413879 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 0.281331 -0.223519 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.691521 0.300326 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.182563 -0.315486 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.295294 -0.091777 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.062377 -0.259682 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.320412 0.533597 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.346460 0.665915 -0.044675 0.000000 1.000000 0.000000 246 214 153 1.000000
+0.370666 0.058150 -0.118121 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.338850 0.596135 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.020385 -0.510440 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.273988 -0.114671 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.333552 -0.119074 0.330554 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.223199 -0.095980 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.282483 -0.516215 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.238196 0.249701 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.011883 -0.446553 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.370666 -0.090444 -0.128525 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.278394 -0.621185 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.098115 0.012580 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.482630 -0.260699 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.523002 -0.295706 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.368068 -0.077967 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.165444 -0.400269 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.340462 -0.089777 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.258922 0.514919 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.015374 0.471777 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.228337 0.117453 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.470702 -0.107205 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.264923 -0.270619 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.399206 -0.246693 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.044099 0.028254 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+0.268525 0.539474 -0.528319 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.304757 0.013851 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.327944 0.150055 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.375450 -0.464298 0.444635 0.000000 0.000000 -1.000000 250 213 154 1.000000
+0.175355 -0.573275 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.061382 0.470985 0.014272 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.291752 -0.535276 0.459210 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.052481 0.118239 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.271053 0.338425 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.026491 -0.426881 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.362370 0.143534 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.656971 -0.178972 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.273555 -0.428301 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.301294 0.613231 0.228206 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.365687 0.093682 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.232336 0.470985 -0.062334 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.336035 0.588625 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.268975 0.435516 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.155264 -0.507235 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.321204 -0.029482 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.472079 -0.319830 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.333206 -0.545813 0.187913 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.363292 -0.127801 -1.000000 0.000000 0.000000 250 213 154 1.000000
+0.317983 -0.054456 0.470567 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.230182 0.550568 -0.366696 0.000000 0.000000 -1.000000 237 200 141 1.000000
+0.334041 0.366813 0.444635 0.000000 0.000000 -1.000000 241 209 148 1.000000
+0.240100 -0.545813 -0.305350 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.170589 -0.464702 0.497374 -0.000000 0.754431 0.656379 248 235 215 1.000000
+0.349593 -0.184330 0.220272 -1.000000 0.000000 0.000000 244 203 145 1.000000
+-0.345833 -0.350888 0.217331 1.000000 0.000000 0.000000 245 207 148 1.000000
+-0.075737 -0.185242 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.121724 -0.087464 -0.453700 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.250022 -0.087464 0.050282 0.000000 1.000000 0.000000 244 208 144 1.000000
+0.370666 0.259568 0.034199 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.107911 -0.304873 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.042851 0.118263 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.370839 0.186706 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.282535 0.265760 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.283713 0.442009 0.225470 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.079515 -0.119074 0.106727 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.312878 0.181140 -0.487868 0.000000 -0.000000 1.000000 240 209 143 1.000000
+0.370666 0.407275 -0.187007 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.331011 0.057882 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.163050 -0.087464 -0.017954 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.174856 0.470985 0.282024 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.366907 -0.562178 0.047593 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.202773 -0.132403 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.179090 -0.119074 0.376838 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.100901 -0.545813 -0.402534 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.306639 0.634305 -0.118459 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.053482 0.493806 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.247831 -0.087464 -0.213335 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.349593 -0.566505 0.248820 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.347485 -0.506189 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.137190 0.368107 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.317983 0.263810 0.475398 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.065570 0.417830 -0.487868 0.000000 -0.000000 1.000000 243 215 153 1.000000
+-0.247617 -0.087464 0.107105 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.312082 0.613231 -0.483457 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.370666 -0.361423 -0.044649 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.331241 0.035326 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.400100 -0.274766 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.028810 0.158475 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.484812 0.139649 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.046271 -0.351175 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.332287 -0.545813 0.103805 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.095675 0.638525 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.228556 0.634305 -0.295816 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.210623 -0.545813 -0.108418 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.262836 -0.065063 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.222995 -0.364107 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.159483 0.633808 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.113423 0.061711 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.099112 -0.423253 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.156408 0.226005 0.476763 0.000000 -0.999872 0.016029 248 235 215 1.000000
+-0.165570 -0.087464 0.026866 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.190578 0.181618 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.295932 -0.462165 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.368018 -0.487232 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.110938 0.261712 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.568493 -0.205113 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.185246 -0.702706 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.002273 0.280760 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.428539 0.297256 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.284762 0.431142 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.200047 -0.347709 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.308666 0.184685 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.336659 -0.134538 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.566852 0.320442 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.268545 0.525572 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.090439 -0.087464 0.357454 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.236328 -0.505032 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.571592 0.374061 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.204166 -0.198882 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.153653 -0.545813 -0.310075 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.164592 -0.350803 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289681 -0.389176 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.301477 -0.119074 -0.100465 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+-0.367241 0.376727 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.097726 -0.119074 0.035461 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+-0.132229 -0.757304 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.123459 0.009662 -0.503673 0.000000 0.000000 -1.000000 244 202 140 1.000000
+-0.366907 -0.606791 0.336004 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.282057 -0.578953 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.314168 -0.119074 -0.343628 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.034262 0.184217 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.252819 0.634305 0.125742 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.252855 -0.087464 -0.109207 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.024323 -0.250486 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.250061 -0.215320 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.161822 0.296734 0.507856 0.000000 -0.080927 0.996720 248 235 215 1.000000
+0.148358 -0.753827 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.336477 -0.087464 0.243259 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.336061 -0.174010 -1.000000 0.000000 0.000000 244 212 151 1.000000
+0.370666 -0.029486 -0.209337 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.723828 -0.280666 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.208892 -0.119074 -0.354113 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.370666 -0.745320 0.154831 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.093844 -0.087464 0.307125 0.000000 1.000000 0.000000 237 209 147 1.000000
+-0.366907 0.380452 0.186939 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.080890 -0.243136 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.556270 0.037203 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.270612 -0.087464 0.024395 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.418771 0.349659 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.259946 0.450776 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.548392 0.271678 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.251323 0.511210 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.679582 0.176435 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.140707 -0.119074 0.103523 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.014365 -0.580371 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.104485 -0.119074 0.196772 0.000000 -1.000000 -0.000000 240 208 147 1.000000
+0.370666 0.144838 0.385177 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.218242 0.380482 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.333526 -0.438815 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286518 0.568450 0.084924 0.000000 1.000000 0.000000 242 212 150 1.000000
+0.338132 -0.119074 0.016553 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.560580 -0.118671 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.345374 -0.116191 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.331975 -0.569550 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.484074 0.411529 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.107506 -0.030505 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.430925 -0.278136 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.301856 -0.545813 0.201655 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.252673 0.431802 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.401684 0.021642 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.129287 0.463082 0.157635 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.019356 -0.087464 -0.248007 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.303269 -0.087464 0.250901 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.513897 -0.005873 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.119638 -0.119074 0.282386 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.158535 0.658012 0.501561 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.037236 -0.209889 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+0.195858 0.238934 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.156262 -0.119074 -0.304465 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.481452 0.395054 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.297863 0.046795 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.253121 0.034816 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.783883 -0.445452 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.088261 0.271508 0.507856 -0.000000 0.117422 -0.993082 255 255 255 1.000000
+0.349593 -0.413735 -0.016360 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.118049 -0.291351 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.373301 0.469048 0.505997 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.582767 -0.417791 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.296055 0.613231 -0.242983 0.000000 -1.000000 -0.000000 239 202 143 1.000000
+-0.366907 0.206927 -0.518558 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.159541 -0.087464 -0.229726 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.609265 0.128892 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.344064 0.637782 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.082648 -0.104021 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.105608 -0.545813 0.406789 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.444771 0.320731 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.028702 0.629714 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.349593 0.561704 0.438586 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.393821 -0.393338 1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.342432 0.570630 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.059854 0.115524 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.038088 0.070744 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.120785 -0.659337 -0.535284 0.000000 0.000000 -1.000000 252 215 156 1.000000
+0.099497 -0.120619 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.432385 0.322918 1.000000 0.000000 0.000000 240 208 147 1.000000
+0.272365 -0.625480 -0.535284 0.000000 0.000000 -1.000000 246 203 146 1.000000
+0.373301 0.581318 0.506979 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.381203 0.293169 0.466018 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.335228 0.114479 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.240671 0.596973 0.506872 -0.000000 0.791213 -0.611540 255 255 255 1.000000
+0.153849 -0.559439 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.051146 -0.569652 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.166815 -0.003071 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 0.013472 -0.239299 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.442626 -0.233201 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.208916 -0.269571 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.026543 -0.404717 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.064933 -0.582362 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.349750 0.392417 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.293713 -0.087464 0.272290 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.156110 0.463082 -0.120262 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.123688 -0.545813 0.251982 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.303584 -0.119074 0.229770 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.413233 -0.500533 -1.000000 0.000000 0.000000 241 213 151 1.000000
+-0.120734 0.463082 -0.064828 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.155840 -0.545813 -0.002323 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257396 0.487839 0.001030 -1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.011638 -0.545813 -0.087011 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.033239 -0.087464 0.016000 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.115724 -0.293358 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.060329 0.452545 0.495968 -0.000000 0.885850 0.463971 248 235 215 1.000000
+0.223176 0.476012 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.369541 0.060641 0.502859 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.547502 0.196415 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.284820 0.114852 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.091579 0.296397 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.207361 -0.087464 -0.313783 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.047633 -0.783608 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.247389 0.470985 0.229870 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.166584 -0.523115 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.399068 0.246010 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.023074 0.520987 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.133734 -0.119074 -0.356045 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.258632 -0.188731 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.091670 -0.119074 -0.207518 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+0.260182 -0.583901 0.444635 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.367488 -0.697428 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.279234 -0.302563 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.124268 -0.579344 0.444635 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.075055 -0.119074 -0.395522 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.565170 -0.253754 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.293709 -0.087464 0.187675 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.166812 0.347463 0.507856 -0.000000 0.007227 -0.999974 255 255 255 1.000000
+0.207517 -0.119074 0.288445 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.294572 -0.456777 -0.503673 0.000000 0.000000 -1.000000 121 104 104 1.000000
+0.336955 -0.545813 -0.229759 0.000000 1.000000 0.000000 242 214 152 1.000000
+0.206146 0.547841 -0.335085 0.000000 -0.000000 1.000000 251 214 155 1.000000
+0.172103 -0.227852 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.476216 0.094723 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.022957 0.489682 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.336639 -0.715359 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.199852 0.360728 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.019198 0.057627 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.078409 -0.087464 -0.438285 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.105799 -0.357869 -0.487868 0.000000 -0.000000 1.000000 249 212 153 1.000000
+-0.252645 0.170243 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.229138 0.613231 -0.035963 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.349593 -0.491804 -0.386827 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.294468 -0.087464 0.356732 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.055759 0.617904 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.339539 0.446547 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.317983 0.156696 0.448104 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.092431 -0.767439 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.510484 -0.022458 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.108542 0.259245 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.151626 -0.397130 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.373301 0.092020 0.481322 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.244315 -0.119074 -0.280973 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.195174 0.491277 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.381203 -0.143719 0.451817 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.341156 0.165074 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.514365 -0.261422 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.366907 0.664645 0.359424 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.046072 -0.393149 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.616880 0.118648 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.309566 0.285045 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.356524 -0.357738 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.229768 0.470985 0.246897 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.155345 -0.545813 0.120565 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.284119 -0.087464 0.167379 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.025371 -0.119074 0.075629 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.215866 -0.087464 -0.373195 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.422384 0.198054 1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.055517 0.057686 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.143073 0.343789 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.366907 0.097267 0.197948 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.685784 0.113688 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.182235 0.384546 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.140898 -0.119074 0.267020 0.000000 -1.000000 -0.000000 243 213 151 1.000000
+-0.041909 -0.048557 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.158320 -0.545813 -0.358993 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.180589 0.026413 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.360600 -0.284845 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+0.024356 0.463082 0.004617 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.334193 -0.087464 -0.085813 0.000000 1.000000 0.000000 246 216 154 1.000000
+-0.366907 0.644331 0.234274 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.082055 0.001643 -0.503673 0.000000 0.000000 -1.000000 243 211 150 1.000000
+-0.318380 -0.784963 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.081300 -0.050914 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257437 0.442009 -0.194637 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.568820 0.346566 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.161204 0.578728 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 -0.596546 -0.388197 -1.000000 0.000000 0.000000 241 205 141 1.000000
+0.220863 0.566871 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.302005 0.220073 0.513676 -0.360239 0.759622 0.541481 131 120 114 1.000000
+-0.220053 0.470985 0.206890 0.000000 1.000000 0.000000 245 211 151 1.000000
+-0.366907 -0.424748 0.387614 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.336299 -0.087464 -0.055327 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.366907 0.483153 -0.315583 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.476614 -0.354725 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.366907 0.024509 -0.000119 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.259006 -0.087464 -0.167436 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.299588 0.368251 0.482927 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 0.659867 0.105681 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.252222 0.355817 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.226706 -0.119074 0.273049 0.000000 -1.000000 -0.000000 237 200 141 1.000000
+0.141797 0.054743 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.083554 -0.548737 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.149471 -0.119074 -0.215796 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.287236 0.634305 -0.386526 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.044078 -0.545813 0.131040 0.000000 1.000000 0.000000 242 210 149 1.000000
+0.278618 0.079682 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.058905 0.216661 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.214593 0.557117 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.003229 -0.087464 0.328252 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.089430 -0.087464 -0.109772 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.349593 0.314766 0.231126 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.258014 0.003058 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.377444 -0.047043 0.448284 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243100 0.305265 0.503041 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.559649 -0.132823 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.230789 0.470985 0.168614 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.170193 -0.087464 -0.391740 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.366907 0.619512 -0.295150 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.243100 0.090290 0.501495 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.067579 0.665915 0.444635 0.000000 0.000000 -1.000000 242 210 149 1.000000
+-0.366907 -0.614155 0.067597 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.229537 -0.376010 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.007231 -0.578561 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.033737 -0.468434 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.211664 0.064425 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.550825 -0.072256 1.000000 0.000000 0.000000 240 203 144 1.000000
+0.346389 0.476149 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.113586 -0.087464 -0.272456 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.040528 0.333457 1.000000 0.000000 0.000000 244 211 154 1.000000
+-0.047807 0.230679 -0.487868 0.000000 -0.000000 1.000000 247 215 154 1.000000
+-0.279793 0.568450 -0.229857 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.412400 0.238238 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.167015 0.002993 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.070960 -0.087464 -0.216111 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.549792 0.080493 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.223708 0.370694 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.450502 0.281901 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.370666 0.639424 0.119465 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.704728 -0.313342 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.263448 -0.491230 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.032893 -0.545813 -0.299049 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.480187 0.132669 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.459564 0.040897 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.307629 -0.527448 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.277405 0.541273 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.316974 -0.545813 -0.446481 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.371963 0.087331 1.000000 0.000000 0.000000 244 212 152 1.000000
+0.257396 0.469293 0.043149 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.381203 -0.021029 0.475722 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.261474 -0.119074 0.000948 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.377444 -0.573767 0.445937 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.056629 -0.633165 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.495353 -0.506585 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.415914 -0.092618 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.428493 -0.037485 -1.000000 0.000000 0.000000 247 209 150 1.000000
+-0.366907 0.344152 0.224245 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.005851 -0.455896 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.602302 0.073085 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.054668 -0.437454 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.019382 0.470985 0.332005 0.000000 1.000000 0.000000 242 210 149 1.000000
+-0.123823 -0.119074 -0.138085 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+-0.229391 0.613231 0.371231 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.701819 0.129494 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.170103 0.442009 0.446824 0.000000 -1.000000 -0.000000 245 205 142 1.000000
+0.147313 0.381166 -0.503673 0.000000 0.000000 -1.000000 247 211 147 1.000000
+0.030322 -0.119074 -0.022782 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.041938 -0.119074 -0.462055 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.303579 0.613231 0.167984 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.242886 0.613231 0.030887 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.366907 -0.495362 0.220655 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.356135 0.225855 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.551999 0.194646 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.087937 -0.119074 -0.061726 0.000000 -1.000000 -0.000000 247 210 144 1.000000
+0.028300 0.470985 -0.256470 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.345833 -0.185956 -0.257887 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.077769 0.480545 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.019572 -0.105956 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.140491 0.620087 0.507856 -0.000000 0.084893 -0.996390 255 255 255 1.000000
+-0.093154 -0.119074 0.232732 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.085056 0.034127 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.251535 -0.545813 0.017921 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.265968 0.391959 0.446437 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.349593 -0.253336 -0.099276 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.214905 -0.233212 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.340269 -0.594303 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.665161 0.181781 -1.000000 0.000000 0.000000 244 210 150 1.000000
+0.078589 -0.545813 0.103778 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.270826 -0.545813 -0.336488 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.059987 -0.087464 0.266440 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.127316 -0.785795 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.110673 0.554798 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.555856 0.116862 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.493519 0.334770 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.450618 0.163319 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.328310 0.316648 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.275186 0.613231 -0.451505 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+-0.057709 -0.562684 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.285247 0.477649 -0.002019 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.349593 -0.170398 -0.027107 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.204609 -0.354932 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.251683 -0.281907 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.057138 0.146795 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.268527 -0.545813 -0.268987 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.289209 -0.374632 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.285089 -0.629228 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.340835 -0.002126 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.011711 -0.545813 0.176148 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.138480 -0.545813 0.409654 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.456843 -0.218652 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.320413 0.391003 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.241416 -0.545813 -0.412858 0.000000 1.000000 0.000000 246 210 146 1.000000
+0.106935 -0.087464 0.322574 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.111576 0.586779 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.080192 0.638162 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.588984 -0.378524 1.000000 0.000000 0.000000 247 211 147 1.000000
+0.272019 -0.561426 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 0.044947 -0.268145 1.000000 0.000000 0.000000 248 211 152 1.000000
+0.329068 0.539474 -0.530896 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.062068 -0.545813 -0.009212 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.530872 -0.065611 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.609863 0.219143 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.219765 0.446358 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.217285 -0.545813 -0.253037 0.000000 1.000000 0.000000 248 205 148 1.000000
+0.349593 0.665877 -0.280726 -1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.304834 -0.525463 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.496516 0.369823 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.073685 0.137712 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.568993 0.352471 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.357591 -0.404158 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.062810 -0.293778 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.087967 -0.190588 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.323021 0.090225 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.144205 0.463082 0.054172 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.162791 -0.344985 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.157956 -0.594922 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.114110 -0.533185 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.063864 -0.087464 0.139700 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285392 0.665915 -0.503998 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.017800 0.648796 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.042884 -0.087464 -0.257028 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.032431 0.526648 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.273748 -0.512182 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.078652 -0.087464 -0.288644 0.000000 1.000000 0.000000 249 217 156 1.000000
+0.349593 0.387050 -0.534066 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.348479 0.665915 -0.349256 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.067138 0.463082 0.296093 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.127669 -0.006451 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.524972 0.069659 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.034137 -0.218330 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.262986 -0.087464 -0.036622 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.217455 -0.517786 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.415293 0.137640 1.000000 0.000000 0.000000 241 209 148 1.000000
+0.155149 -0.087464 0.316022 0.000000 1.000000 0.000000 243 210 153 1.000000
+-0.345833 -0.187513 -0.144651 1.000000 0.000000 0.000000 251 208 151 1.000000
+-0.253062 0.402032 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.060133 0.463082 -0.309367 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.331407 -0.545813 0.407068 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.057941 -0.127905 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.268075 -0.627659 -0.535284 0.000000 0.000000 -1.000000 242 210 149 1.000000
+-0.341344 -0.745363 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.314692 -0.316808 -0.487868 0.000000 -0.000000 1.000000 239 201 138 1.000000
+0.160329 -0.183757 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.124839 0.283701 -1.000000 0.000000 0.000000 247 213 153 1.000000
+-0.366907 0.311320 0.204305 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.357320 0.127935 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.055916 -0.322396 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.479471 -0.059816 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.204720 0.477385 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.216105 -0.119074 0.359287 0.000000 -1.000000 -0.000000 243 205 144 1.000000
+0.057776 -0.087464 0.371792 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.523460 0.416285 1.000000 0.000000 0.000000 240 204 140 1.000000
+0.349593 0.351275 0.255879 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.233392 -0.001200 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.550426 0.217550 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.282907 -0.750473 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.320778 0.613231 -0.064429 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.102940 -0.545813 0.041861 0.000000 1.000000 0.000000 248 212 148 1.000000
+-0.253637 0.563334 0.006129 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.173265 -0.545813 0.399239 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.172888 -0.119074 -0.486294 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.019185 -0.119074 -0.101531 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.286169 0.442009 0.182112 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+-0.331497 -0.242768 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.289007 0.545426 -0.278841 1.000000 0.000000 0.000000 240 204 140 1.000000
+0.063452 0.615412 0.507856 -0.000000 0.095297 -0.995449 255 255 255 1.000000
+-0.366907 -0.196920 -0.051056 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.295171 -0.579572 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.011304 0.575241 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.498117 0.347047 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.307687 0.404637 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.244652 0.562026 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.285882 0.568450 0.213047 0.000000 1.000000 0.000000 248 216 155 1.000000
+0.074746 0.473765 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.139733 -0.087464 -0.185657 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.011643 -0.087464 -0.395891 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.155333 -0.545813 -0.191278 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.195840 -0.119074 -0.193644 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.285998 -0.107823 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.290591 -0.119074 0.303559 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.068364 -0.087464 -0.375743 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.015148 0.617031 -0.503673 0.000000 -0.000000 1.000000 249 215 155 1.000000
+-0.366907 -0.682239 0.316726 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.313801 0.308248 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.021898 0.032452 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.270440 0.567491 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.281002 -0.119074 -0.413423 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.366907 0.214453 0.086484 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.442077 0.299829 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.172135 -0.484319 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.125669 -0.563061 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.232077 0.087444 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.289007 0.477331 -0.298035 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.366907 -0.497511 -0.478919 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.129439 0.338475 0.507856 0.000000 -0.020276 0.999794 248 235 215 1.000000
+-0.366907 -0.613967 -0.215435 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.357907 -0.182622 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.521371 0.262637 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.282073 0.613231 -0.055166 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.369449 0.559952 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.257026 -0.119074 0.334033 0.000000 -1.000000 -0.000000 246 213 156 1.000000
+-0.126167 -0.109911 -0.503673 0.000000 0.000000 -1.000000 249 207 143 1.000000
+-0.285247 0.534634 0.359936 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.295179 -0.119074 -0.475728 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.208411 -0.087464 -0.163762 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.346193 -0.365168 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.123518 -0.270224 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.160711 0.470985 -0.148091 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.058187 0.006505 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.366907 -0.309462 -0.035216 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.327625 -0.087464 0.145485 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.021554 0.370142 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 -0.527027 -0.199925 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.261036 -0.571947 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.582750 0.047662 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.043707 0.315608 -0.487868 0.000000 -0.000000 1.000000 248 216 155 1.000000
+-0.165847 -0.119074 -0.129196 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.099368 0.274283 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.330021 0.665915 -0.529445 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.240025 -0.119074 -0.036324 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.264581 -0.201858 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.038267 -0.245106 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.488815 -0.174287 -1.000000 0.000000 0.000000 249 209 146 1.000000
+0.038964 0.659524 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.350779 -0.171746 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.376228 0.077833 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.173512 -0.441569 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.247782 0.634305 0.033396 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.307014 -0.218633 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.157513 -0.119074 0.369257 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.163217 0.433703 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.198411 0.470985 -0.130138 0.000000 1.000000 0.000000 252 215 156 1.000000
+0.264846 -0.087464 -0.276142 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.011472 0.448157 -0.487868 0.000000 -0.000000 1.000000 242 206 142 1.000000
+0.166277 -0.087464 0.063060 0.000000 1.000000 0.000000 236 199 140 1.000000
+0.349593 0.050922 -0.503135 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.275623 -0.142940 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.192426 -0.119074 -0.280917 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+0.267743 0.024691 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.323083 0.358948 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.121698 -0.119074 -0.215892 0.000000 -1.000000 -0.000000 241 207 147 1.000000
+0.373301 0.430157 0.503762 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.030737 -0.087464 0.441786 0.000000 1.000000 0.000000 243 215 153 1.000000
+-0.140519 -0.241849 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.778483 -0.184680 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.307902 0.308761 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.223636 0.289876 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.349593 -0.480328 0.326408 -1.000000 0.000000 0.000000 243 210 155 1.000000
+0.370666 -0.745528 0.050690 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.336380 -0.119074 0.388975 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.075897 0.463082 0.123552 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.089704 -0.337924 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.057197 0.421565 0.507856 0.000000 -0.119040 -0.992890 255 255 255 1.000000
+0.317983 0.412460 0.448020 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.247654 0.613231 0.141691 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 0.567433 0.110180 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.266073 0.613231 0.171953 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.272658 0.020065 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.526554 0.304302 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.158968 -0.087464 0.131738 0.000000 1.000000 0.000000 241 209 148 1.000000
+0.159399 0.463252 -0.366696 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.369530 -0.111964 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.000754 -0.114792 -1.000000 0.000000 0.000000 236 199 140 1.000000
+-0.188599 -0.087464 -0.464019 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.025916 0.088613 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.097467 0.444332 -0.366696 0.000000 0.000000 -1.000000 249 207 145 1.000000
+-0.349483 0.665915 -0.289364 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.299065 -0.087464 0.090524 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.095961 0.555628 -0.366696 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.151733 0.556552 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.333530 -0.545813 -0.105855 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.306085 0.634305 -0.468423 0.000000 1.000000 0.000000 242 210 149 1.000000
+0.152369 0.536509 -0.366696 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.366907 0.106921 -0.534159 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.620801 0.075314 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.011580 -0.119074 0.435645 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.192777 0.334639 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 -0.512400 0.281689 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.369987 -0.311266 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.180723 -0.072443 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.106687 0.169095 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.220323 0.613231 0.309332 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.313003 -0.119074 0.129825 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.366907 -0.638000 -0.253402 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.068417 0.009756 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.526858 -0.353794 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.331263 0.384099 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.288734 0.006477 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.203834 0.470985 0.375214 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.065722 -0.283721 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.195607 0.425482 0.507856 -0.000000 0.127680 0.991815 248 235 215 1.000000
+-0.369541 -0.037100 0.498117 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.516691 0.417310 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.480538 -0.255066 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.059107 0.251265 -0.487868 0.000000 -0.000000 1.000000 242 208 148 1.000000
+-0.297354 -0.572000 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.108321 0.462777 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.309599 -0.119074 -0.012754 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.148062 -0.119074 -0.345771 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.193329 0.539474 -0.531168 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.299434 -0.123482 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.125320 0.409117 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.729497 -0.117103 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.343639 0.269074 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.258334 0.328738 0.474786 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.248080 0.153713 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.278968 0.324847 -1.000000 0.000000 0.000000 237 204 149 1.000000
+0.370666 -0.633911 -0.105045 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.233190 -0.252692 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.222274 0.341964 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.379996 -0.552350 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.178698 0.270061 0.507856 -0.000000 0.119508 -0.992833 255 255 255 1.000000
+-0.025979 0.320132 0.507856 -0.000000 0.046937 -0.998898 255 255 255 1.000000
+-0.366907 0.174772 -0.141449 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.472413 0.318910 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.370666 0.132837 0.207384 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.110271 -0.119074 -0.173317 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.459480 -0.376094 -1.000000 0.000000 0.000000 242 206 142 1.000000
+0.349593 0.357142 -0.013773 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.358056 0.191561 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.220846 -0.049081 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+0.311770 -0.210991 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.150202 -0.346625 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.052711 -0.598497 0.450303 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.350706 -0.508033 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.160059 0.405827 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.458487 -0.096430 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.009064 -0.545813 0.246643 0.000000 1.000000 0.000000 240 207 152 1.000000
+0.349593 -0.022085 -0.008817 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257504 0.568450 -0.235346 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.540677 0.090664 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.084504 -0.545813 0.000463 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.309818 0.489988 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.296039 0.399998 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.121232 -0.087464 -0.009430 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.178585 -0.402443 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.278741 -0.010060 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.355289 -0.662788 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.179288 -0.465814 -0.503673 0.000000 0.000000 -1.000000 252 252 252 1.000000
+-0.124921 0.543157 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.257396 0.446671 0.079247 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.227207 -0.485395 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.108402 -0.217623 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.078777 -0.119074 -0.306303 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.076659 0.463082 0.413252 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.235659 -0.040912 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.331920 -0.083586 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.117882 0.305312 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.253775 0.015602 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.115425 -0.175714 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.257396 0.532481 -0.083750 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.107260 -0.087464 0.242704 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.012471 -0.119074 -0.184920 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.270850 0.602694 0.454280 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.283087 0.248760 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.090198 -0.245205 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.659378 -0.532094 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.130227 -0.072753 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.073069 -0.119074 0.337146 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.478943 -0.020033 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.020793 0.301662 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.340552 -0.119074 0.238801 0.000000 -1.000000 -0.000000 246 204 142 1.000000
+-0.345833 -0.103588 -0.417782 1.000000 0.000000 0.000000 248 212 148 1.000000
+-0.366907 -0.041479 -0.208402 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.104444 -0.350804 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.206140 0.658012 0.507645 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.160399 0.324669 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.267498 0.376201 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.166199 0.470985 0.209328 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.338323 0.270462 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.223044 -0.547110 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.015759 -0.096358 -0.503673 0.000000 0.000000 -1.000000 249 207 143 1.000000
+0.370666 0.338004 -0.277290 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.086653 -0.119074 0.211064 0.000000 -1.000000 -0.000000 242 201 133 1.000000
+0.346950 0.613231 0.218980 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.321966 0.634305 -0.375500 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.495244 0.149059 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223399 -0.087464 0.299577 0.000000 1.000000 0.000000 244 210 151 1.000000
+0.256483 -0.119074 0.153017 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+-0.285247 0.470862 0.157021 -1.000000 0.000000 0.000000 240 207 144 1.000000
+0.349593 -0.458499 0.395009 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.315502 -0.545813 -0.394087 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.070548 0.036327 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.030663 -0.568133 0.444635 0.000000 0.000000 -1.000000 242 210 149 1.000000
+-0.107340 -0.570765 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.369117 -0.350086 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.219392 0.615041 -0.446365 1.000000 0.000000 0.000000 239 203 139 1.000000
+0.118241 -0.087464 -0.424959 0.000000 1.000000 0.000000 247 207 144 1.000000
+0.026438 -0.119074 -0.347595 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.366907 -0.534423 -0.106569 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.779236 0.267252 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.209445 0.357786 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.178595 -0.089533 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.214455 -0.259893 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+-0.366907 0.331488 0.361823 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.395270 0.426620 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.211013 -0.421130 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.290790 -0.387690 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.329417 -0.119074 -0.227852 0.000000 -1.000000 -0.000000 251 213 154 1.000000
+0.045296 -0.587956 0.507856 0.000000 -0.003825 -0.999993 255 255 255 1.000000
+-0.366907 -0.753262 0.186377 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.060606 0.623928 0.507856 0.000000 -0.076328 0.997083 248 235 215 1.000000
+-0.124533 -0.119074 -0.406462 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.370666 0.246372 -0.302818 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.267699 -0.087464 -0.421161 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.137213 0.248005 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.259341 0.339084 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.565421 0.063617 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.233060 -0.474270 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.314106 -0.119074 -0.398289 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.295378 -0.029867 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.304408 -0.342572 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.143626 0.463082 0.410359 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.722048 -0.388637 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.282846 -0.695966 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.021190 0.025326 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.163723 0.289414 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.341430 0.634305 0.130589 0.000000 1.000000 0.000000 238 208 146 1.000000
+0.349593 -0.130792 0.241239 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.039503 0.561913 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.217659 -0.545813 -0.398006 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.370666 0.352469 -0.203996 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.260458 -0.564294 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.648640 -0.338914 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.472489 -0.235281 1.000000 0.000000 0.000000 238 205 142 1.000000
+-0.123768 0.585269 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.168787 -0.345301 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.279631 0.613231 0.109166 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.010395 -0.469170 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.087487 0.178637 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.370666 -0.278545 0.074839 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.183244 -0.087464 0.274656 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.297509 0.572263 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.226861 -0.590594 0.503329 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 0.002834 0.412275 1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.366907 0.401483 0.362035 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.363816 -0.380544 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.320964 0.613231 0.035329 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+-0.263548 -0.545813 -0.131886 0.000000 1.000000 0.000000 247 214 159 1.000000
+-0.276708 -0.005646 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.270363 -0.087464 -0.115350 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.713032 -0.088088 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.341208 0.344482 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.336461 -0.087464 -0.133818 0.000000 1.000000 0.000000 244 213 147 1.000000
+0.072376 0.644701 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.138604 0.470985 0.321183 0.000000 1.000000 0.000000 244 203 145 1.000000
+-0.007267 0.445747 0.498903 -0.000000 0.754876 0.655868 248 235 215 1.000000
+-0.302226 0.084453 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.451952 -0.278347 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.253637 0.525438 -0.319226 1.000000 0.000000 0.000000 237 201 137 1.000000
+0.370666 0.528849 -0.405698 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.287723 -0.344296 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286165 0.536830 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.265358 0.118350 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.159094 -0.255756 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.334718 -0.060550 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.023965 0.079636 -0.503673 0.000000 0.000000 -1.000000 244 204 141 1.000000
+0.370666 0.416504 -0.013096 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.012718 -0.119074 0.371066 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.585884 -0.466217 -1.000000 0.000000 0.000000 243 206 140 1.000000
+-0.345833 0.470879 0.435031 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.146008 -0.671710 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.020200 0.485171 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.224330 0.560280 -0.335085 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.349593 -0.309202 0.119761 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.192996 -0.087464 -0.460328 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.004564 -0.676841 -0.535284 0.000000 0.000000 -1.000000 235 199 135 1.000000
+-0.097599 0.356322 -0.487868 0.000000 -0.000000 1.000000 247 214 157 1.000000
+-0.345833 0.268047 -0.415516 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.372015 -0.110324 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.387220 0.163605 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.020316 0.125910 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.377444 -0.118833 0.452836 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.192667 -0.119074 -0.399796 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+0.349593 0.195450 0.014116 -1.000000 0.000000 0.000000 245 209 145 1.000000
+0.154193 0.159154 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.208211 -0.568375 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.022744 0.302347 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.532920 -0.343849 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.193517 0.083127 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.391354 -0.058933 1.000000 0.000000 0.000000 239 207 146 1.000000
+0.370666 0.405784 -0.377072 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.028826 -0.087464 -0.138850 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.484940 -0.458060 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.289675 0.634305 0.394978 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.103121 -0.479317 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.071940 -0.586391 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.264557 0.257800 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.096500 -0.337989 -1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.032911 -0.545813 -0.149177 0.000000 1.000000 0.000000 246 204 142 1.000000
+-0.345833 -0.532297 -0.425403 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.173133 0.609497 0.507856 -0.000000 0.108424 -0.994105 255 255 255 1.000000
+-0.372468 -0.532298 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.304310 0.187247 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.541621 -0.042022 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.068698 -0.545813 0.201972 0.000000 1.000000 0.000000 241 205 141 1.000000
+0.051094 0.352446 0.496701 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.100802 0.470985 -0.109854 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.345833 -0.328349 -0.146340 1.000000 0.000000 0.000000 243 212 146 1.000000
+0.349593 -0.004890 -0.066268 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.366907 -0.524449 -0.285610 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.502802 -0.510797 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.025077 0.463082 0.182381 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.513742 0.011053 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.251397 0.427734 -0.487868 0.000000 -0.000000 1.000000 239 207 146 1.000000
+0.370666 -0.305638 -0.076987 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.139028 -0.545813 -0.121383 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.127971 0.389929 0.507856 -0.000000 0.048590 0.998819 248 235 215 1.000000
+-0.366907 -0.722276 0.247363 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.184354 -0.545813 -0.105794 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.220274 -0.087464 -0.181953 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.091869 0.470985 0.366435 0.000000 1.000000 0.000000 241 205 139 1.000000
+-0.366907 0.499332 0.203031 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.421821 -0.107881 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.174438 0.216220 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.246859 -0.060544 0.507245 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.275277 0.613231 -0.315057 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.205583 0.240418 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.355777 0.665915 -0.223425 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.507393 0.181465 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.349593 0.075275 -0.138957 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.079800 -0.114223 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.207875 -0.535276 0.448335 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.338515 0.218900 -0.503673 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.007471 0.665915 0.461654 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.583844 -0.319851 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.164802 -0.545813 -0.046992 0.000000 1.000000 0.000000 250 207 150 1.000000
+0.117917 0.043898 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.336904 -0.075057 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.499965 0.251756 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.044941 0.394200 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.086480 -0.087464 -0.467510 0.000000 1.000000 0.000000 241 209 149 1.000000
+-0.345833 -0.134020 -0.300406 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.348263 0.001514 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.335824 0.415257 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.060721 0.081281 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.418025 -0.333329 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.136525 0.602694 0.475089 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.212908 0.189171 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.104727 -0.223421 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.011289 -0.598497 0.445925 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.087501 0.521157 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.027582 0.081332 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.088978 0.316036 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.065426 0.463082 -0.050931 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.088769 -0.045605 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.135107 -0.596186 -0.535284 0.000000 0.000000 -1.000000 252 214 151 1.000000
+-0.343568 -0.675935 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.206460 -0.545813 0.087801 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.162301 -0.353462 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.563941 -0.022359 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.194268 -0.707959 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.058937 0.576256 0.497906 -0.000000 0.833221 -0.552940 255 255 255 1.000000
+-0.325790 0.665915 0.461845 0.000000 1.000000 0.000000 248 216 155 1.000000
+0.135577 -0.545813 -0.469607 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.066618 0.043715 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.085791 0.494861 -0.366696 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.218012 0.121656 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.343737 -0.484259 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.743228 -0.213648 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.152152 0.284575 1.000000 0.000000 0.000000 237 201 137 1.000000
+-0.345833 -0.084373 -0.381877 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.369255 0.601401 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.361308 0.372028 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.336082 -0.586903 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.045292 -0.050117 1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.366907 -0.752163 0.285069 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.230557 -0.203345 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.031932 0.620063 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.441575 0.094269 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.480318 -0.090968 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.076885 0.299505 1.000000 0.000000 0.000000 248 206 142 1.000000
+0.223152 0.614514 0.423968 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.332795 -0.087464 -0.458955 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.007862 -0.087464 0.198222 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.089306 -0.545813 0.246274 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.069131 -0.115689 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.465392 -0.071088 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.311956 0.105782 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.542226 0.349282 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 0.107895 0.337254 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.091012 0.244957 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.046389 0.445529 -0.335085 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.349593 -0.008232 0.179498 -1.000000 0.000000 0.000000 240 206 146 1.000000
+-0.366907 0.519745 -0.402009 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.162790 0.047523 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.042111 -0.298341 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.109606 -0.418758 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285337 0.613231 -0.144900 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.349593 -0.575356 -0.172196 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.121632 0.470985 0.180733 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.025133 -0.178572 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.010763 -0.119074 -0.435287 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.317887 0.322888 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.261913 0.634305 0.224044 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.458245 -0.485841 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.185609 0.194965 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.214258 0.007014 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.038509 0.470985 -0.261117 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.349593 -0.145723 -0.059359 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.105983 -0.119074 -0.432072 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+-0.345833 0.290608 0.145463 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.151168 -0.119074 -0.284887 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.083191 -0.010903 -0.487868 0.000000 -0.000000 1.000000 245 202 145 1.000000
+0.270139 -0.545813 -0.214581 0.000000 1.000000 0.000000 250 213 154 1.000000
+-0.366907 0.340231 -0.241220 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.127194 -0.119074 0.018555 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.370666 -0.178238 -0.308347 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.443645 0.240218 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.218663 0.641870 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.164333 0.419093 0.507856 -0.000000 0.113576 0.993529 248 235 215 1.000000
+0.034943 0.521609 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.111253 -0.545813 0.283571 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.650448 -0.402064 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.192962 -0.745312 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.137582 -0.545813 0.422040 0.000000 1.000000 0.000000 240 208 147 1.000000
+-0.253637 0.566106 -0.160299 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.300886 -0.159763 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.443110 0.100548 -1.000000 0.000000 0.000000 238 202 138 1.000000
+0.206517 0.605311 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.166336 0.078687 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.221797 0.470985 -0.128419 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.048609 0.078436 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.487461 0.385017 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.123110 0.230077 -0.487868 0.000000 -0.000000 1.000000 249 212 153 1.000000
+-0.067073 0.547542 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.758221 0.343942 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.333888 -0.515582 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.202734 -0.540544 -0.517767 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 0.547649 -0.240650 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.748191 -0.532045 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.160229 -0.087464 -0.174199 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.363294 -0.275086 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.311095 0.658012 0.484396 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.366907 0.656090 0.171805 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.112730 -0.583766 0.507856 0.000000 -0.009905 -0.999951 255 255 255 1.000000
+-0.335626 -0.142494 -0.487868 0.000000 -0.000000 1.000000 238 201 142 1.000000
+0.019125 0.248975 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.283489 0.568450 0.236749 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.322183 -0.388929 1.000000 0.000000 0.000000 250 214 150 1.000000
+0.220279 0.273730 0.507856 0.000000 -0.114218 0.993456 248 235 215 1.000000
+0.349593 -0.297582 0.188343 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.148125 0.463082 0.064716 0.000000 -1.000000 -0.000000 245 217 158 1.000000
+-0.345833 -0.387683 0.323551 1.000000 0.000000 0.000000 245 217 155 1.000000
+0.186537 -0.087464 0.394746 0.000000 1.000000 0.000000 247 207 144 1.000000
+-0.230429 -0.545813 -0.368012 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.370666 -0.405621 -0.335876 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.320853 -0.545813 -0.038160 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.475464 -0.142639 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.159663 -0.545813 0.252638 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.330523 -0.087464 0.078087 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.289007 0.551167 0.369008 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.099186 -0.545813 -0.458828 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.298641 -0.408482 -1.000000 0.000000 0.000000 237 200 141 1.000000
+0.349128 -0.015452 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.225598 0.613231 0.275929 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+0.349593 -0.460944 -0.370724 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.062084 -0.250827 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.673755 -0.313628 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.344275 -0.087464 -0.281708 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.229606 -0.002056 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.200246 0.210516 1.000000 0.000000 0.000000 241 211 149 1.000000
+0.370666 -0.330459 -0.382560 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.129795 -0.250068 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.493246 0.096546 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.125301 -0.272485 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.283798 0.659681 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.326382 -0.545813 -0.457095 0.000000 1.000000 0.000000 246 210 146 1.000000
+-0.128155 0.463082 -0.275276 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+-0.252216 0.439559 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.460061 -0.371281 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.370666 0.623942 -0.286153 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.239826 -0.014821 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.004392 0.470985 -0.154997 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.285247 0.448445 0.034108 -1.000000 0.000000 0.000000 243 200 143 1.000000
+-0.120119 0.640684 -0.535284 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.181980 0.249816 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.335782 0.613231 -0.316006 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.345833 -0.592632 0.113914 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.205383 -0.363333 -0.487868 0.000000 -0.000000 1.000000 243 202 144 1.000000
+0.176933 -0.087464 -0.345313 0.000000 1.000000 0.000000 249 208 150 1.000000
+0.349593 -0.339753 -0.022278 -1.000000 0.000000 0.000000 248 205 148 1.000000
+-0.345833 0.069064 -0.189580 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.151351 -0.087464 -0.409923 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.243377 -0.111610 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.513291 0.189815 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.187138 0.444053 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.146885 0.169315 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.303593 0.247653 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.036563 0.262315 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.203352 0.433350 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.239343 0.265775 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.235772 -0.119074 0.100500 0.000000 -1.000000 -0.000000 247 211 147 1.000000
+0.370666 0.235702 -0.257629 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.432972 -0.277103 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.401142 -0.187205 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.367507 0.082392 -0.535284 0.000000 0.000000 -1.000000 239 201 142 1.000000
+-0.345833 -0.234282 -0.162669 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.128586 -0.545813 0.011712 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.134589 -0.087464 0.414456 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.060244 -0.087464 -0.043669 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.122468 0.090865 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.165342 0.561710 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.748800 -0.314792 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.254913 0.162097 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.086691 -0.507664 0.507856 0.000000 -0.120293 -0.992738 255 255 255 1.000000
+-0.366907 0.081704 -0.376832 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.231228 0.263406 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.163507 -0.143888 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.218646 0.144895 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.021254 0.470985 -0.039796 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.381838 0.046817 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.510306 0.091438 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.072400 -0.181375 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.015607 -0.506265 1.000000 0.000000 0.000000 241 207 147 1.000000
+0.096386 -0.119074 0.259117 0.000000 -1.000000 -0.000000 248 216 155 1.000000
+0.195725 -0.545813 0.335691 0.000000 1.000000 0.000000 244 202 140 1.000000
+-0.345833 -0.436173 0.340166 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.222807 0.455804 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.446157 0.219713 1.000000 0.000000 0.000000 249 215 155 1.000000
+-0.366907 -0.016072 -0.230472 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.209282 -0.119074 -0.053048 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+0.151709 -0.252085 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 -0.143708 0.393724 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.081849 0.568425 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.041952 0.348924 1.000000 0.000000 0.000000 237 201 137 1.000000
+-0.366907 -0.105600 -0.009128 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.537897 -0.461857 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.335133 -0.087464 -0.413935 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.346666 0.371022 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.568015 0.143544 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.141932 0.281684 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.075562 0.406664 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.343563 0.349497 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.231510 -0.202832 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.366907 0.475782 -0.125225 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.185385 0.470985 -0.058846 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.508027 0.403078 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.322622 0.049379 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.294405 -0.497003 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.384138 -0.287762 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.085241 0.141112 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.166635 0.360440 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.514404 0.022305 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.029957 0.632484 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.315626 -0.545813 -0.295287 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.192689 0.128946 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.211200 0.442009 0.446516 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.112938 -0.087464 -0.296613 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.370666 0.477587 0.328383 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.377444 0.493243 0.475057 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349747 -0.163585 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.283292 -0.545813 0.386305 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.373572 0.268805 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.738109 0.139088 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.330333 -0.428732 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.022665 -0.119074 0.240940 0.000000 -1.000000 -0.000000 244 201 144 1.000000
+0.370666 -0.361018 0.228079 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.373411 -0.252563 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.306518 -0.457073 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.275165 -0.278754 -0.503673 0.000000 0.000000 -1.000000 247 209 150 1.000000
+0.258162 -0.087464 0.416324 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.002388 0.413916 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.167461 0.659789 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.202381 0.379224 0.507856 -0.000000 0.024599 0.999697 248 235 215 1.000000
+0.370666 0.454318 0.150619 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.077880 0.134724 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.303101 -0.306962 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.154899 -0.087464 0.307615 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.045455 0.520753 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.054731 0.525491 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.053243 0.217553 1.000000 0.000000 0.000000 245 207 148 1.000000
+-0.263025 0.618792 -0.535284 0.000000 0.000000 -1.000000 241 204 145 1.000000
+0.282596 0.065315 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.018794 0.642320 0.507856 0.000000 -0.035179 0.999381 248 235 215 1.000000
+-0.335231 0.613231 0.345719 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.308976 -0.250734 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.137129 -0.119074 -0.110252 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.728080 -0.016683 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.059306 -0.119074 0.244836 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.247972 0.634305 0.092611 0.000000 1.000000 0.000000 242 201 143 1.000000
+-0.055868 0.497575 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.212458 0.242219 0.499900 -0.000000 0.504686 -0.863303 255 255 255 1.000000
+-0.244367 -0.682651 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.607724 0.254568 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.155544 -0.087464 0.253907 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.348288 0.432194 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.117334 -0.298873 -0.503673 0.000000 0.000000 -1.000000 240 207 142 1.000000
+0.349593 -0.506107 0.241711 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.619801 -0.031566 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.262575 0.478650 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.475536 -0.105365 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.349593 -0.404578 -0.444705 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.197250 -0.542306 0.507856 0.000000 -0.070150 -0.997536 255 255 255 1.000000
+0.154326 -0.087464 -0.068713 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.219946 -0.361767 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.405343 0.158078 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.159257 -0.552661 0.507856 0.000000 -0.055104 -0.998481 255 255 255 1.000000
+0.364055 -0.422039 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.243833 -0.512126 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.000260 0.340753 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.341653 -0.087464 -0.148443 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.308615 -0.119074 -0.111833 0.000000 -1.000000 -0.000000 245 215 153 1.000000
+-0.286973 0.384414 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.199225 0.516643 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.369541 -0.262384 0.484730 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.130155 -0.545813 0.204811 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.036467 -0.418769 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.307340 0.634305 -0.168117 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.113559 -0.087464 -0.020965 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.004842 0.574224 -0.503673 0.000000 0.000000 -1.000000 242 214 152 1.000000
+0.090980 -0.713261 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.213477 0.352446 0.507851 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.052448 -0.238508 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.373301 0.512688 0.504766 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.638488 -0.448450 1.000000 0.000000 0.000000 242 210 150 1.000000
+-0.220568 0.563619 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.524370 -0.439992 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.010310 0.438060 -1.000000 0.000000 0.000000 249 215 155 1.000000
+0.370666 -0.479046 0.046768 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.480692 -0.450615 1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.366907 -0.664331 -0.445570 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.258338 0.442009 0.314232 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.224601 -0.325608 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.223277 0.224702 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.079298 -0.379014 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.293598 -0.161749 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.135254 0.488198 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.462554 0.284780 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.366907 -0.641698 -0.409078 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.265256 -0.498374 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.339278 0.349848 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.242463 -0.248807 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.345833 0.429392 -0.345192 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 -0.350444 0.261547 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.173470 -0.077185 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.318296 -0.376019 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.020647 0.175611 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.262427 0.040147 1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.366907 -0.415075 -0.212795 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.165060 -0.207315 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.557687 -0.139724 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.264741 -0.087464 0.194463 0.000000 1.000000 0.000000 242 208 148 1.000000
+0.223533 0.480529 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.345833 0.071389 -0.095004 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.559671 0.016094 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.127387 0.112557 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.047256 -0.033706 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.103458 -0.087464 -0.423809 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.308063 -0.330361 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.550879 0.042581 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.036312 -0.535276 0.445484 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.475659 0.065871 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.322782 0.559148 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.202522 -0.294250 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.235669 -0.087464 0.424779 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.107387 0.329892 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.145286 -0.087464 -0.095235 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.281642 -0.081080 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.230070 0.463082 0.327250 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+0.370666 -0.120277 -0.019395 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.362077 -0.454036 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.129688 -0.119074 0.079429 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.267298 0.424622 1.000000 0.000000 0.000000 244 211 156 1.000000
+-0.301200 -0.568352 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.168736 -0.545813 0.356239 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.443632 0.028733 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.238678 -0.087464 -0.302676 0.000000 1.000000 0.000000 240 208 147 1.000000
+-0.345833 0.183658 0.135888 1.000000 0.000000 0.000000 248 215 160 1.000000
+-0.226093 -0.016944 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.033644 0.501496 0.538864 -0.030799 0.705679 -0.707862 255 255 255 1.000000
+-0.324236 0.288030 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.156968 -0.545813 -0.196822 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.773444 -0.111174 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.072918 0.071538 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.285230 0.634305 -0.199874 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.345833 -0.049244 0.014049 1.000000 0.000000 0.000000 250 214 150 1.000000
+0.370666 0.348152 -0.322878 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.283335 -0.087464 -0.381359 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.190462 -0.545813 -0.473933 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.047917 0.382203 1.000000 0.000000 0.000000 247 209 148 1.000000
+-0.309930 0.613231 0.004028 0.000000 -1.000000 -0.000000 249 211 152 1.000000
+-0.219392 0.621035 -0.069697 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.316383 -0.121715 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.065478 0.665042 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.080177 0.357987 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.115160 0.140725 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.089371 0.488582 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.309548 -0.327474 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.132307 -0.545813 0.354446 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.321246 0.396102 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.185340 0.442009 -0.365106 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.049959 0.230879 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.100772 -0.119074 0.403397 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.140975 -0.087464 0.411603 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.253716 -0.119074 0.004055 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.017656 0.186094 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.335997 -0.533151 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.007194 -0.265645 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.520992 0.370782 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.223747 -0.493216 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.031520 -0.259790 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.284292 -0.545813 0.067676 0.000000 1.000000 0.000000 242 209 146 1.000000
+0.083868 -0.414486 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.253637 0.520326 -0.360884 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.306345 -0.425816 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.370666 -0.216411 -0.367172 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.043824 -0.546853 0.507856 0.000000 -0.063545 -0.997979 255 255 255 1.000000
+0.253023 -0.119074 -0.376665 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.108925 0.469310 -0.366696 0.000000 0.000000 -1.000000 246 210 146 1.000000
+0.349593 -0.290603 -0.229436 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.085283 -0.545813 -0.471519 0.000000 1.000000 0.000000 239 206 143 1.000000
+-0.336114 0.634305 -0.216643 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.340610 0.613231 0.020138 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.073248 -0.199458 -0.487868 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.089108 -0.533525 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.279777 -0.029185 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.143375 -0.087464 -0.234465 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.250702 0.114584 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.168204 -0.312614 -0.503673 0.000000 0.000000 -1.000000 244 208 144 1.000000
+0.270910 -0.344011 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.298289 -0.087464 0.420839 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.205974 -0.545813 0.392554 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.700700 -0.133501 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.134758 -0.032883 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.060393 0.463082 -0.084487 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.203226 0.407573 1.000000 0.000000 0.000000 247 206 148 1.000000
+0.223311 -0.582484 0.444635 0.000000 0.000000 -1.000000 244 212 151 1.000000
+0.293435 0.634305 -0.019326 0.000000 1.000000 0.000000 241 208 143 1.000000
+-0.366907 -0.731001 0.021379 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.377444 0.586635 0.470357 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.187391 0.463082 0.138401 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.104264 -0.545813 -0.235344 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.059369 -0.467761 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.539909 -0.007395 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.228539 -0.465750 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.138311 0.204551 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.544614 0.187999 1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.366907 0.228348 -0.451621 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.299927 0.634305 0.327815 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.487200 -0.189424 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370565 -0.098381 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.317156 0.159127 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.088513 -0.304509 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.006846 -0.061701 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.221931 -0.087464 0.034992 0.000000 1.000000 0.000000 238 201 142 1.000000
+0.289537 0.314697 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.265857 -0.545813 -0.011832 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.313338 -0.460291 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.391175 -0.088509 1.000000 0.000000 0.000000 244 216 154 1.000000
+-0.215317 -0.113823 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.449350 -0.207897 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.135596 0.131915 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.580378 -0.284158 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.197445 0.403743 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.050939 -0.545813 -0.378114 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.285247 0.443403 0.080213 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.183749 -0.545813 -0.441134 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.279341 0.499102 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.358958 -0.010924 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.188699 -0.087464 -0.426636 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.529258 0.238543 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.285247 0.536127 0.128150 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243455 -0.418185 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.303836 -0.119074 0.185749 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.098181 -0.087464 0.064768 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.093870 0.470985 0.195646 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.157625 0.539474 -0.506069 0.000000 -1.000000 -0.000000 239 211 149 1.000000
+0.349593 -0.327614 -0.275557 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.227250 -0.323202 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.266390 -0.728467 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.049689 -0.142868 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.345833 0.640177 -0.115799 1.000000 0.000000 0.000000 249 217 156 1.000000
+0.012992 0.470985 0.408185 0.000000 1.000000 0.000000 238 206 145 1.000000
+0.271519 0.142824 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.104278 -0.513274 0.507856 -0.000000 0.112204 0.993685 248 235 215 1.000000
+0.067278 -0.034723 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.010640 0.282714 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.008459 -0.159503 -1.000000 0.000000 0.000000 247 215 154 1.000000
+0.349593 -0.112250 -0.185329 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.634351 -0.068843 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.261549 0.092904 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.519199 0.190331 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.358753 -0.526513 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.561883 -0.501880 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.619880 0.115169 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.045036 -0.568076 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.253637 0.567269 0.382456 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.349593 0.319105 0.293253 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 0.441411 -0.198503 1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.366907 0.342699 -0.407247 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.520760 -0.125271 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.149036 -0.459332 -0.487868 0.000000 -0.000000 1.000000 248 214 154 1.000000
+0.109734 0.599316 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.192587 0.463082 -0.269041 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.244542 0.365464 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.142333 -0.545813 -0.245785 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.148919 0.324357 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.117326 -0.211481 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.341755 0.613231 0.237923 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.278520 -0.087464 0.344585 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.234948 0.242246 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.040357 -0.098750 0.444635 0.000000 -0.000000 1.000000 242 210 149 1.000000
+-0.339288 -0.545813 0.352436 0.000000 1.000000 0.000000 238 201 142 1.000000
+0.339453 0.634305 -0.373203 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.240776 -0.418832 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.502425 0.092924 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.443102 -0.331135 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.166903 0.510550 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.484242 0.197505 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.433787 -0.158606 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.297564 0.283223 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.309877 0.613231 0.411862 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.194940 -0.087464 -0.233181 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.296648 -0.192181 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.211532 -0.106435 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.298896 0.356973 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.282056 -0.087464 0.219108 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.573208 -0.471947 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.445389 -0.406592 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.594697 -0.423854 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.021365 -0.337035 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.326077 0.160278 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.366907 0.458670 0.010762 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.276520 0.634305 -0.304966 0.000000 1.000000 0.000000 238 210 148 1.000000
+-0.285247 0.534697 0.392717 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.258281 0.421828 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.161469 0.178670 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.390453 -0.321589 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.255064 0.186213 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.220140 0.632795 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.061923 0.450528 -0.366696 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.345833 0.053594 0.302239 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.004178 -0.540544 -0.523930 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.664813 -0.244832 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.268859 0.276169 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.181837 0.068712 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.633215 0.056092 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.106678 0.619705 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.068860 -0.158554 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.273679 0.391959 0.451335 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.249329 0.339194 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.160193 0.257806 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.254065 -0.177235 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.094086 -0.497914 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.591330 -0.077101 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.135935 -0.119074 -0.278553 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.062948 -0.087464 -0.177594 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253281 0.634305 -0.478100 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.349593 0.649712 -0.066839 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.210075 0.446217 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.278158 0.634305 -0.432374 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.290535 -0.179225 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.054599 -0.119074 -0.282775 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.215447 -0.545813 -0.464125 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.195339 0.242713 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.642802 0.241325 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.206737 0.399034 -0.503673 0.000000 0.000000 -1.000000 248 214 154 1.000000
+0.006076 -0.545813 -0.205724 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.349593 0.020294 -0.396582 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.316866 -0.545813 -0.268803 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.156978 -0.087464 -0.441712 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.129412 0.463082 0.110335 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.260036 0.442009 -0.111915 0.000000 -1.000000 -0.000000 247 214 159 1.000000
+0.102473 -0.545813 -0.190085 0.000000 1.000000 0.000000 246 218 156 1.000000
+-0.345833 0.480726 0.225390 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.318884 -0.178854 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.015019 -0.087464 0.101260 0.000000 1.000000 0.000000 232 201 135 1.000000
+0.349593 0.144450 0.426978 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.035518 -0.087464 0.333242 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.317244 -0.087966 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.289465 0.515534 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.008755 -0.200433 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.076716 0.032783 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.370666 0.011090 0.113302 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.287259 0.137574 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.158791 -0.487657 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.494424 0.016406 -1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.066355 0.515114 0.513734 -0.940143 0.000000 0.340781 255 255 255 1.000000
+0.129296 0.463082 -0.091182 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.298737 -0.119074 0.065682 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.345833 0.303810 -0.130889 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.202493 -0.119074 0.418958 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.152355 0.112483 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.231678 -0.119074 0.443578 0.000000 -1.000000 -0.000000 245 204 146 1.000000
+0.349593 -0.461286 0.097021 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.196069 -0.119074 0.161836 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.358919 0.408292 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.244047 0.613231 0.333741 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.120960 0.514406 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.154888 0.583618 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.280963 0.229096 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.253668 0.442009 -0.011836 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.226749 0.323411 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.332730 0.183164 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.153798 0.196703 -0.503673 0.000000 0.000000 -1.000000 237 200 141 1.000000
+-0.087771 0.644658 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.006304 -0.119074 0.154377 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.370666 0.190616 0.238892 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.019017 0.499833 0.530090 -0.000821 0.000000 1.000000 255 255 255 1.000000
+-0.036570 0.089358 -0.503673 0.000000 0.000000 -1.000000 240 208 147 1.000000
+0.237522 -0.087464 -0.258401 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.023026 0.500083 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.328624 -0.087464 -0.053591 0.000000 1.000000 0.000000 248 204 147 1.000000
+0.182772 0.470985 -0.184181 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.228222 -0.223577 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.023433 -0.545813 -0.007743 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 -0.144545 0.358619 -1.000000 0.000000 0.000000 235 199 135 1.000000
+0.370666 0.526655 0.358686 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.454466 0.463687 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.288039 0.209245 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.210444 -0.087464 0.010434 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.108000 0.378566 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.259070 0.568450 -0.351442 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.349641 -0.432342 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.376151 -0.242449 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 0.028202 0.470898 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.028114 0.470985 0.231013 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.282048 -0.783943 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.087171 0.391224 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223152 0.614756 0.313270 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.136827 -0.406295 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349204 -0.047415 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.143881 0.470985 -0.057935 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.253677 -0.196702 -0.487868 0.000000 -0.000000 1.000000 241 213 151 1.000000
+0.352285 -0.162786 0.444635 0.000000 0.000000 -1.000000 240 208 147 1.000000
+0.370666 -0.754573 -0.376286 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.189695 0.229175 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.137523 -0.119074 0.440064 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.074890 0.323585 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.446688 -0.128982 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.010268 0.125063 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+-0.083609 0.108625 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.347075 -0.460897 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.366907 -0.247087 0.383099 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.236823 -0.005977 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.180537 -0.534231 -1.000000 0.000000 0.000000 238 208 146 1.000000
+0.370666 -0.368131 -0.199831 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.006111 -0.154853 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.253051 0.221043 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.515381 0.451111 -1.000000 0.000000 0.000000 246 210 146 1.000000
+0.370666 0.574894 0.009606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.119375 -0.545813 -0.111213 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.604098 -0.040799 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.031314 -0.705183 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.064685 -0.163755 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.322851 0.466696 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.255745 -0.731177 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.598020 0.375363 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.632490 -0.475898 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.092424 -0.091387 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.187254 -0.225727 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.072608 -0.494520 0.502181 -0.000000 0.227791 0.973710 248 235 215 1.000000
+-0.366907 0.400219 0.054039 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.421208 0.404924 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.286799 -0.119074 0.067684 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.351111 -0.307613 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.257354 0.518076 0.259173 1.000000 0.000000 0.000000 127 111 111 1.000000
+-0.136319 -0.545813 0.197200 0.000000 1.000000 0.000000 251 219 158 1.000000
+0.349593 -0.137350 -0.453739 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.259297 0.442009 -0.260334 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.093414 -0.087464 0.126400 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.238567 -0.214267 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+-0.345833 0.070950 -0.326958 1.000000 0.000000 0.000000 252 209 152 1.000000
+-0.366907 -0.568789 0.189190 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.219150 -0.087464 -0.048995 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.128287 -0.081771 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.542509 0.321149 -1.000000 0.000000 0.000000 246 213 156 1.000000
+-0.287715 0.578651 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.108021 -0.634292 -0.535284 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.040091 0.384697 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.259748 0.053590 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.496550 -0.426870 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.204334 -0.316701 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.041700 0.648654 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.735599 0.123978 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.234866 -0.119074 -0.100473 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.097365 -0.242664 -0.503673 0.000000 0.000000 -1.000000 245 204 146 1.000000
+-0.377444 0.636204 0.453717 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.192955 -0.245565 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.578180 -0.222209 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.131607 -0.087464 0.220688 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.366907 0.175679 0.019941 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.208236 -0.151665 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.289007 0.533467 0.026665 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.329566 -0.545813 -0.154547 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.267099 -0.565417 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.159488 -0.025621 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.187403 -0.119074 0.327245 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.192800 0.452115 -0.487868 0.000000 -0.000000 1.000000 245 202 145 1.000000
+-0.291650 0.352447 0.501268 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.002647 -0.087464 -0.475501 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.095423 0.233887 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.338909 -0.738465 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.214927 -0.119074 0.256995 0.000000 -1.000000 -0.000000 244 203 145 1.000000
+-0.006808 -0.545813 0.298239 0.000000 1.000000 0.000000 241 207 148 1.000000
+0.257396 0.555961 -0.109850 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.139394 0.562945 -0.335085 0.000000 -0.000000 1.000000 248 211 152 1.000000
+0.085157 0.366550 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.192886 -0.642671 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.330897 -0.453214 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.248499 -0.593416 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.366907 0.449124 -0.027562 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.531212 0.201646 -1.000000 0.000000 0.000000 245 209 145 1.000000
+0.370666 0.449055 0.286133 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.274179 0.051004 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.322244 -0.531175 0.444635 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.345833 0.630686 -0.182940 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.198670 -0.545813 -0.147431 0.000000 1.000000 0.000000 250 213 154 1.000000
+-0.366907 0.162452 0.070537 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.179761 0.042958 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.319140 0.613231 -0.311943 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.051031 -0.087464 0.244461 0.000000 1.000000 0.000000 246 208 155 1.000000
+-0.366907 0.108973 0.024154 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.145792 -0.545813 -0.085281 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.402582 0.416211 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.043807 -0.432206 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.258721 -0.072332 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.582858 0.008480 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.181622 -0.545813 0.014091 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.366907 0.421198 -0.051642 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.062653 0.563280 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.282450 0.634305 -0.278856 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.080534 -0.243653 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.370666 -0.611749 0.016089 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.067272 0.464097 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.307452 -0.119074 -0.058462 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.306916 -0.587444 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.070114 0.470985 0.236819 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.348132 0.024785 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.299152 0.613231 -0.387891 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.104126 0.534283 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.061165 -0.545813 -0.083676 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.313909 -0.270464 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.391241 0.253557 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.119823 -0.356225 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.209909 -0.493840 0.502072 0.000000 -0.241054 -0.970512 255 255 255 1.000000
+0.246859 -0.306267 0.506480 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.534136 0.137223 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 -0.426939 0.476688 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.449520 -0.061947 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.111057 0.470985 0.418816 0.000000 1.000000 0.000000 239 202 143 1.000000
+-0.141210 0.081944 -0.503673 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.190328 0.470985 -0.301987 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.198881 0.047302 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.361934 -0.312782 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.009179 0.251333 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.006213 -0.511702 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.222121 -0.087464 0.391618 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.349593 0.262298 -0.070880 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.099165 -0.467811 0.497876 -0.000000 0.712962 0.701203 248 235 215 1.000000
+0.025387 -0.566426 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.080747 -0.119074 0.358747 0.000000 -1.000000 -0.000000 241 207 147 1.000000
+0.016098 -0.545813 0.159300 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.239007 -0.119074 0.181059 0.000000 -1.000000 -0.000000 246 204 140 1.000000
+0.191371 -0.119074 0.024896 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.346334 -0.489611 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.053981 -0.567138 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.078614 0.505062 0.512539 -0.335811 0.918078 -0.210626 255 255 255 1.000000
+0.342407 0.331297 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.072917 0.549524 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.190588 0.108938 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.209165 0.645832 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.219803 0.270502 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.362343 0.074302 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.399106 0.396200 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.089467 0.509586 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.025094 -0.266959 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.086533 0.307697 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.332915 -0.087464 0.363400 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.363479 0.198459 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.204673 0.335108 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.110120 -0.119074 -0.038509 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.490848 0.060193 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.001816 0.031737 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.343942 -0.555419 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.126836 0.251675 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.324025 -0.288813 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.154423 -0.119074 0.163258 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.275454 -0.078451 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.162656 -0.520070 0.507856 -0.000000 0.102383 0.994745 248 235 215 1.000000
+-0.311886 0.354635 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.494100 -0.114265 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.619357 -0.317272 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.014380 -0.670572 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.139428 -0.084391 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.305552 -0.130922 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.081959 -0.042253 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.594213 -0.302740 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.051911 0.463082 0.264669 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.172284 -0.119074 -0.469552 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.237406 -0.119074 -0.376017 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+0.318892 -0.514898 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.173580 -0.119074 -0.065095 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.112058 -0.087464 0.165164 0.000000 1.000000 0.000000 246 214 154 1.000000
+-0.217595 -0.087464 0.312370 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.341345 -0.420410 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.058156 0.423431 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.317296 -0.552318 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.238956 0.082335 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.359749 0.310462 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.458733 -0.297595 -1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.366907 -0.558883 0.119094 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.326586 0.070430 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.078456 -0.545813 -0.295235 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.090640 -0.119074 -0.254388 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.463201 -0.503915 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.267308 0.613231 0.308839 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.020672 0.442009 -0.363625 0.000000 -1.000000 -0.000000 244 206 145 1.000000
+0.370666 0.285849 0.245931 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.396328 0.295851 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.377527 -0.478515 -1.000000 0.000000 0.000000 250 217 154 1.000000
+0.199253 -0.087464 0.190291 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.223264 0.413261 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.503374 0.120795 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.431524 0.427188 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.187136 -0.545813 -0.272086 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.425816 0.208903 -1.000000 0.000000 0.000000 249 215 156 1.000000
+-0.219824 -0.566818 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.554193 -0.040946 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.309254 0.148734 0.556588 0.042465 -0.015736 -0.998974 255 255 255 1.000000
+-0.080949 -0.119074 -0.138385 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.253637 0.456880 0.355379 1.000000 0.000000 0.000000 243 203 140 1.000000
+0.077795 -0.642289 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.113122 -0.119074 -0.246696 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.370666 0.134722 0.153717 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.589359 0.275077 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.329767 0.324529 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.629772 0.013302 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.046478 -0.119074 -0.082762 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.091333 0.406965 -0.503673 0.000000 0.000000 -1.000000 249 217 156 1.000000
+-0.366907 0.559868 -0.431931 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.344708 0.586088 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.506047 0.150787 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.006769 -0.032263 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.226367 -0.008769 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.470255 0.270499 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.269603 0.443785 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.246567 -0.113009 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.497212 -0.040662 1.000000 0.000000 0.000000 251 214 155 1.000000
+-0.049032 -0.119074 0.103248 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.261670 0.634305 -0.249814 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.083510 0.203115 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.257396 0.518657 0.445660 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.128826 -0.382948 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.150100 -0.693884 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.120831 -0.564391 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.425500 -0.470923 -1.000000 0.000000 0.000000 246 205 147 1.000000
+-0.257978 -0.119074 0.040601 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.255229 0.303449 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.582582 -0.031579 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.104360 -0.208529 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.230205 -0.709500 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.129639 0.329360 -0.503673 0.000000 0.000000 -1.000000 239 203 139 1.000000
+-0.345833 0.201630 -0.081387 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.044021 -0.081706 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.224145 0.470985 0.391170 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.381340 0.313374 1.000000 0.000000 0.000000 240 212 150 1.000000
+0.301126 -0.700412 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.440557 0.045961 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.127499 -0.087464 -0.241657 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.058170 -0.545813 0.374433 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 0.254437 0.390621 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.370666 0.149911 -0.098850 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.462538 0.371578 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.585783 -0.315842 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.145181 0.337155 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.141171 -0.119265 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.251961 0.445383 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.179466 -0.140087 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.165534 0.470985 -0.017318 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.098669 -0.071830 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.618604 0.066449 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.073922 -0.598497 0.475747 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.335515 -0.119074 0.292986 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.076488 0.445044 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.524881 -0.310355 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.137239 -0.290588 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.244994 -0.545813 -0.296495 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.366907 -0.079300 0.090301 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.181295 0.174254 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.436180 -0.321192 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.396651 -0.402142 -1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.377307 0.247988 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.125519 -0.087464 0.052184 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.081882 -0.545813 0.190867 0.000000 1.000000 0.000000 251 217 158 1.000000
+-0.231458 -0.545813 -0.039166 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.345833 0.312318 -0.533068 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.119170 0.405476 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.371776 0.069251 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.215742 -0.262556 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.004180 0.144226 1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.142761 -0.119074 -0.474413 0.000000 -1.000000 -0.000000 245 212 155 1.000000
+-0.023400 -0.509142 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.279753 -0.087464 -0.358001 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.203402 -0.596309 -0.535284 0.000000 0.000000 -1.000000 252 215 156 1.000000
+-0.345833 0.417240 -0.475136 1.000000 0.000000 0.000000 243 210 147 1.000000
+-0.345833 0.023075 -0.325127 1.000000 0.000000 0.000000 250 207 150 1.000000
+-0.221241 0.591111 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.232579 0.613231 -0.270468 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+0.349593 -0.376875 0.110764 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.261600 0.286359 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.254187 -0.374713 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.114739 -0.087464 0.363360 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.343506 -0.210986 -0.503673 0.000000 0.000000 -1.000000 250 213 154 1.000000
+-0.345833 0.345083 -0.084075 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.319232 -0.381577 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.174977 -0.102600 -0.503673 0.000000 0.000000 -1.000000 244 208 144 1.000000
+0.100170 -0.119074 -0.353303 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.576539 0.312130 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.240470 0.463082 -0.061457 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.373301 0.244016 0.499031 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.183021 -0.545813 0.301400 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.230068 -0.608383 -0.535284 0.000000 0.000000 -1.000000 245 211 151 1.000000
+-0.282519 0.568450 -0.295492 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.167150 -0.290869 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.335587 -0.598497 0.446685 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.225864 -0.451951 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.532784 -0.080403 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.315455 -0.545813 -0.302833 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.585257 0.405647 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.031669 0.470985 0.367047 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.755308 -0.184297 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.076481 0.470985 -0.082184 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.237761 -0.389883 -0.503673 0.000000 0.000000 -1.000000 249 217 156 1.000000
+-0.048286 -0.119074 -0.158637 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.285247 0.567024 -0.331611 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.221556 -0.087464 -0.231108 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.107444 0.602694 0.456671 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.143475 0.584689 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.451837 0.344881 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.058006 0.313839 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.250921 -0.384419 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.543017 0.367130 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.266894 -0.478818 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.119800 0.463082 -0.217454 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.084194 0.573045 -0.535284 0.000000 0.000000 -1.000000 249 216 161 1.000000
+-0.366907 -0.272663 0.257107 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.385123 0.342209 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.010186 0.095308 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.272402 0.634305 -0.078859 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.082176 -0.087464 -0.363787 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.149738 0.413520 -0.487868 0.000000 -0.000000 1.000000 245 204 146 1.000000
+-0.301448 0.613231 0.223130 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.222688 -0.089641 -0.487868 0.000000 -0.000000 1.000000 253 216 157 1.000000
+-0.345833 -0.515826 0.168398 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.173847 0.568450 -0.363243 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.370666 0.380061 -0.163065 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.570009 0.121854 -1.000000 0.000000 0.000000 236 203 140 1.000000
+-0.366907 -0.687933 0.208007 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.116978 0.028377 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.287495 0.336512 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.228303 0.134659 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.370666 0.502133 -0.176483 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.153726 -0.515670 1.000000 0.000000 0.000000 248 207 149 1.000000
+-0.047790 -0.290700 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.495450 0.394188 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.019153 0.246118 -1.000000 0.000000 0.000000 242 206 144 1.000000
+0.370666 -0.037082 -0.118685 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.317123 0.280339 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.240711 0.126848 1.000000 0.000000 0.000000 243 209 149 1.000000
+0.246859 0.377367 0.506988 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.016284 -0.087464 -0.287384 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.037495 -0.296954 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.190036 0.372155 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.088015 0.333766 0.507856 0.000000 -0.027117 0.999632 248 235 215 1.000000
+0.018060 -0.119074 -0.284452 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+-0.018415 0.018638 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.105164 -0.087464 0.434954 0.000000 1.000000 0.000000 242 209 154 1.000000
+0.200988 0.153588 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+0.105296 -0.598497 0.466522 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.164599 0.348230 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.071529 0.435895 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.334079 0.234517 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.351207 0.142697 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.619864 0.036480 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.243100 0.621853 0.479668 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.286699 -0.545813 0.242324 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.559198 0.226387 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.278920 -0.119074 0.239781 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.435432 -0.087050 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.230492 -0.087464 -0.416400 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.200390 -0.545813 -0.253213 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.032398 -0.386287 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.308769 -0.433289 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.289007 0.522798 -0.057619 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.498070 0.345095 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.123915 -0.067382 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.376071 0.113661 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.491135 -0.230044 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.282393 -0.292341 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.366907 0.594256 -0.085851 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.060692 0.290911 -1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.123248 -0.087464 -0.119864 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.155792 0.519425 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.246551 -0.545813 -0.156587 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.042600 -0.545813 0.078317 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.065287 0.470985 0.142920 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.368123 0.454281 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.336389 0.066845 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.229546 -0.047603 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.247327 -0.514227 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.535797 -0.018704 -1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.345833 -0.023077 -0.065008 1.000000 0.000000 0.000000 242 214 155 1.000000
+-0.011543 -0.545813 -0.241042 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.370666 0.349021 -0.084646 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.403180 0.270306 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.366907 0.596483 0.249637 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.085717 -0.282083 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.551516 0.413055 1.000000 0.000000 0.000000 241 209 148 1.000000
+-0.352176 -0.477874 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.201423 0.576489 -0.487868 0.000000 -0.000000 1.000000 238 201 142 1.000000
+-0.014333 -0.087464 -0.375087 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.685546 -0.238399 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.110968 -0.119074 0.444540 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.179885 0.463082 -0.222834 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.222032 0.426990 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.361436 0.363094 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.083286 -0.545813 -0.072986 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.250917 -0.087464 0.324222 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.366907 0.013082 -0.178059 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.607525 -0.414029 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.053398 0.366269 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.366907 0.387004 -0.181560 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.364007 -0.176774 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.330691 -0.343609 0.444635 0.000000 0.000000 -1.000000 241 209 148 1.000000
+-0.165286 -0.119074 -0.422216 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.353172 0.443541 -0.535284 0.000000 0.000000 -1.000000 239 211 149 1.000000
+0.208764 0.365531 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.534394 0.292369 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.349593 -0.001102 0.220183 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.286545 -0.076333 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.626342 -0.471700 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.122103 0.319627 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.595133 -0.153769 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.298968 -0.087464 0.282071 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.287259 0.239962 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.320481 0.613231 0.352431 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.111341 -0.545813 -0.232914 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.230159 0.549128 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.218886 0.368607 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.138478 0.125418 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.048631 0.475801 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.265507 0.568450 -0.178051 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.305314 0.010544 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.022510 -0.545813 -0.145781 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.536873 -0.221800 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.089181 -0.407831 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.485974 -0.044030 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.323399 0.439469 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.211464 -0.119074 -0.461089 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+-0.366907 0.345038 0.282814 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.137972 -0.268909 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.156169 0.014295 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.320256 0.634305 0.043985 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.273708 0.476660 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.253637 0.512617 -0.042913 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.131550 -0.281267 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.100811 -0.572756 -0.535284 0.000000 0.000000 -1.000000 241 209 148 1.000000
+0.135577 0.470985 0.400127 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.302173 0.613231 -0.104493 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.310806 -0.119074 -0.264421 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.136971 0.020681 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.021580 0.643601 0.444635 0.000000 0.000000 -1.000000 251 219 158 1.000000
+0.370666 0.265007 -0.128378 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.004553 -0.119074 0.337662 0.000000 -1.000000 -0.000000 244 211 156 1.000000
+-0.366907 -0.318408 0.054757 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.233134 0.513772 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.291886 0.361922 1.000000 0.000000 0.000000 239 211 149 1.000000
+-0.210647 -0.474653 0.498979 0.000000 -0.606818 -0.794841 255 255 255 1.000000
+-0.176307 -0.707596 -0.535284 0.000000 0.000000 -1.000000 248 216 155 1.000000
+-0.366907 0.408051 0.209464 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.368543 0.013614 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.643743 0.322216 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.150054 -0.299437 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.297998 -0.251420 -0.487868 0.000000 -0.000000 1.000000 244 203 145 1.000000
+-0.345833 0.104696 -0.308742 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.340543 0.449718 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.124379 -0.456926 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.366907 -0.191380 -0.474944 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.369541 0.625596 0.503031 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.184424 -0.287861 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.325301 0.168444 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.299312 -0.047757 1.000000 0.000000 0.000000 237 205 144 1.000000
+0.349593 0.054683 0.362057 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.218778 0.182100 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.194417 0.350531 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.389677 0.004225 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.121109 -0.456747 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.425686 0.014579 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.335633 -0.329545 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.011354 0.377201 0.507856 0.000000 -0.020062 -0.999799 255 255 255 1.000000
+-0.015012 0.523753 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.098349 0.394468 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.249036 0.107024 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.339113 -0.119452 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.440053 0.385660 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.050777 -0.087464 0.122338 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.250770 0.311766 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.182706 0.329875 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.371151 0.462349 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.383715 0.100018 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.342751 0.634305 0.165347 0.000000 1.000000 0.000000 239 203 139 1.000000
+0.338513 -0.594628 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.225727 -0.759811 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.345833 0.025243 0.200068 1.000000 0.000000 0.000000 242 204 145 1.000000
+-0.045200 -0.119074 -0.335985 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.338438 -0.484619 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.535426 -0.118560 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.097263 0.665915 -0.530766 0.000000 1.000000 0.000000 242 210 149 1.000000
+0.370666 0.238612 0.137337 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.220441 -0.120770 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.254049 0.477415 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.455288 -0.142923 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.014733 -0.555601 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.054532 0.328738 0.454897 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 -0.317323 0.172529 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.110528 -0.119074 0.184290 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.164952 -0.071919 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.380957 -0.169811 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.285512 -0.466529 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.057449 0.463082 0.310487 0.000000 -1.000000 -0.000000 238 201 142 1.000000
+-0.314223 -0.053844 0.457086 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.217631 -0.119074 -0.126515 0.000000 -1.000000 -0.000000 242 208 148 1.000000
+-0.285663 0.634305 0.269453 0.000000 1.000000 0.000000 247 209 148 1.000000
+0.341947 -0.407791 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.052076 -0.087464 0.073831 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.469968 -0.517741 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.330911 -0.344153 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.207549 0.168516 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.179078 0.630626 0.507856 -0.000000 0.061366 -0.998115 255 255 255 1.000000
+-0.346152 0.318394 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.196419 0.470985 0.289330 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.129365 0.636703 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.370666 -0.187582 0.188592 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.031237 0.470985 -0.104336 0.000000 1.000000 0.000000 247 215 154 1.000000
+0.370666 0.324809 -0.045383 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.067962 0.020521 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.755408 0.071967 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.700566 -0.457272 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.176398 0.052988 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.263295 -0.090018 0.444635 0.000000 -0.000000 1.000000 245 213 152 1.000000
+-0.345833 0.443837 -0.423257 1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.018434 -0.119074 0.372018 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.574585 0.278914 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.119614 -0.368632 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.216598 0.665915 -0.504870 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.063319 0.501672 -0.487868 0.000000 -0.000000 1.000000 246 214 153 1.000000
+-0.294125 -0.119074 -0.204939 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+-0.285847 -0.545813 0.195811 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.403442 0.083262 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.146863 -0.360760 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.250574 0.370479 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+-0.261175 0.634305 -0.188736 0.000000 1.000000 0.000000 241 208 151 1.000000
+-0.267366 -0.590594 0.506261 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.049428 -0.195826 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.168988 -0.087464 -0.306540 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.291902 0.613231 -0.330377 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.351555 -0.344346 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.248490 -0.087464 0.239374 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.281206 0.442009 -0.216844 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.476233 -0.160309 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.349593 0.401301 -0.225916 -1.000000 0.000000 0.000000 249 212 153 1.000000
+0.349593 -0.407956 0.076380 -1.000000 0.000000 0.000000 247 206 138 1.000000
+-0.366907 -0.058310 -0.027309 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.195872 0.442009 0.465151 0.000000 -1.000000 -0.000000 247 204 147 1.000000
+-0.042186 -0.087464 0.187647 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.366907 -0.194177 -0.193998 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.182211 -0.545813 -0.207372 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.317745 -0.312386 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.248770 0.006271 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.339567 -0.267797 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+-0.224015 0.029378 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.088342 0.401391 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.568726 0.161549 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.261099 0.542666 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.251317 0.586154 -0.503673 0.000000 0.000000 -1.000000 244 212 151 1.000000
+-0.366907 -0.492796 0.037132 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.270225 -0.401065 -0.503673 0.000000 0.000000 -1.000000 241 209 148 1.000000
+-0.103253 -0.354013 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.119852 -0.048757 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.045900 -0.545813 -0.208909 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.283988 -0.229547 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+-0.345833 0.447693 0.251101 1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.366907 0.079657 -0.266540 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.430544 -0.355885 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.364315 0.665915 0.098618 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.590978 -0.215893 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.131880 0.117106 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.114439 0.428745 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.533680 -0.341853 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.481370 -0.157761 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.290814 0.155247 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.472931 0.008763 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.174230 0.012004 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.370666 0.184077 -0.061267 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.218975 -0.545813 0.029202 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.136049 -0.119074 0.143710 0.000000 -1.000000 -0.000000 241 208 151 1.000000
+-0.366907 0.271525 0.072169 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.119658 0.276666 0.507856 -0.000000 0.109980 -0.993934 255 255 255 1.000000
+0.370666 -0.453948 -0.181567 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.296995 -0.686071 -0.535284 0.000000 0.000000 -1.000000 244 208 144 1.000000
+0.145271 0.352446 0.482338 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.070065 0.282541 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.398260 0.284673 1.000000 0.000000 0.000000 247 206 148 1.000000
+0.145666 -0.590594 0.506059 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.105639 -0.545813 -0.022238 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.226031 0.442040 0.499770 -0.000000 0.663598 0.748089 248 235 215 1.000000
+-0.345833 0.250304 -0.219176 1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.051150 0.377112 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.393107 -0.295882 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.505505 0.066184 1.000000 0.000000 0.000000 243 210 145 1.000000
+-0.366907 -0.072082 0.381073 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257351 -0.449454 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.423509 -0.067603 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.313235 0.613231 -0.445162 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.368198 0.360980 1.000000 0.000000 0.000000 239 202 143 1.000000
+0.321114 0.580645 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.159205 -0.190652 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.443483 -0.253475 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.116048 -0.119074 -0.335306 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.316213 0.209844 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.176331 -0.115207 0.444635 0.000000 -0.000000 1.000000 238 195 138 1.000000
+0.349593 0.016952 -0.435235 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.147765 0.225190 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.183897 -0.240480 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.035234 -0.096271 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.091542 -0.437051 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.676673 -0.200039 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.197888 -0.307544 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.282565 -0.085207 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.239884 0.613231 -0.434822 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+0.370666 0.483459 0.226047 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.243241 0.198786 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.625928 0.180839 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.095355 -0.460481 -0.503673 0.000000 0.000000 -1.000000 31 1 0 1.000000
+-0.124816 0.457036 -0.335085 0.000000 -0.000000 1.000000 237 201 137 1.000000
+0.246859 0.626765 0.500375 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.174104 -0.259361 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.256262 -0.087464 -0.067251 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.000504 -0.087464 0.023442 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.335176 -0.078906 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.549488 0.409194 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.313111 -0.479934 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.120081 -0.540544 -0.524638 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.293800 0.417283 -0.487868 0.000000 -0.000000 1.000000 245 212 149 1.000000
+-0.098878 -0.545813 -0.172738 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.148345 -0.119074 -0.042943 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.611365 0.117901 -1.000000 0.000000 0.000000 246 205 147 1.000000
+-0.185553 0.158900 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.271240 -0.087464 -0.484113 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 0.438402 -0.451401 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.223607 -0.284975 -1.000000 0.000000 0.000000 249 217 156 1.000000
+0.205492 0.463082 0.037600 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.182925 -0.119074 -0.051499 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.232839 0.634305 -0.097476 0.000000 1.000000 0.000000 243 210 147 1.000000
+-0.316431 -0.571822 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.005455 0.601259 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.106254 -0.697285 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.046863 0.409931 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.009317 0.528611 -0.335085 0.000000 -0.000000 1.000000 240 204 140 1.000000
+-0.285247 0.460520 -0.161921 -1.000000 0.000000 0.000000 250 213 154 1.000000
+-0.345833 -0.005427 -0.006104 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.099747 0.639252 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.141781 -0.151852 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.263181 -0.764022 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.280843 -0.087464 -0.004000 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.424745 -0.117303 -1.000000 0.000000 0.000000 253 216 157 1.000000
+0.370666 -0.349202 -0.455791 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.638990 0.281558 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.209920 0.277965 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.103660 -0.416787 -1.000000 0.000000 0.000000 238 201 142 1.000000
+-0.345833 0.547114 -0.359700 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.084474 0.079802 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.148117 -0.124764 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.377757 -0.598497 0.455503 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.009150 0.470985 -0.213365 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.036665 -0.339657 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.178506 -0.119074 -0.359358 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+-0.053982 0.386523 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.339068 -0.643580 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.076906 -0.765098 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.448142 0.418823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.316163 0.634305 -0.258484 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.014431 -0.087464 -0.342654 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.370666 -0.183936 -0.352628 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.503539 0.150934 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.022657 0.173335 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.279824 0.113847 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.509874 -0.246841 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.155088 0.602694 0.474733 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.105565 0.470985 -0.029381 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.059548 -0.169234 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.599947 -0.400828 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223075 0.533046 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.206468 -0.087464 -0.374015 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257396 0.562973 0.076548 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.350522 -0.123703 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.492366 -0.265907 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.181314 0.643236 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.196776 0.539002 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.004988 -0.087464 -0.421943 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.049613 0.199892 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.425502 0.371061 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.036694 -0.410931 -1.000000 0.000000 0.000000 240 206 146 1.000000
+-0.250217 0.496546 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.323125 -0.348625 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.069808 -0.087464 0.021300 0.000000 1.000000 0.000000 248 212 148 1.000000
+0.370666 -0.641858 -0.439233 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.054175 -0.087464 -0.115299 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.349593 0.233395 0.336755 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.336377 0.225235 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.196885 0.265059 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.364127 0.665915 -0.436787 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.175251 -0.505363 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.364571 -0.414144 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.350660 0.055425 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.230495 -0.265764 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.513659 0.012653 1.000000 0.000000 0.000000 240 203 144 1.000000
+0.093067 -0.558782 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.572844 -0.270772 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.020386 -0.087464 0.363059 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.184967 0.463082 0.061261 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+0.370666 0.209483 -0.487292 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.350934 -0.484517 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.503868 0.378515 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.332270 -0.087464 0.191058 0.000000 1.000000 0.000000 247 217 155 1.000000
+-0.097507 0.539474 -0.506047 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.164017 0.442009 0.445983 0.000000 -1.000000 -0.000000 245 205 142 1.000000
+-0.248492 -0.424830 -0.503673 0.000000 0.000000 -1.000000 244 212 151 1.000000
+-0.366907 0.482175 -0.363039 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.350391 -0.566384 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.357956 -0.023489 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.374566 -0.116580 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.396546 0.227907 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.083049 0.513277 0.444635 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.124377 0.539474 -0.507614 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.185291 0.075731 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.112126 -0.177236 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.008782 0.052668 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.320911 -0.273747 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.205701 0.470985 0.279093 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.366907 0.634242 0.263809 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.682363 -0.514725 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.205592 -0.343673 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.116486 -0.545813 0.152742 0.000000 1.000000 0.000000 248 207 139 1.000000
+0.349593 -0.319730 -0.094252 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.136573 -0.308145 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.199079 -0.389702 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.365968 -0.590594 0.497446 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.251135 0.613231 -0.159002 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.370666 0.408315 0.132144 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.329743 -0.216085 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.099502 -0.092467 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.221178 -0.119074 -0.155649 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.376763 0.211683 -1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.220032 0.593110 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.232314 0.468672 0.444635 0.000000 0.000000 -1.000000 243 211 151 1.000000
+-0.309285 -0.198707 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.435103 0.172215 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.188989 0.014650 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.078934 -0.119074 0.143857 0.000000 -1.000000 -0.000000 244 211 154 1.000000
+0.102117 -0.685092 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.187126 0.296696 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.287959 0.613231 -0.360449 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.311623 -0.087464 -0.177160 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.340146 -0.087464 0.433332 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.088261 0.470985 0.076397 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.305862 0.470123 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.275020 -0.419527 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.133452 0.049008 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.035175 -0.205238 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.496617 -0.181546 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.332301 -0.141055 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.036696 0.120020 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.279581 0.665915 0.473873 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.530416 -0.088410 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.006417 -0.087464 -0.058369 0.000000 1.000000 0.000000 251 219 158 1.000000
+0.349593 -0.062986 -0.478688 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.499363 -0.262150 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.538986 -0.146384 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.041446 -0.201564 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.446472 -0.529686 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.549519 0.247624 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.121081 -0.141395 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.193075 0.470985 -0.085648 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.303725 0.118253 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.369348 0.439600 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.122311 -0.399352 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.290673 -0.452802 -0.487868 0.000000 -0.000000 1.000000 253 216 157 1.000000
+-0.253637 0.442505 -0.325234 1.000000 0.000000 0.000000 245 205 142 1.000000
+0.056778 -0.545813 0.276816 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.130875 0.665915 0.466209 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.222597 -0.068694 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.257396 0.442417 -0.159943 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.077745 -0.087464 0.179979 0.000000 1.000000 0.000000 246 205 137 1.000000
+-0.345833 -0.572135 0.070276 1.000000 0.000000 0.000000 249 213 149 1.000000
+0.291546 -0.087464 0.309152 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.781218 0.021313 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.716267 -0.474706 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.185617 0.463082 -0.201953 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.245090 -0.119074 0.417612 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.170395 -0.484544 -0.503673 0.000000 0.000000 -1.000000 239 203 139 1.000000
+0.108718 0.665915 -0.531067 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.235888 0.463082 0.046565 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.089270 0.359899 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.662875 -0.164814 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.366907 0.560335 0.342883 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.555418 -0.058001 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.391798 -0.499385 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253896 -0.302821 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.580132 -0.392048 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.269633 0.634305 -0.036484 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.286432 0.568450 0.161130 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.074935 -0.087464 -0.244051 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.275336 -0.246089 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.060055 0.200506 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.262672 0.279932 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.022975 -0.119074 -0.259909 0.000000 -1.000000 -0.000000 250 207 150 1.000000
+0.259155 0.201190 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.219769 -0.727390 -0.535284 0.000000 0.000000 -1.000000 238 202 138 1.000000
+-0.036562 -0.007156 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.301321 -0.087464 -0.439571 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.289175 -0.226837 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.039795 0.470985 0.409116 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.294052 0.613231 0.158361 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.279586 0.634303 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.262661 -0.052523 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.116315 -0.597076 0.444635 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.092663 0.097001 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.062653 0.437888 -0.503673 0.000000 0.000000 -1.000000 248 214 154 1.000000
+0.370666 -0.209621 -0.205452 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.138884 -0.159174 1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.366907 -0.198156 -0.445213 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.274072 -0.556756 0.444635 0.000000 0.000000 -1.000000 246 214 153 1.000000
+0.370666 0.495095 0.118777 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.574802 -0.335672 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.286840 0.600805 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.554069 0.022773 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.346670 -0.545813 -0.038121 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.272214 0.634305 -0.056231 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.457987 -0.366205 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.034817 0.099993 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.440891 -0.501008 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.063773 -0.119074 -0.021980 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.345833 -0.446773 -0.320382 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.115820 0.058282 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.142912 0.226949 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.085548 0.159384 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.299068 -0.119074 0.030551 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.184487 0.136842 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.164764 -0.032719 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.365427 0.310996 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.278151 0.087839 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 0.289128 -0.421748 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.031186 -0.104655 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.221875 0.634305 0.188359 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.316072 0.634305 -0.089180 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.113963 0.143868 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.474233 0.064344 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.370666 0.329663 0.350658 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.582072 0.057520 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 0.321572 0.064390 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.391064 -0.004289 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.308195 0.613231 -0.406654 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.011887 0.645631 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.243064 0.573718 0.478206 0.000000 -0.999149 0.041244 248 235 215 1.000000
+-0.345833 -0.172357 -0.118266 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.053316 -0.545813 -0.013476 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 0.199058 -0.436096 -1.000000 0.000000 0.000000 243 203 140 1.000000
+-0.377444 -0.244272 0.451127 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.232857 0.232329 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.186565 0.289189 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.240578 0.613231 0.413345 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.244991 0.613231 0.010784 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.356436 0.020988 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.349593 -0.554188 -0.423784 -1.000000 0.000000 0.000000 249 213 149 1.000000
+-0.328286 -0.087464 -0.281085 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.294870 -0.119074 0.196489 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+-0.237768 0.644127 -0.503673 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.135950 -0.013554 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.312399 -0.442958 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.054454 -0.697916 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.144393 -0.087464 -0.270959 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.616491 0.429567 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.218498 -0.545813 -0.186778 0.000000 1.000000 0.000000 244 210 150 1.000000
+-0.288112 0.326366 -0.487868 0.000000 -0.000000 1.000000 240 203 144 1.000000
+-0.373017 0.213700 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.249685 0.498358 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.011306 -0.306504 -0.503673 0.000000 0.000000 -1.000000 243 205 144 1.000000
+-0.345833 0.437518 0.124436 1.000000 0.000000 0.000000 239 207 146 1.000000
+0.349593 -0.054002 -0.226774 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.235875 -0.141097 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.079171 -0.119074 0.312483 0.000000 -1.000000 -0.000000 246 208 149 1.000000
+0.230566 -0.119074 -0.432359 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.082832 0.463082 -0.005737 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.211413 0.204835 -0.503673 0.000000 0.000000 -1.000000 247 209 150 1.000000
+0.370666 0.127396 -0.026297 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.089972 -0.274044 -0.503673 0.000000 0.000000 -1.000000 245 202 145 1.000000
+0.121450 -0.410274 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.160606 0.247008 -1.000000 0.000000 0.000000 250 213 154 1.000000
+0.257396 0.534485 0.115271 -1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.145297 -0.087464 0.164304 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.366907 0.330461 0.330498 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.118233 -0.228609 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.037909 -0.119074 -0.215687 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.656682 0.253937 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.308688 0.335727 -1.000000 0.000000 0.000000 249 215 156 1.000000
+-0.366907 -0.230676 0.026912 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.246142 0.634305 -0.021816 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.221329 0.533786 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.541725 -0.314812 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.125817 -0.425655 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.754043 -0.263179 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.323210 0.299520 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.206414 0.258141 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.272200 -0.319905 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.010672 -0.295770 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.246783 0.634305 -0.404934 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.278422 0.414830 -1.000000 0.000000 0.000000 241 205 141 1.000000
+0.370666 -0.780287 -0.436527 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.300275 0.413660 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.072087 -0.119074 0.277650 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.248460 0.634305 0.264333 0.000000 1.000000 0.000000 246 206 143 1.000000
+0.370666 -0.388950 -0.144590 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.194334 -0.475905 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.102840 0.229780 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.101472 -0.173263 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.370666 0.203373 -0.407464 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.405352 -0.300633 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.080543 -0.446378 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.300674 -0.442601 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.028835 -0.553383 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.212567 -0.162034 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.627274 -0.442094 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.700862 -0.387199 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.297856 0.054660 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.022826 -0.119074 0.116228 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.302138 -0.328021 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.288112 -0.785731 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.262108 -0.537105 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 0.047263 0.429822 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.471946 0.227415 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.416792 -0.112391 1.000000 0.000000 0.000000 250 218 157 1.000000
+-0.366907 -0.399498 -0.442474 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.638319 -0.120958 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.049880 -0.545813 0.093629 0.000000 1.000000 0.000000 243 201 139 1.000000
+0.370666 0.448182 -0.352239 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.199396 0.482389 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.386479 -0.130998 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.345452 0.634305 0.415886 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.429208 0.150897 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.070283 0.568450 -0.337927 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.581884 0.082244 1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.056816 -0.545813 -0.260877 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 0.400142 0.442993 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.296734 -0.545813 -0.463038 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.638491 -0.248330 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.370666 0.527173 -0.316649 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.138920 -0.087464 0.181001 0.000000 1.000000 0.000000 241 200 132 1.000000
+-0.366907 -0.149289 -0.111410 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.096844 0.248612 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.344806 -0.119074 0.340739 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.352728 0.403240 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.300122 -0.172284 1.000000 0.000000 0.000000 242 214 152 1.000000
+0.281832 -0.278240 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+-0.366907 0.055135 -0.287440 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.042784 0.298431 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.490216 0.276174 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.224863 -0.130988 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.289007 0.513002 0.124536 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.069387 0.316325 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.048214 -0.087464 -0.439307 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.118455 -0.542690 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.205487 -0.511585 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.162970 -0.374019 -0.503673 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.315629 -0.119074 0.427516 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.069313 0.665915 0.473216 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.210459 -0.119074 0.221117 0.000000 -1.000000 -0.000000 243 210 153 1.000000
+0.370666 -0.144188 -0.171063 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.046922 -0.336917 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.132559 0.057537 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.517026 -0.379833 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.064315 -0.119074 0.005512 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.260030 -0.023480 -0.503673 0.000000 0.000000 -1.000000 250 207 150 1.000000
+0.289007 0.523564 0.449600 1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.218320 0.383890 0.507856 -0.000000 0.035059 0.999385 248 235 215 1.000000
+-0.286013 -0.389807 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.333121 0.590950 -0.487868 0.000000 -0.000000 1.000000 246 214 153 1.000000
+-0.029414 -0.119074 0.028178 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.330574 0.536190 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.309111 -0.351959 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.116656 -0.143594 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.525568 0.415657 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.497731 -0.085630 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.440495 -0.116079 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.170980 -0.545813 0.043157 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 0.165435 0.188883 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.214315 -0.196853 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.163666 0.457926 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.234029 -0.299037 1.000000 0.000000 0.000000 241 209 148 1.000000
+0.170585 0.233620 0.498514 0.000000 -0.653960 0.756529 248 235 215 1.000000
+0.370666 0.283105 -0.281181 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.133894 0.470985 0.231777 0.000000 1.000000 0.000000 243 212 146 1.000000
+-0.118432 0.143720 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.601280 -0.131343 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.091520 0.607533 -0.535284 0.000000 0.000000 -1.000000 249 212 153 1.000000
+-0.108493 0.470985 -0.134057 0.000000 1.000000 0.000000 247 215 154 1.000000
+0.259972 0.613231 0.197862 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.039687 -0.014054 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.172553 -0.150835 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.387448 -0.027330 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.231726 -0.305288 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.174138 -0.087464 0.101750 0.000000 1.000000 0.000000 244 211 148 1.000000
+-0.309898 0.468459 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.590937 -0.346881 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.156298 -0.523884 0.507856 -0.000000 0.096865 0.995297 248 235 215 1.000000
+0.039553 0.405098 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.069842 -0.087464 -0.181667 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.170428 -0.087464 0.192177 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.186340 -0.773509 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.232726 0.634305 -0.317690 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.209215 0.463082 -0.000791 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.072616 0.104272 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.557956 0.448828 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.136671 -0.087464 -0.385567 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.028155 -0.545813 -0.322136 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.257396 0.493137 0.425504 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 -0.614083 0.151617 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.342538 0.492777 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.567900 -0.279127 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.165436 -0.148707 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.347760 -0.452508 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.477131 -0.227830 1.000000 0.000000 0.000000 241 201 136 1.000000
+0.349593 0.291594 0.031491 -1.000000 0.000000 0.000000 241 205 141 1.000000
+0.349593 -0.426986 0.314997 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.073176 -0.087464 0.389717 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.349593 -0.300830 -0.043186 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.128619 0.110683 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.126549 -0.119074 0.028066 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+0.349593 -0.173540 0.397531 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.520912 0.316844 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314223 -0.395608 0.464723 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.300935 -0.397285 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.006264 0.081242 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.203103 0.132217 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.233359 -0.392788 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.281040 -0.087464 -0.119622 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.088428 -0.545813 -0.065554 0.000000 1.000000 0.000000 252 216 152 1.000000
+0.081388 0.573293 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.008247 0.217018 -0.487868 0.000000 -0.000000 1.000000 242 206 142 1.000000
+-0.258170 -0.330804 -0.487868 0.000000 -0.000000 1.000000 243 207 143 1.000000
+-0.345833 0.383618 -0.356560 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.337576 -0.025195 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.075395 0.252817 1.000000 0.000000 0.000000 246 212 153 1.000000
+-0.330568 -0.617711 -0.535284 0.000000 0.000000 -1.000000 252 215 156 1.000000
+0.153576 0.463082 -0.243164 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.327060 -0.238314 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.542864 0.435488 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.511052 -0.226472 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.079602 -0.445125 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.170046 -0.719652 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.245285 0.088592 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.297431 0.337576 -0.487868 0.000000 -0.000000 1.000000 246 204 142 1.000000
+0.050216 -0.087464 -0.292584 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.164894 -0.545813 0.395390 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.343909 0.587951 -0.535284 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.301514 -0.095670 -0.503673 0.000000 0.000000 -1.000000 247 219 157 1.000000
+0.215672 -0.119074 -0.018785 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.029500 0.470985 -0.102703 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.207137 -0.119074 0.154071 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+-0.069529 -0.460700 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+0.370666 0.007511 0.200648 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.140378 0.536693 0.444635 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.012486 0.442009 0.472575 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+0.190152 -0.568844 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 -0.004773 -0.256015 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.000582 -0.397494 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.268558 -0.545813 -0.070811 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.349593 0.539776 0.270744 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.349593 0.628202 0.044854 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.273302 0.568450 0.306547 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.212329 -0.545813 0.336412 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.266550 0.195598 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 -0.147695 0.202664 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.040714 0.394233 -1.000000 0.000000 0.000000 247 209 150 1.000000
+-0.366907 -0.336919 0.161876 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.564057 0.209340 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.144620 -0.087464 0.010723 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.103885 0.012407 1.000000 0.000000 0.000000 248 212 148 1.000000
+0.289007 0.444021 0.142455 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.550667 -0.043140 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.230033 0.293586 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.031036 0.568450 -0.341974 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.240836 -0.309722 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.317983 -0.345187 0.448494 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.758679 -0.160916 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.184856 -0.119074 -0.234984 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.274581 -0.120354 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.320193 -0.545813 0.272267 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.045362 0.463082 0.134287 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.000471 0.470985 -0.317625 0.000000 1.000000 0.000000 244 208 144 1.000000
+0.324445 0.634305 0.205760 0.000000 1.000000 0.000000 240 207 144 1.000000
+-0.366907 0.619402 -0.023240 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.224093 0.328321 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.222418 -0.595496 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.576340 0.161007 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.407133 0.232569 -1.000000 0.000000 0.000000 239 202 143 1.000000
+0.187588 0.132183 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.345570 -0.506974 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.151807 -0.467273 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.030366 -0.415238 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.294134 0.376504 -0.503673 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.345833 -0.114116 0.152163 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.266801 -0.545813 0.417025 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.087653 0.658012 0.503697 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.077498 0.463082 0.420848 0.000000 -1.000000 -0.000000 245 209 145 1.000000
+-0.366907 -0.185494 -0.279694 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.340723 0.146739 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.298892 0.415935 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.168505 0.359253 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.094757 -0.119074 -0.436987 0.000000 -1.000000 -0.000000 241 209 149 1.000000
+-0.034433 -0.119074 0.222959 0.000000 -1.000000 -0.000000 248 214 155 1.000000
+-0.366907 -0.182489 0.405693 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.002954 0.539474 -0.525504 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.221848 -0.545813 -0.221717 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.074407 -0.440014 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.080783 0.056008 -0.487868 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.370666 0.026292 -0.128495 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.606506 0.107933 1.000000 0.000000 0.000000 249 206 149 1.000000
+-0.345833 0.281388 0.315313 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.316218 -0.119074 0.110875 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.151750 0.124191 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.029055 0.159331 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 0.552901 0.410068 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.274685 -0.087464 -0.005171 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.366907 0.415573 0.298517 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.345143 -0.010341 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.422811 0.028227 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.272837 -0.119074 0.428324 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.184615 0.463082 0.370843 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.100447 -0.545813 -0.299427 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.662190 -0.129509 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.097940 0.470985 -0.280977 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.331481 0.634305 0.100155 0.000000 1.000000 0.000000 241 213 151 1.000000
+0.016708 0.470985 0.219300 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.149638 -0.119074 0.372120 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.229848 0.474224 -0.335085 0.000000 -0.000000 1.000000 241 204 145 1.000000
+0.318561 -0.545813 0.044533 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.370666 -0.615666 -0.485186 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285648 -0.030423 -0.487868 0.000000 -0.000000 1.000000 244 202 138 1.000000
+0.253437 0.634305 0.379940 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.381203 0.548615 0.472900 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.173488 -0.431967 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.275287 0.185275 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.234790 0.125468 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.399176 -0.532347 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.010613 -0.455158 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.218708 0.463082 -0.152767 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.003763 -0.119074 -0.372224 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.370666 0.571168 -0.099196 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.026782 -0.011346 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.104527 0.373674 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.107917 -0.087464 -0.308943 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.055101 0.463082 0.010736 0.000000 -1.000000 -0.000000 251 213 154 1.000000
+-0.314223 0.575829 0.447120 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.346855 0.665915 0.250671 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.381203 0.626472 0.472504 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.133656 -0.545813 -0.338764 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.283172 0.613231 0.118030 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.377781 0.042469 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.246859 -0.331676 0.477277 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.023829 0.452614 0.444635 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.345833 -0.262944 -0.458036 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.216341 0.178049 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.275012 0.525952 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+-0.366907 0.222195 0.416615 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.477868 0.157199 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.220407 0.634305 0.218082 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.118635 -0.747376 -0.535284 0.000000 0.000000 -1.000000 240 204 140 1.000000
+-0.305902 -0.350982 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+0.246859 0.190447 0.496331 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.291294 0.213652 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.593855 -0.109470 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.374615 -0.408182 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 -0.291991 0.093231 1.000000 0.000000 0.000000 248 212 148 1.000000
+0.205406 -0.654903 -0.535284 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.366907 0.662459 0.043735 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.187908 -0.545813 -0.336241 0.000000 1.000000 0.000000 247 209 150 1.000000
+-0.068792 -0.087464 -0.402562 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.162486 0.568450 -0.360776 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.328181 -0.202678 -1.000000 0.000000 0.000000 249 217 156 1.000000
+0.241261 0.651615 -0.503673 0.000000 -0.000000 1.000000 244 212 151 1.000000
+0.370666 0.635811 0.336044 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.003092 -0.366880 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.205287 0.091535 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.369541 -0.557851 0.501908 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.290199 0.102044 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.353976 -0.514106 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.107140 0.474200 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.268059 -0.488464 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.349593 -0.086461 -0.083094 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.370666 0.510397 0.444363 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.244246 0.036812 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.088090 0.364116 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.262762 -0.087464 -0.081208 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.375656 0.151173 0.444635 0.000000 0.000000 -1.000000 252 211 153 1.000000
+0.289064 0.634305 -0.120798 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.121580 0.489786 0.444635 0.000000 0.000000 -1.000000 243 203 140 1.000000
+0.020677 -0.611899 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.373497 0.332826 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.614627 -0.111946 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.534884 -0.384843 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.368499 0.475998 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.220579 -0.545813 0.015847 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 -0.442196 0.163441 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.349593 -0.494311 -0.212295 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.044598 -0.154398 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.058998 0.329697 0.444635 0.000000 0.000000 -1.000000 239 207 146 1.000000
+-0.345833 -0.409411 -0.242548 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.452807 0.327554 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.058877 0.044161 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.149621 -0.215584 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.323496 -0.314683 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.537637 -0.141411 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.005780 0.273361 0.507856 0.000000 -0.114751 0.993394 248 235 215 1.000000
+-0.065933 -0.566266 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.584709 0.336260 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.303760 0.341092 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.681898 0.062914 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.120321 0.309514 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.092308 -0.367443 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.186326 -0.375736 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.241215 -0.608576 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.653021 0.205809 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.374748 -0.373048 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.262101 0.613231 -0.006135 0.000000 -1.000000 -0.000000 252 216 152 1.000000
+-0.366907 0.045732 0.140231 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.384940 0.386608 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.754565 0.225026 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.166568 0.485328 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.370666 -0.603503 -0.368582 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.184785 -0.202636 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.118997 -0.545813 -0.262743 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.303817 -0.233554 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.179519 0.209171 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.218624 -0.337640 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.380797 0.038305 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.167091 -0.087464 -0.272049 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.214064 -0.589807 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.305673 0.634305 -0.245596 0.000000 1.000000 0.000000 252 220 159 1.000000
+-0.363923 0.327309 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.051733 0.256711 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.106439 -0.271539 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.010576 0.381918 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.106989 0.082474 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.090762 0.205099 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.399026 0.295074 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.232464 -0.455074 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.311318 0.235527 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.261517 -0.119074 0.187702 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.307927 -0.406292 -1.000000 0.000000 0.000000 244 208 144 1.000000
+0.370666 0.528018 -0.092415 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.278201 0.602768 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.489611 -0.042974 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.160517 -0.473762 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.404076 0.173884 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.056786 0.539474 -0.518771 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.345833 0.589745 -0.021485 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.025239 0.553807 -0.503673 0.000000 0.000000 -1.000000 240 203 144 1.000000
+-0.278145 -0.087464 -0.226577 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.042165 -0.063309 -0.503673 0.000000 0.000000 -1.000000 243 211 150 1.000000
+0.370666 0.169257 -0.205255 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.047159 0.470985 -0.189393 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.308288 -0.087464 0.043551 0.000000 1.000000 0.000000 240 203 144 1.000000
+-0.075884 -0.719514 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.638072 -0.083978 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.024387 0.463082 -0.133043 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+0.305462 -0.087464 -0.477295 0.000000 1.000000 0.000000 244 203 135 1.000000
+0.370666 0.154119 -0.514672 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.266270 -0.087464 0.071146 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.162374 -0.087464 0.258123 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.372616 -0.056702 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.629724 0.367467 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.300063 -0.473576 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.431486 -0.281323 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.198981 0.643952 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.152022 0.442009 -0.340370 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.228072 -0.244526 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.104860 0.080226 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.257396 0.448453 0.022243 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.236132 -0.380955 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.135651 -0.545813 0.096214 0.000000 1.000000 0.000000 249 209 146 1.000000
+-0.345833 0.185035 -0.373644 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.202430 -0.545813 -0.362695 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.272236 -0.252365 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.368463 0.240651 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.624693 -0.160196 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.311360 0.240695 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.182406 -0.124954 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.328575 0.251703 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.185754 -0.545813 0.066809 0.000000 1.000000 0.000000 246 210 146 1.000000
+-0.137051 -0.054514 -0.487868 0.000000 -0.000000 1.000000 244 216 154 1.000000
+-0.314436 0.539474 -0.510151 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.158930 -0.119074 0.083176 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.160185 0.470985 0.180469 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.759080 -0.060433 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.026810 0.184319 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.367390 -0.242779 1.000000 0.000000 0.000000 239 207 146 1.000000
+-0.097645 0.509510 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.036442 -0.155268 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.251745 -0.087464 0.372468 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.223152 0.633687 -0.325971 -1.000000 0.000000 0.000000 247 211 147 1.000000
+0.246859 0.274858 0.492175 -1.000000 -0.000000 -0.000000 255 255 255 1.000000
+0.038228 -0.087464 -0.380034 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.128663 -0.031290 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.606633 0.425257 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.118154 0.463082 -0.192947 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.373441 -0.230339 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.003950 -0.309041 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.345833 0.196186 -0.341326 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.207636 -0.119074 0.058612 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.018629 0.568450 -0.353423 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.757064 -0.338442 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.164008 -0.087464 -0.144107 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.349593 -0.333862 0.417195 -1.000000 0.000000 0.000000 236 202 142 1.000000
+0.349593 0.170661 0.288756 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.131475 -0.093255 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.562819 -0.018701 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.249863 -0.087464 -0.396725 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.477621 -0.489871 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.348256 -0.140845 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.350475 -0.227426 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.179443 0.665915 0.470662 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.285247 0.506755 0.045257 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.032234 0.174479 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.305893 -0.558806 0.444635 0.000000 0.000000 -1.000000 241 209 148 1.000000
+0.370666 -0.724966 -0.507176 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.580224 0.104050 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.216034 -0.039503 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.569840 0.183551 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.370666 -0.039933 -0.310109 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.313036 0.255444 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.309300 -0.493204 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.118339 -0.545813 0.281253 0.000000 1.000000 0.000000 246 204 140 1.000000
+0.370666 0.251168 -0.200549 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.190740 0.349369 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.596084 0.161281 1.000000 0.000000 0.000000 240 212 150 1.000000
+-0.345833 -0.395022 -0.178029 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.004147 0.199204 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.464260 -0.046073 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.367953 -0.590594 0.503998 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.289007 0.533218 0.237238 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.130476 -0.598702 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.240336 0.361947 -0.503673 0.000000 0.000000 -1.000000 253 216 157 1.000000
+0.349593 0.431200 0.376798 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.300585 -0.601214 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.583813 0.347530 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.302483 0.175201 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.000260 0.319173 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.156804 0.378336 0.507856 0.000000 -0.022609 -0.999744 255 255 255 1.000000
+-0.054459 -0.425328 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.699828 -0.244884 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.064033 -0.057849 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 0.102939 0.244912 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.266341 -0.026427 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.018547 -0.087464 -0.164835 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.031162 0.238964 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.042056 -0.473965 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.253637 0.534884 0.163577 1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.345833 -0.545664 -0.451907 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.482269 -0.106108 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.366907 -0.086002 -0.435004 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.377444 -0.409204 0.475120 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.137872 -0.767601 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.178700 -0.545813 -0.141062 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.265887 0.613231 -0.379297 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+-0.120251 0.463082 0.073913 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.071016 -0.087464 0.219884 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.000125 -0.119074 -0.335130 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.370666 0.143437 0.260308 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.224475 -0.438273 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.135477 -0.354602 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.202414 -0.517932 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.570329 -0.179137 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.227024 -0.330749 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.364358 -0.073959 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.430393 -0.079451 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.111252 0.568450 -0.341210 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.237372 -0.119074 -0.082947 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.283192 -0.720201 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.512420 -0.199137 -1.000000 0.000000 0.000000 253 210 153 1.000000
+0.013914 -0.087464 0.173268 0.000000 1.000000 0.000000 240 210 148 1.000000
+-0.366907 0.579853 0.383399 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.025123 -0.087464 0.128781 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.145615 0.030342 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.256029 0.568450 0.223605 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.241303 -0.373044 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.315452 -0.545813 0.439884 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.153675 0.228333 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.260686 -0.570841 -0.535284 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.144603 0.641970 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.458829 0.226065 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.250674 -0.087464 0.219906 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.573693 0.268050 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.153504 -0.271530 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.302590 0.203555 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.349593 -0.042728 -0.281408 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.175700 -0.297297 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+-0.345833 0.236053 0.222547 1.000000 0.000000 0.000000 248 212 146 1.000000
+-0.175985 -0.087464 -0.099105 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.345833 -0.324128 -0.314184 1.000000 0.000000 0.000000 247 217 155 1.000000
+-0.345833 -0.100065 -0.516425 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.013891 -0.125464 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.101194 0.470985 0.109921 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.061099 -0.158215 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.067917 0.470985 0.373285 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.512206 0.344942 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 -0.251467 -0.066258 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.075122 0.463082 0.265696 0.000000 -1.000000 -0.000000 239 202 143 1.000000
+-0.219392 0.620422 -0.381023 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.174687 0.113487 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.638945 -0.229441 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.068592 0.106262 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.386933 -0.384570 -1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.061036 -0.087464 -0.060682 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.320737 -0.545813 0.138725 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.370666 -0.526885 -0.479138 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.122673 -0.505221 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.189719 0.220948 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.349593 -0.243640 0.180687 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.586505 -0.375329 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.485647 0.204862 -1.000000 0.000000 0.000000 242 214 152 1.000000
+-0.345833 0.514646 -0.172483 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.263090 0.613231 -0.125898 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+0.370666 -0.677305 0.241036 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.284433 0.390800 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.100928 -0.440758 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.271512 -0.090338 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.206328 0.470985 0.107814 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.196952 -0.039157 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.504077 -0.089167 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.629364 -0.004952 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.049787 -0.400661 -1.000000 0.000000 0.000000 246 210 146 1.000000
+-0.366907 0.190919 -0.421325 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.107071 0.070550 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.333336 -0.119074 0.359758 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.270467 0.193236 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.272323 0.097002 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.751473 0.247488 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.397286 -0.081839 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.250332 -0.545813 -0.045628 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.209209 0.486697 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.496506 0.420153 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.008002 0.500443 -0.503673 0.000000 0.000000 -1.000000 239 211 149 1.000000
+0.370666 -0.595800 0.327648 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.183529 -0.119074 -0.369884 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.431440 -0.441381 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.508849 -0.191136 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.045403 -0.545813 -0.041566 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.094143 0.122986 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.058572 0.633505 -0.503673 0.000000 -0.000000 1.000000 247 215 154 1.000000
+0.349593 -0.283530 -0.320968 -1.000000 0.000000 0.000000 238 206 145 1.000000
+0.349593 -0.190756 0.422466 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.246578 0.634305 0.163966 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.100206 0.425715 0.507856 0.000000 -0.128195 -0.991749 255 255 255 1.000000
+0.336081 0.529821 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.217659 -0.666418 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.322416 0.497233 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.158304 0.158415 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.479844 0.292877 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.366907 0.473507 0.143733 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.017445 0.313946 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.324433 -0.119074 -0.148746 0.000000 -1.000000 -0.000000 255 224 165 1.000000
+0.206273 -0.122668 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.253637 0.568291 -0.130906 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 0.014719 -0.211432 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.498054 -0.243114 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.269371 0.051839 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.210245 -0.205468 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.637148 -0.088888 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.140744 -0.368913 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.468970 0.380708 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.132954 -0.234517 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.069208 0.470985 0.076829 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.071550 -0.545813 -0.336895 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.074350 -0.119074 0.416183 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.388846 0.420014 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.490668 -0.310239 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.711319 0.315190 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.235773 0.634305 -0.146051 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.268669 0.665915 -0.532335 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.317104 0.634305 0.060695 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.563815 -0.272805 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.172123 -0.535276 0.445674 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.241564 0.463082 0.264100 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.085195 -0.159318 -0.487868 0.000000 -0.000000 1.000000 245 204 146 1.000000
+-0.366907 0.266798 -0.124078 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.421306 -0.029026 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.369499 0.343568 0.444635 0.000000 0.000000 -1.000000 249 217 156 1.000000
+0.349593 0.158227 -0.424896 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.238560 -0.402295 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.246707 -0.545813 -0.108161 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.366907 0.054655 0.240183 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.476236 0.250860 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.489640 0.353144 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 -0.567175 -0.077892 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.345833 0.247201 -0.459488 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.372644 0.576666 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.437058 -0.019822 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.303570 -0.165309 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.196228 -0.252536 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.452909 -0.123630 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.353273 0.665915 0.130405 0.000000 1.000000 0.000000 239 206 149 1.000000
+-0.345833 -0.347392 0.408289 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.105221 -0.199023 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.045392 -0.533352 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.289007 0.502092 0.226586 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.355280 -0.057478 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.409508 -0.050499 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.178748 -0.090315 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.200540 0.463082 0.165433 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.221553 -0.087464 0.328576 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.297249 0.068661 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.093104 0.202482 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+-0.282886 0.613231 -0.193544 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.037093 -0.047146 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.181140 0.552409 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.279604 -0.545813 -0.457331 0.000000 1.000000 0.000000 241 208 145 1.000000
+0.349593 0.111765 -0.185753 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.015812 -0.119074 -0.446989 0.000000 -1.000000 -0.000000 237 200 141 1.000000
+-0.191798 0.510432 -0.335085 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.349593 0.512073 -0.203954 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.079425 -0.028258 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.034785 0.524854 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.102090 0.175276 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.259781 -0.015219 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.099787 -0.087464 -0.061184 0.000000 1.000000 0.000000 240 204 140 1.000000
+-0.345833 -0.507745 0.054711 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.098702 -0.242311 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.451941 0.000209 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.116180 0.191658 1.000000 0.000000 0.000000 247 213 153 1.000000
+-0.024128 -0.545813 0.413732 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.265219 -0.169187 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.073955 0.514349 -0.335085 0.000000 -0.000000 1.000000 245 209 145 1.000000
+-0.059925 -0.545813 0.357363 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.319611 0.303753 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.581630 0.137668 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.049348 -0.516507 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.222208 -0.087464 0.152182 0.000000 1.000000 0.000000 244 201 144 1.000000
+-0.345833 -0.276391 -0.401424 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.369541 -0.151086 0.478889 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.156411 -0.545813 0.103296 0.000000 1.000000 0.000000 246 213 150 1.000000
+0.370666 -0.035428 0.129085 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.026253 0.274760 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.158592 0.316716 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.491352 -0.433810 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.524080 0.141016 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.704103 -0.019438 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.060148 -0.545813 -0.136726 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.129989 -0.087464 0.093442 0.000000 1.000000 0.000000 250 208 146 1.000000
+-0.001870 -0.233580 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.072700 -0.309247 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.286796 0.145628 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.210395 -0.119074 -0.275121 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+0.349593 0.661790 -0.454657 -1.000000 0.000000 0.000000 238 205 140 1.000000
+-0.145589 0.470985 -0.310855 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.054126 -0.030158 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.068080 0.284316 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.037835 0.139640 -0.503673 0.000000 0.000000 -1.000000 239 202 143 1.000000
+-0.302308 0.459203 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.165733 -0.022512 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.128939 -0.099922 -0.487868 0.000000 -0.000000 1.000000 244 212 151 1.000000
+-0.285273 0.005321 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.053820 -0.512593 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.154164 -0.068182 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.279863 -0.057600 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.469363 0.169876 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.768181 0.116042 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.415135 -0.427045 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.349593 0.606411 0.161703 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.290831 0.128152 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.346171 -0.555507 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.227504 0.568189 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.377444 -0.460345 0.471473 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.278879 0.020973 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.191255 -0.087464 0.218512 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.331743 -0.221275 1.000000 0.000000 0.000000 250 210 147 1.000000
+-0.144606 0.463082 -0.003561 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.655679 -0.085991 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.100064 -0.090287 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.259479 0.665915 0.464605 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.025804 -0.545813 -0.364335 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.349593 0.127284 -0.467598 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.059337 -0.221883 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.006300 0.546342 0.476245 0.000000 -0.000000 1.000000 239 202 143 1.000000
+0.249544 0.613231 -0.478326 0.000000 -1.000000 -0.000000 248 212 148 1.000000
+0.370666 -0.131551 -0.512461 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.226655 -0.200011 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.343368 -0.119074 0.110105 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.475674 -0.421290 -1.000000 0.000000 0.000000 239 202 143 1.000000
+-0.366907 -0.274860 0.375112 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.031859 -0.158459 -0.503673 0.000000 0.000000 -1.000000 237 201 137 1.000000
+0.370666 0.082721 -0.262823 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.261507 -0.545813 0.015730 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.036842 -0.590594 0.497792 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.197838 -0.119074 0.272092 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.050973 0.357623 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.318615 0.492005 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.490166 -0.079050 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.038944 0.286224 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.551358 -0.283925 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.033050 0.443513 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.552839 0.185279 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.149366 0.504932 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.209994 0.463082 0.315584 0.000000 -1.000000 -0.000000 244 206 147 1.000000
+-0.285247 0.533756 -0.256298 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.165546 0.444702 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.615512 0.396189 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.201574 -0.381470 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.466327 -0.451553 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.332877 0.155909 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.095012 0.463082 0.021890 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.038278 0.389193 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.366907 0.132014 -0.223197 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.284822 0.634305 0.347177 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.254929 -0.087464 -0.339007 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.287693 -0.545813 -0.315751 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.063976 -0.249409 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.486322 0.436055 -1.000000 0.000000 0.000000 236 204 143 1.000000
+-0.220722 0.486755 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.251143 -0.119074 -0.347432 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.438685 0.427864 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.121126 -0.545813 -0.016144 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.315709 0.317017 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.016285 -0.729786 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.174811 -0.545813 0.256105 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.578368 0.010054 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.021483 0.022444 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.149586 -0.190626 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.290441 -0.481167 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.300184 -0.119074 -0.462578 0.000000 -1.000000 -0.000000 246 208 149 1.000000
+-0.345833 0.330276 -0.309485 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.169273 -0.402446 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.120030 0.279405 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.324486 0.138793 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.401660 0.182787 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.026553 -0.545813 0.102642 0.000000 1.000000 0.000000 244 212 151 1.000000
+0.247511 0.332742 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.271662 -0.087464 -0.183630 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.313460 0.567666 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.231325 -0.437094 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.503189 -0.303621 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.352403 -0.298249 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.069564 0.128155 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.270207 -0.259829 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.498301 0.106929 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.117752 -0.545813 -0.475075 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.179869 0.488025 -0.335085 0.000000 -0.000000 1.000000 249 212 153 1.000000
+-0.345833 -0.478335 -0.154915 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.121552 0.434221 -0.503673 0.000000 0.000000 -1.000000 241 208 145 1.000000
+-0.339691 0.288403 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.774689 0.316940 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.533815 -0.188809 1.000000 0.000000 0.000000 241 205 141 1.000000
+-0.124405 0.207602 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.538950 -0.061811 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.288220 0.396222 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.566121 -0.505925 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.249476 0.634305 0.280740 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.331826 -0.119074 -0.094862 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.309719 0.613231 0.266975 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.349593 0.525069 0.187684 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.189885 0.383013 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.302145 0.021559 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.370666 -0.346480 -0.330534 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.342257 0.262080 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.314223 -0.229235 0.449175 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.033046 -0.087464 0.253045 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.311438 0.634305 0.178397 0.000000 1.000000 0.000000 246 213 150 1.000000
+0.370666 -0.280019 0.107812 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.121091 -0.119074 0.376714 0.000000 -1.000000 -0.000000 240 203 144 1.000000
+0.373301 0.175601 0.506455 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.219311 0.182269 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.075829 0.470985 -0.246623 0.000000 1.000000 0.000000 240 204 140 1.000000
+0.265194 -0.092905 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.249203 -0.155435 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.349593 0.413846 0.073286 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.195078 -0.106179 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.031837 -0.492630 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.268581 -0.257615 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.323271 -0.589306 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.018534 -0.010533 -0.503673 0.000000 0.000000 -1.000000 241 205 141 1.000000
+0.349593 -0.423536 -0.218218 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.366907 -0.514618 -0.356799 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.247196 0.149430 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.163588 -0.545813 -0.226469 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.342431 0.374930 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.037013 -0.087464 -0.414527 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.163251 0.665915 -0.510288 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.287416 0.568450 -0.155635 0.000000 1.000000 0.000000 244 208 144 1.000000
+-0.366907 -0.039138 0.232095 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.098967 0.470985 0.302779 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.245094 -0.119074 0.295117 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.119146 0.506433 -0.335085 0.000000 -0.000000 1.000000 245 208 149 1.000000
+0.188218 -0.604617 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.238302 0.613231 -0.189292 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.450741 -0.465489 1.000000 0.000000 0.000000 243 206 140 1.000000
+0.261397 -0.205474 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.377444 0.431757 0.454565 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.169267 -0.066924 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.309855 0.630524 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.124904 -0.317621 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.504728 -0.306566 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.074993 -0.157377 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.349593 0.450661 0.131495 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.259686 0.406703 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.314130 -0.265172 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.006755 0.145475 -1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.366907 0.017218 0.343217 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.517466 -0.370839 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.592886 0.237560 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.366907 -0.627771 0.211577 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.149669 -0.641077 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.370666 -0.099858 -0.272786 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.478616 0.272168 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.536512 -0.511091 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.152510 0.116669 -1.000000 0.000000 0.000000 245 205 142 1.000000
+0.149658 -0.545813 -0.090177 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.100164 0.211123 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.373994 -0.431144 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.338860 0.020990 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.009604 0.569413 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.104689 0.600803 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.042760 -0.366360 -0.487868 0.000000 -0.000000 1.000000 249 212 153 1.000000
+0.349593 0.059249 -0.168600 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.116634 0.060477 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.508207 0.402555 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.270451 -0.545813 0.159427 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.020169 -0.067226 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.159031 -0.482870 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.359461 -0.035992 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.382252 0.401757 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.036161 0.099344 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.162529 -0.545813 -0.458291 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.186302 -0.080551 1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.159328 0.319812 0.507856 0.000000 -0.047402 0.998876 248 235 215 1.000000
+-0.366907 -0.759634 -0.100735 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.157591 0.255535 1.000000 0.000000 0.000000 239 202 143 1.000000
+0.245718 -0.087464 -0.439520 0.000000 1.000000 0.000000 239 203 139 1.000000
+0.349593 -0.512045 -0.006910 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.293315 0.634305 0.084005 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.030946 -0.087464 -0.479888 0.000000 1.000000 0.000000 245 209 145 1.000000
+0.007396 -0.087464 0.278460 0.000000 1.000000 0.000000 247 205 141 1.000000
+0.370666 -0.003351 -0.177221 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.331217 0.613231 -0.109938 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.027959 -0.095205 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.384955 -0.112801 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.013484 -0.477720 1.000000 0.000000 0.000000 249 211 150 1.000000
+0.327415 0.613231 -0.473929 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.043984 -0.558284 -0.535284 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.184563 0.647596 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.000763 -0.264256 -0.503673 0.000000 0.000000 -1.000000 242 209 154 1.000000
+-0.239444 0.470985 0.086772 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.314724 0.634305 -0.318626 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.161857 0.383964 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.310397 -0.119074 -0.309716 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.201548 -0.119074 -0.215256 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+-0.366907 -0.168457 0.163482 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.204850 0.649238 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.201249 0.048753 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.277394 0.633366 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.094128 0.305307 0.507856 0.000000 -0.068482 0.997652 248 235 215 1.000000
+-0.346545 0.306955 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.160947 0.195751 -0.487868 0.000000 -0.000000 1.000000 245 204 146 1.000000
+-0.212399 0.442009 -0.342364 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.178007 -0.087464 0.390122 0.000000 1.000000 0.000000 236 199 140 1.000000
+-0.093248 -0.087464 -0.000833 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.037582 0.470985 0.300713 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.052447 0.148178 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.560582 -0.471634 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.286377 -0.655314 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 0.149292 -0.399596 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.208011 0.126756 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.084317 -0.675982 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.133511 -0.545813 -0.142023 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.253010 -0.540544 -0.511527 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.149801 -0.598497 0.475621 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.349593 0.347419 0.123574 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.675722 -0.071924 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.449436 0.028770 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.082381 -0.087464 -0.326469 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.116521 -0.403753 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.321744 0.634305 0.086765 0.000000 1.000000 0.000000 252 220 159 1.000000
+-0.345833 0.127912 0.344895 1.000000 0.000000 0.000000 247 213 153 1.000000
+-0.366907 0.191008 0.070087 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.393278 0.246837 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.163877 -0.238682 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.641395 0.354223 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.202479 0.513082 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.199405 0.470985 -0.276327 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.641843 0.226930 -1.000000 0.000000 0.000000 240 204 142 1.000000
+-0.345833 -0.022832 0.376134 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.219883 -0.054994 -0.503673 0.000000 0.000000 -1.000000 245 209 145 1.000000
+-0.077015 -0.087464 0.090940 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.151347 0.227701 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.313626 0.428505 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.368294 0.382747 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.008828 0.098348 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.492571 0.016014 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.064337 0.058683 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.066374 -0.059749 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.535480 -0.455562 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.344511 0.131780 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.115504 0.426811 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.277241 -0.169711 1.000000 0.000000 0.000000 248 211 152 1.000000
+0.248584 -0.119074 0.292796 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.464454 -0.075467 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.024380 -0.545813 0.345538 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.140676 0.304291 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.339454 -0.119074 0.369640 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.067953 0.588601 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.504824 -0.045273 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.333638 0.015762 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.310014 0.172829 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.203543 0.098149 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.312001 -0.003950 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.341857 -0.042907 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.287655 -0.087464 -0.320249 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.153137 0.463082 -0.309375 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.326236 0.069990 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.133040 0.463082 0.271540 0.000000 -1.000000 -0.000000 244 213 153 1.000000
+0.349593 0.243475 -0.522327 -1.000000 0.000000 0.000000 244 212 151 1.000000
+0.212388 -0.153593 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.369541 0.087098 0.492246 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.097131 0.215139 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.429671 0.212775 -1.000000 0.000000 0.000000 244 212 151 1.000000
+0.180996 -0.560021 0.507856 0.000000 -0.044405 -0.999014 255 255 255 1.000000
+-0.303521 -0.087464 -0.476090 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.240861 0.634305 -0.138811 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.004915 0.360326 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.231574 0.596277 0.505015 -0.000000 0.992943 -0.118597 255 255 255 1.000000
+-0.234751 -0.445546 -0.487868 0.000000 -0.000000 1.000000 242 206 142 1.000000
+-0.303536 0.631399 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.553680 -0.271203 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.218484 -0.692959 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.358752 -0.390217 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.366907 0.250497 0.343795 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.100439 -0.119074 0.168581 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+-0.009243 0.368251 0.476672 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.277767 -0.119074 0.394431 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.246159 0.374565 1.000000 0.000000 0.000000 239 202 143 1.000000
+0.349593 -0.368705 -0.459489 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.015120 -0.365443 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.288741 -0.226929 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.279236 -0.087464 -0.386466 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.304587 -0.295393 -0.503673 0.000000 0.000000 -1.000000 249 208 150 1.000000
+-0.088365 -0.119074 0.081967 0.000000 -1.000000 -0.000000 240 204 140 1.000000
+0.370666 -0.442416 0.093890 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.066288 -0.008578 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.310709 -0.109315 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.184582 -0.119074 -0.105219 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.345833 0.157180 0.343824 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.201610 0.326926 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.242462 0.100184 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.183931 -0.119074 0.175092 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.581465 0.390080 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.174925 0.593406 0.501918 0.000000 -0.344402 0.938822 248 235 215 1.000000
+-0.253637 0.466933 -0.266709 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.614046 -0.467257 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.170667 0.334291 0.507856 0.000000 -0.026355 0.999653 248 235 215 1.000000
+0.370666 0.491824 -0.229745 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.098987 0.542764 -0.535284 0.000000 0.000000 -1.000000 242 210 149 1.000000
+-0.345833 0.107845 -0.232145 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.515751 -0.004381 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.092560 0.413206 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.057522 -0.478598 0.499615 -0.000000 0.537371 0.843346 248 235 215 1.000000
+0.349593 0.488217 0.280146 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.264973 -0.296010 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.101476 0.368251 0.499445 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 -0.377881 -0.470925 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.165776 0.389692 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.226371 0.613231 0.037546 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.193818 0.267270 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.273395 0.038437 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.162655 -0.545813 0.224387 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.505955 -0.513701 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.508791 0.231558 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.259398 -0.119074 -0.253126 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+0.196036 -0.087464 -0.014030 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.049739 -0.161890 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.572425 -0.116550 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.314223 0.479701 0.449478 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.183925 -0.503854 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.261721 -0.119074 -0.295408 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.163825 -0.540544 -0.531072 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.473142 -0.209512 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.432180 -0.501992 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.349410 0.665915 0.302444 0.000000 1.000000 0.000000 245 202 145 1.000000
+-0.345833 -0.160179 -0.280089 1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.345833 -0.560983 -0.355309 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.300558 0.634305 0.123004 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.287629 0.643019 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.488482 0.321901 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.523689 0.263968 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.006660 -0.132626 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.062014 0.665915 -0.531803 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.074045 0.090995 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.204736 -0.087464 0.420676 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.223658 0.634305 -0.194654 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.000397 -0.087464 -0.218029 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.261669 -0.545813 0.384559 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.370666 0.559412 -0.187703 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.266537 0.304424 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.191632 0.470985 0.155177 0.000000 1.000000 0.000000 239 202 143 1.000000
+-0.245661 0.634305 -0.021092 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.009528 -0.478684 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.097519 0.316537 -1.000000 0.000000 0.000000 242 208 149 1.000000
+0.254319 -0.087464 0.267109 0.000000 1.000000 0.000000 251 214 155 1.000000
+-0.366907 0.568847 -0.057798 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.234459 0.148513 -0.487868 0.000000 -0.000000 1.000000 237 201 137 1.000000
+-0.143253 -0.478917 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.291258 -0.545813 -0.352826 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.107401 -0.087464 -0.266362 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.345833 -0.067962 0.072212 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.594556 -0.104781 1.000000 0.000000 0.000000 249 217 156 1.000000
+0.349593 -0.115222 -0.157162 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.221825 0.613231 -0.219759 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.285247 0.442032 0.153836 -1.000000 0.000000 0.000000 238 201 142 1.000000
+0.370666 -0.127509 -0.396423 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.528742 -0.250247 1.000000 0.000000 0.000000 239 207 146 1.000000
+0.128801 0.499348 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.111453 0.376661 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.310378 0.282914 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.304125 0.613231 -0.199161 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.477708 -0.482550 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.098891 0.463082 -0.323240 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.011344 -0.087464 -0.249133 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.074575 -0.201579 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.071216 -0.450219 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.100604 -0.157061 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.212538 -0.545813 0.285215 0.000000 1.000000 0.000000 246 204 142 1.000000
+0.032543 -0.545813 0.045480 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.156880 -0.135444 1.000000 0.000000 0.000000 244 211 146 1.000000
+-0.035467 -0.545813 0.232675 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.349593 -0.557385 0.096082 -1.000000 0.000000 0.000000 240 204 140 1.000000
+0.249564 0.457130 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+0.370666 -0.005135 -0.236281 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.416164 0.336908 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.127133 0.019128 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.117955 0.171914 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.318193 0.556811 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.148182 0.003201 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.324262 0.634305 -0.423041 0.000000 1.000000 0.000000 247 215 154 1.000000
+0.349593 -0.333588 0.101868 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.557406 -0.461726 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.147443 0.299885 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.391463 0.353993 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.280541 0.634305 0.416784 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.054671 -0.087464 0.337700 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.516078 -0.460169 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.025599 -0.087464 -0.475925 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.267107 0.470197 -0.487868 0.000000 -0.000000 1.000000 243 207 143 1.000000
+-0.253861 -0.343110 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.135556 0.287340 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.205773 -0.087464 0.078479 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.311583 -0.265801 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.032835 -0.242136 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.222173 -0.276386 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.289203 -0.041527 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.182918 -0.119074 -0.268635 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+-0.366907 0.441212 -0.368213 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.105544 0.258323 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.235655 0.243275 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.437259 0.136315 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.291709 -0.545813 -0.044291 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.366907 -0.546834 0.171457 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.244795 0.183933 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.041349 -0.004756 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.120509 0.339850 -0.487868 0.000000 -0.000000 1.000000 246 214 153 1.000000
+0.349593 0.517388 0.294793 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.180164 -0.598497 0.470359 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.023399 -0.455621 -0.503673 0.000000 -0.000000 1.000000 139 125 125 1.000000
+0.349593 -0.269513 0.054438 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.155160 -0.327335 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.078090 -0.545813 -0.195079 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.273403 0.442009 0.439550 0.000000 -1.000000 -0.000000 248 214 155 1.000000
+0.370666 -0.553199 0.379356 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.185221 0.074875 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+-0.366907 -0.568153 -0.293444 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.560888 0.322080 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.360801 -0.092841 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.021804 -0.119074 -0.051962 0.000000 -1.000000 -0.000000 252 209 152 1.000000
+0.317772 -0.392254 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.132888 -0.505605 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.033226 -0.119074 -0.417009 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+0.347893 -0.087464 -0.346242 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.198844 0.391959 0.445150 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.192561 -0.424890 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.120396 0.467781 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.322351 -0.175636 0.444635 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.169200 -0.545813 -0.069570 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.249014 0.634305 -0.341194 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.317983 0.355319 0.465924 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.088273 0.463082 -0.311035 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.381203 -0.212035 0.461650 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370716 -0.330152 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.185833 0.463082 -0.114916 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.301376 -0.153161 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.324319 0.142474 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.250352 0.463082 -0.094041 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.666265 -0.185534 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.278153 0.442009 -0.223991 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.280595 0.391959 0.470626 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.544573 0.112269 1.000000 0.000000 0.000000 248 212 148 1.000000
+-0.345833 0.017906 -0.056696 1.000000 0.000000 0.000000 248 216 155 1.000000
+0.184121 0.463082 0.234426 0.000000 -1.000000 -0.000000 249 213 149 1.000000
+-0.345833 0.346754 -0.425483 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.276827 -0.066670 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.292764 0.613231 -0.230428 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.237988 0.208274 -1.000000 0.000000 0.000000 243 210 153 1.000000
+0.370666 0.247317 -0.449734 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.184423 0.554366 0.476245 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.345833 0.399298 0.135182 1.000000 0.000000 0.000000 244 215 159 1.000000
+-0.122026 -0.087464 0.254059 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 -0.150599 -0.153534 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.073966 -0.250605 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.297173 0.339761 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.130024 -0.236789 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.277733 -0.201122 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.510198 0.086096 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.205433 0.247520 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.139082 -0.506615 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.623848 0.143027 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.287526 -0.151248 -0.487868 0.000000 -0.000000 1.000000 247 205 143 1.000000
+-0.285247 0.484437 0.025286 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.031944 -0.087464 -0.013283 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.171112 -0.545813 0.138388 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.003765 -0.275599 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243100 -0.513864 0.478436 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.026344 -0.096646 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.355223 -0.507611 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.592807 -0.057785 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 0.434027 -0.378445 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.047469 -0.087464 0.063455 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.369541 0.276614 0.485860 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.035232 0.347932 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.067419 -0.026749 -1.000000 0.000000 0.000000 241 198 141 1.000000
+0.302595 0.549573 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.314223 0.536904 0.451788 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285247 0.535489 -0.135714 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.214549 0.378939 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.616609 -0.418848 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.400601 -0.466637 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.512330 -0.514167 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.515063 0.394909 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.285016 -0.119074 -0.388793 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.148451 -0.119074 0.229394 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+0.370666 0.156088 0.066656 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.235194 0.463082 0.012068 0.000000 -1.000000 -0.000000 246 208 145 1.000000
+-0.177061 -0.087464 0.347032 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.228918 0.634305 0.085008 0.000000 1.000000 0.000000 239 202 143 1.000000
+0.120636 0.470985 0.041084 0.000000 1.000000 0.000000 244 212 151 1.000000
+0.370666 0.098581 -0.360899 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.287910 -0.545813 -0.118540 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.326663 0.501028 0.444635 0.000000 0.000000 -1.000000 245 208 149 1.000000
+-0.345833 0.584608 -0.182688 1.000000 0.000000 0.000000 248 211 152 1.000000
+0.349593 -0.478411 -0.338311 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.330527 -0.176388 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.330173 0.066133 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.202634 0.199067 1.000000 0.000000 0.000000 245 217 155 1.000000
+0.275029 0.586068 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.131202 -0.251737 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.297126 -0.119074 -0.131200 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.292516 -0.141758 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.307745 -0.087464 0.136953 0.000000 1.000000 0.000000 245 213 152 1.000000
+-0.257520 0.442009 0.385978 0.000000 -1.000000 -0.000000 241 213 151 1.000000
+-0.259512 0.442009 0.216166 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.569870 -0.148286 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.163399 -0.328179 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.023318 0.278221 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.207620 -0.480779 -0.503673 0.000000 0.000000 -1.000000 248 216 155 1.000000
+0.298169 0.613231 -0.001415 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.126511 -0.065530 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.275163 -0.545813 -0.248352 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.172962 0.512595 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.326698 -0.087464 0.088768 0.000000 1.000000 0.000000 242 200 136 1.000000
+-0.269302 0.370874 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.177270 0.329099 1.000000 0.000000 0.000000 245 212 157 1.000000
+-0.366907 0.543975 -0.235961 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.637317 -0.344851 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 0.236822 -0.278225 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.317983 0.038835 0.448442 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.019728 -0.545813 0.309729 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.515080 -0.161614 -1.000000 0.000000 0.000000 240 208 147 1.000000
+-0.039626 -0.212586 -0.503673 0.000000 0.000000 -1.000000 246 213 156 1.000000
+-0.242403 -0.119074 -0.174793 0.000000 -1.000000 -0.000000 246 214 153 1.000000
+-0.345833 0.501713 -0.003004 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.483482 0.358360 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.270654 0.273893 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.139217 -0.087464 -0.462321 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.083234 -0.119074 -0.107964 0.000000 -1.000000 -0.000000 246 212 152 1.000000
+0.370666 0.584976 0.068645 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.044330 -0.087464 -0.358568 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.314436 -0.184306 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.257125 0.568450 0.273438 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.312493 0.613231 0.254164 0.000000 -1.000000 -0.000000 249 213 149 1.000000
+0.370666 -0.498636 0.306111 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.143422 -0.531149 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.281107 0.442009 -0.365603 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.459149 0.118171 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.436224 0.083026 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.265255 -0.545813 0.088245 0.000000 1.000000 0.000000 243 201 137 1.000000
+-0.366907 0.101770 -0.455739 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.180424 0.135105 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.345833 0.524612 0.099769 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.371206 0.151491 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.206707 -0.087464 0.138090 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.121240 0.012959 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.030300 -0.260399 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.300658 0.613231 0.200205 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.129920 -0.119074 0.406861 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.006103 0.462626 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.306070 0.607407 0.444635 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.224414 -0.402508 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.099437 0.477583 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.760580 -0.465411 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.051106 0.268697 -1.000000 0.000000 0.000000 232 199 132 1.000000
+0.239519 0.034329 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.034914 -0.069077 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.240028 0.634305 -0.105510 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.360348 0.317562 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.504273 -0.098920 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.281947 0.354140 -0.487868 0.000000 -0.000000 1.000000 246 210 146 1.000000
+-0.085788 -0.083316 -0.503673 0.000000 0.000000 -1.000000 242 209 146 1.000000
+-0.366907 -0.264161 0.065942 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.189579 -0.520279 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.643890 -0.494201 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.261025 -0.565382 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.135793 -0.119074 0.213751 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.331513 0.380217 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.289007 0.492574 -0.183467 1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.327267 -0.119074 -0.368341 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.216377 0.290602 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.288783 -0.119074 0.213613 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.294680 -0.303619 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.285404 0.514479 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.349593 0.583211 0.119600 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.114466 -0.056350 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.252713 -0.432175 -1.000000 0.000000 0.000000 240 199 131 1.000000
+0.370666 -0.233020 0.083373 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.407556 0.342752 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.361573 0.051789 0.444635 0.000000 0.000000 -1.000000 252 215 156 1.000000
+-0.243100 -0.221734 0.483403 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.194719 0.600777 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.593420 -0.492405 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.042476 -0.067792 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.251060 0.502572 -0.335085 0.000000 -0.000000 1.000000 244 211 146 1.000000
+0.197581 -0.545813 0.077786 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.368434 0.306859 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.185042 -0.087464 -0.022592 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.370666 0.309626 -0.501518 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.335959 0.071532 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.311799 -0.516170 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.331739 0.634305 -0.472203 0.000000 1.000000 0.000000 248 216 155 1.000000
+0.349593 -0.106013 0.284267 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.072947 0.163542 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.234277 0.470985 -0.270480 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.345833 0.075754 0.191821 1.000000 0.000000 0.000000 240 210 148 1.000000
+0.150512 0.391959 0.451093 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.016109 0.078690 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.053938 0.501147 0.444635 0.000000 0.000000 -1.000000 247 211 147 1.000000
+-0.345833 0.580327 0.156655 1.000000 0.000000 0.000000 251 219 158 1.000000
+0.349593 0.576286 -0.047845 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.445996 0.076506 1.000000 0.000000 0.000000 243 207 143 1.000000
+0.309122 0.123303 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 -0.573285 0.134033 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.143391 -0.053991 1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.345833 0.247511 0.161023 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.366907 0.240001 -0.164940 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.048809 -0.545813 -0.109479 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.253637 0.447945 -0.148347 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.099810 -0.228378 -1.000000 0.000000 0.000000 237 205 144 1.000000
+-0.345833 0.030116 -0.382688 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.231981 0.469000 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.236608 0.470985 -0.218600 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.370666 0.016316 -0.020598 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.213442 -0.565902 0.507856 -0.000000 0.035856 0.999357 248 235 215 1.000000
+0.037618 0.548169 0.476245 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.032519 -0.726126 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.255300 -0.087464 -0.435268 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.281006 -0.087464 0.098233 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.177224 -0.012154 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.539802 0.350738 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.071839 0.034846 -0.503673 0.000000 0.000000 -1.000000 244 200 143 1.000000
+-0.345833 0.191231 -0.273206 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.254066 0.085857 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.606810 0.146981 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.345833 -0.262333 0.156985 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.112616 -0.545813 -0.084172 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.261007 -0.145056 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.372136 -0.382857 0.444635 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.366907 -0.369008 0.208149 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.443038 0.244432 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.373301 -0.219901 0.495091 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.193247 0.463082 0.211786 0.000000 -1.000000 -0.000000 245 209 145 1.000000
+-0.366907 -0.155554 -0.444349 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.043606 0.407372 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.605858 -0.257755 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.434078 0.394161 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.102541 -0.666556 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.142715 0.377550 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.047278 0.470985 0.112435 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.277025 0.634305 0.008526 0.000000 1.000000 0.000000 245 211 152 1.000000
+-0.272226 -0.484510 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.134907 0.020040 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.026266 -0.694293 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.133126 -0.321546 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.342003 0.185954 1.000000 0.000000 0.000000 252 220 159 1.000000
+0.349593 -0.215633 0.003889 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.527544 -0.098481 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.305426 0.027714 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.107056 -0.158055 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.262898 -0.522617 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.598945 -0.332561 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.313972 0.613231 0.132936 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.216050 0.155940 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.257396 0.536429 -0.262746 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.010393 -0.087464 -0.080541 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.282137 -0.119074 -0.120381 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.447311 0.363916 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.668893 -0.414948 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.205739 -0.233992 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.298720 0.089548 0.545887 0.000000 0.000821 -1.000000 139 120 109 1.000000
+0.116775 -0.567139 0.507856 0.000000 -0.034058 -0.999420 255 255 255 1.000000
+0.289007 0.473984 0.442317 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.172628 -0.418699 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.007514 -0.329972 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.489893 0.424338 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.559767 0.326747 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.203561 0.363366 0.444635 0.000000 0.000000 -1.000000 243 211 150 1.000000
+0.370666 -0.675448 0.027875 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.023700 -0.119074 0.400740 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.045748 -0.119074 0.096207 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.470290 0.346211 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.061044 -0.119074 -0.327716 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.088574 0.542012 0.444635 0.000000 0.000000 -1.000000 241 205 141 1.000000
+0.268671 0.100274 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.465188 -0.321741 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.349627 0.105100 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.335209 -0.191529 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.377444 -0.521661 0.471111 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.175512 0.568151 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.554279 0.428561 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.233908 0.390237 -0.487868 0.000000 -0.000000 1.000000 240 204 140 1.000000
+-0.369541 -0.216490 0.491918 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345360 -0.401680 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.179515 -0.087464 0.239845 0.000000 1.000000 0.000000 246 209 153 1.000000
+-0.154068 0.022794 -0.487868 0.000000 -0.000000 1.000000 244 212 151 1.000000
+0.349593 -0.484436 -0.112639 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.098972 -0.087464 -0.026059 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.349593 0.121545 0.330769 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.185665 -0.042655 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.174200 -0.749323 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.071730 -0.181263 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.314470 0.613231 -0.035298 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.345833 0.317992 0.271216 1.000000 0.000000 0.000000 251 214 155 1.000000
+-0.366907 -0.755782 -0.128243 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.016470 0.470985 -0.180010 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.018657 0.575679 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.127227 -0.119074 -0.105192 0.000000 -1.000000 -0.000000 249 206 149 1.000000
+0.099135 0.258479 0.502521 -0.000000 0.187076 -0.982345 255 255 255 1.000000
+-0.235064 0.423165 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.251105 0.613231 -0.349101 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.082623 -0.478254 -1.000000 0.000000 0.000000 237 205 144 1.000000
+-0.264743 -0.545813 0.070337 0.000000 1.000000 0.000000 245 209 145 1.000000
+0.349593 0.493699 -0.002010 -1.000000 0.000000 0.000000 249 212 153 1.000000
+0.370666 0.092262 0.244415 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.554452 0.370004 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.664010 -0.413967 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.149160 0.281967 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.160749 -0.545813 0.352734 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.109749 0.307908 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.509955 0.210052 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.202608 -0.087464 -0.077614 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.234502 -0.255567 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.349593 0.455616 0.013381 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.060890 0.291552 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.258569 0.634305 0.412324 0.000000 1.000000 0.000000 241 207 147 1.000000
+0.032285 -0.498096 0.505245 -0.000000 0.992404 0.123021 248 235 215 1.000000
+0.168401 -0.119074 0.404717 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.261431 0.568450 -0.061014 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.248233 0.470985 -0.095571 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.180757 0.567084 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.110648 0.044015 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.005411 -0.314548 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.181277 0.241475 -0.503673 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.366907 -0.523513 -0.150722 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.182473 0.589062 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.278348 -0.290004 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.151398 -0.533516 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.321702 -0.473956 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.133933 -0.319530 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+-0.345833 0.087016 0.143129 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.370666 -0.411139 0.124406 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.345406 0.172347 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.517998 -0.053044 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.232892 0.463082 0.057724 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+-0.240662 -0.493145 0.501960 -0.000000 0.254690 0.967023 248 235 215 1.000000
+0.245460 -0.087464 0.115205 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.120922 -0.545813 0.353788 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.171418 -0.119074 0.206670 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.006351 0.665915 -0.515298 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.326695 -0.041725 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.162198 -0.444919 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.101510 -0.505996 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.113920 -0.112810 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.307121 -0.098019 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.293021 0.075657 -1.000000 0.000000 0.000000 239 203 139 1.000000
+0.370666 -0.625794 -0.034907 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.068916 -0.545813 0.030981 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.036504 -0.149687 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.059864 -0.110492 -0.487868 0.000000 -0.000000 1.000000 243 206 147 1.000000
+-0.345833 -0.020649 -0.389424 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257396 0.543082 0.339442 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.021091 0.472736 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.545577 -0.208452 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.380525 -0.341185 0.444635 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.235841 -0.725577 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.016932 0.418000 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.051614 -0.403184 -0.487868 0.000000 -0.000000 1.000000 248 207 149 1.000000
+-0.345833 -0.069682 -0.303147 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.452035 -0.513216 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.035646 -0.355422 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.344471 0.280555 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.475845 0.380064 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.304676 -0.545813 0.250330 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 0.338151 -0.514516 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.546046 0.060804 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.003736 -0.087464 0.066357 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.141621 -0.454815 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.345436 -0.273861 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.353891 0.362303 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.221738 -0.119074 -0.343835 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.345833 -0.151897 -0.189678 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.199442 0.327506 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.175904 -0.159308 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.239905 -0.545813 -0.237056 0.000000 1.000000 0.000000 248 214 155 1.000000
+0.192348 -0.545813 -0.303835 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.129656 0.391467 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.038356 -0.545813 0.168826 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.178643 0.446903 0.498632 -0.000000 0.778769 0.627311 248 235 215 1.000000
+-0.366907 0.406166 -0.159397 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.028486 -0.476198 0.499228 0.000000 -0.580245 -0.814442 255 255 255 1.000000
+-0.279165 -0.598497 0.465325 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.017778 0.015652 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.196939 -0.168116 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.182597 -0.119074 -0.169399 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.265888 -0.657365 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.366907 -0.409686 -0.362558 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.058841 0.415428 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.318512 -0.355229 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.434780 -0.478470 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.129032 -0.545813 0.307970 0.000000 1.000000 0.000000 243 210 155 1.000000
+0.057544 -0.087195 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 -0.319683 -0.355415 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.106270 -0.545813 0.429203 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.250944 0.324966 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.232587 0.235068 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.113429 0.325720 0.507856 0.000000 -0.038813 0.999246 248 235 215 1.000000
+0.225183 0.326522 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.345833 -0.457739 0.380980 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.332559 0.395605 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.196157 0.352446 0.505303 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.370666 0.440011 -0.192284 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.323829 0.131897 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 0.525145 0.444395 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.305515 0.634305 -0.300439 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.220571 -0.288766 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.205054 0.470985 0.103613 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.000743 -0.349264 -0.487868 0.000000 -0.000000 1.000000 244 208 144 1.000000
+-0.249661 0.613231 0.081831 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.327411 -0.087464 -0.402883 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.283808 -0.317522 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.052234 -0.535973 0.507856 -0.000000 0.079344 0.996847 248 235 215 1.000000
+0.349593 -0.597895 -0.188102 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.227459 -0.387095 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.251554 -0.319746 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.475885 -0.483490 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.325510 0.102554 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+0.370666 -0.558418 0.271479 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.640608 -0.185966 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.178520 -0.139736 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.345833 -0.449500 -0.083597 1.000000 0.000000 0.000000 243 206 140 1.000000
+0.370666 -0.772681 -0.495533 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.158847 -0.179811 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.257396 0.451793 0.398635 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.087776 -0.087464 0.154275 0.000000 1.000000 0.000000 244 212 151 1.000000
+0.214446 -0.373001 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.532054 0.020268 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.386830 0.186828 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.245846 0.219300 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.238978 0.089603 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.308375 0.301945 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.017677 -0.050689 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.182944 -0.293392 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.364258 0.023981 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.519338 0.221133 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.301508 0.076614 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.365586 0.114115 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.295566 -0.119074 0.374272 0.000000 -1.000000 -0.000000 236 199 140 1.000000
+-0.345833 -0.261893 0.109733 1.000000 0.000000 0.000000 243 200 143 1.000000
+0.228535 -0.545813 -0.423293 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.149181 -0.119074 0.273392 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.016856 0.210541 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.052441 0.352638 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+-0.366907 0.579343 -0.363686 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.288603 -0.358692 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.058669 -0.212587 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.353451 0.406814 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.264536 0.613231 0.206502 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.345833 -0.465223 0.005735 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.147777 0.076373 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.226005 -0.096148 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.733264 -0.260016 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.194227 -0.029047 1.000000 0.000000 0.000000 247 206 148 1.000000
+-0.345833 0.491320 -0.133656 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.277863 0.442009 0.371844 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.641725 0.203353 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.216880 0.271930 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.020622 -0.535276 0.456054 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.131497 0.470985 -0.088869 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.761580 -0.236735 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.163460 -0.545813 0.201599 0.000000 1.000000 0.000000 249 215 155 1.000000
+0.349593 -0.351350 0.201187 -1.000000 0.000000 0.000000 250 218 157 1.000000
+0.139291 -0.087464 0.038225 0.000000 1.000000 0.000000 241 209 148 1.000000
+0.370666 -0.561137 -0.151363 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.599631 -0.170203 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.340508 0.249216 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.079759 -0.081713 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.260540 0.000389 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.311658 -0.498497 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.175169 0.636374 0.444635 0.000000 0.000000 -1.000000 243 211 150 1.000000
+-0.146198 -0.513628 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+0.228099 -0.545813 0.217468 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.528344 0.422007 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.211592 0.556442 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.003342 0.027229 1.000000 0.000000 0.000000 248 211 152 1.000000
+0.349593 -0.275978 -0.378260 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.068847 0.463082 -0.200557 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.716211 0.283765 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.093977 -0.068157 -1.000000 0.000000 0.000000 237 200 141 1.000000
+-0.267150 0.613231 0.392695 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.305816 -0.087464 0.347683 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.139535 0.309441 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.156580 0.370115 -0.503673 0.000000 0.000000 -1.000000 239 202 143 1.000000
+-0.345833 0.205968 -0.109630 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.080253 -0.545813 -0.390659 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.341795 0.539474 -0.512502 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.231788 -0.223465 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.216998 0.047507 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.205327 -0.545813 -0.406572 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.298985 -0.112108 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.461278 -0.237343 -1.000000 0.000000 0.000000 247 213 153 1.000000
+-0.345314 0.395683 -0.503673 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.366907 -0.573464 0.232054 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.205154 -0.119074 -0.326917 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.586898 0.036450 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.314183 -0.499658 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.296015 0.634305 -0.499521 0.000000 1.000000 0.000000 246 214 153 1.000000
+0.349593 -0.532366 -0.137831 -1.000000 0.000000 0.000000 247 213 153 1.000000
+0.349593 -0.465518 0.251513 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370776 0.269456 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.408002 -0.437613 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.307141 -0.545813 0.348976 0.000000 1.000000 0.000000 242 205 146 1.000000
+-0.027380 0.602694 0.464624 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.271107 0.268436 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.281287 0.568450 -0.107069 0.000000 1.000000 0.000000 248 211 152 1.000000
+0.349593 0.496110 -0.527024 -1.000000 0.000000 0.000000 249 217 156 1.000000
+-0.366907 -0.004251 -0.290291 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.003752 0.490940 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.004733 -0.403488 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.114413 0.595947 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.557771 -0.300253 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.556513 0.098204 1.000000 0.000000 0.000000 245 209 145 1.000000
+0.039518 -0.545813 0.351465 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.318962 -0.545813 0.405199 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.366907 0.566597 0.072621 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.320520 -0.049268 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.007699 -0.087464 0.303086 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.634973 0.384603 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.459727 0.193411 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.183569 -0.545813 -0.329984 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.087175 -0.191721 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.066324 0.372302 0.507856 -0.000000 0.009080 0.999959 248 235 215 1.000000
+0.110025 -0.119074 0.099690 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+-0.366907 0.414380 0.271143 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.536895 0.169666 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.462775 -0.411481 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.376766 0.316183 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.274929 -0.119074 -0.226383 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+-0.018922 0.226399 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.172334 0.511240 -0.366696 0.000000 0.000000 -1.000000 248 211 152 1.000000
+-0.204401 -0.565346 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.321217 -0.002119 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.001237 0.321825 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.008884 0.390382 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.210217 0.233540 -1.000000 0.000000 0.000000 247 205 141 1.000000
+-0.366907 -0.187490 -0.240480 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.150028 -0.119074 0.342925 0.000000 -1.000000 -0.000000 247 214 159 1.000000
+-0.366907 0.439140 -0.510285 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.247021 -0.027639 1.000000 0.000000 0.000000 251 214 155 1.000000
+0.043161 0.019876 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.239760 -0.545813 0.173183 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.325740 -0.751953 -0.535284 0.000000 0.000000 -1.000000 242 206 142 1.000000
+0.060136 0.217862 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.179949 -0.649172 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.225033 0.045875 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.328009 0.230891 1.000000 0.000000 0.000000 243 205 146 1.000000
+-0.064005 -0.217048 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.303674 0.384312 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.332112 0.422308 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.290577 -0.545813 -0.407887 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.352057 0.427643 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.370666 -0.005378 0.411201 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.273298 0.634305 0.236745 0.000000 1.000000 0.000000 247 214 159 1.000000
+0.301265 -0.545813 0.132260 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.103312 -0.105007 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.223010 0.523950 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.152952 0.410179 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.100523 0.198573 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.511936 0.440091 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.172703 -0.189248 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.348273 -0.207743 -0.535284 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.345833 -0.460309 -0.271557 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.314444 -0.013396 -0.503673 0.000000 0.000000 -1.000000 250 213 154 1.000000
+0.018621 -0.186041 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.295339 0.211218 1.000000 0.000000 0.000000 250 216 156 1.000000
+0.304948 -0.545813 -0.270123 0.000000 1.000000 0.000000 246 214 153 1.000000
+-0.162974 0.023739 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.208220 0.147871 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.278417 0.568450 -0.183040 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.043706 -0.188556 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.192871 0.412705 0.507856 -0.000000 0.099415 0.995046 248 235 215 1.000000
+0.349593 -0.476832 -0.011065 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.006714 -0.545813 -0.422384 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.369541 0.376430 0.504807 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.484561 -0.139941 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.169638 0.025285 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.257218 0.136823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.536911 0.322359 1.000000 0.000000 0.000000 239 203 139 1.000000
+0.370666 0.325913 0.109768 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.072381 -0.545813 0.324281 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.054473 -0.252550 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.201209 0.328738 0.456975 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.373301 -0.480165 0.479949 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.267166 -0.250820 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.220310 -0.545813 0.312615 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.117979 -0.319541 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.228480 0.325661 0.507856 0.000000 -0.038898 0.999243 248 235 215 1.000000
+-0.318492 -0.087464 -0.213901 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.001626 0.219963 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.251056 0.149402 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.041461 0.576680 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.218675 0.187798 -1.000000 0.000000 0.000000 240 208 147 1.000000
+0.370666 0.401576 -0.243231 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.372829 -0.049391 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.278148 0.432700 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.287817 -0.571163 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.128686 -0.642135 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.136912 0.226005 0.479067 0.000000 -0.995990 0.089470 248 235 215 1.000000
+-0.366907 0.632246 -0.327985 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.271469 -0.347117 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.366907 -0.104708 -0.067391 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.246135 -0.234859 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 0.092616 0.138262 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.279361 -0.087464 0.109368 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.594650 0.290525 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.048061 -0.087464 0.026389 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.255196 -0.119074 0.125978 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.304991 -0.158116 1.000000 0.000000 0.000000 235 203 142 1.000000
+0.321209 0.665028 -0.503673 0.000000 -0.000000 1.000000 250 213 154 1.000000
+-0.345833 0.606545 -0.260572 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.370666 0.399196 -0.490467 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.024092 0.056550 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.216222 0.102973 -0.487868 0.000000 -0.000000 1.000000 242 208 148 1.000000
+-0.298016 0.634305 -0.061801 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.087826 -0.545813 0.342202 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.282585 0.442009 0.399365 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.177192 0.133086 -0.487868 0.000000 -0.000000 1.000000 248 211 152 1.000000
+-0.183957 0.239474 0.499457 -0.000000 0.555031 -0.831830 255 255 255 1.000000
+-0.253637 0.546373 -0.341534 1.000000 0.000000 0.000000 240 203 144 1.000000
+0.370666 0.055166 0.251943 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.043854 -0.545813 -0.258902 0.000000 1.000000 0.000000 247 215 154 1.000000
+0.097736 0.629978 0.507856 -0.000000 0.062815 -0.998025 255 255 255 1.000000
+-0.189034 0.603869 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.116199 -0.512761 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.141691 0.255075 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.373301 0.317564 0.485350 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.182619 -0.087464 0.115843 0.000000 1.000000 0.000000 250 207 150 1.000000
+0.349593 0.173630 -0.025401 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.300833 0.061669 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.030656 0.541785 0.444635 0.000000 0.000000 -1.000000 240 203 144 1.000000
+-0.345833 -0.569755 0.292389 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.148532 -0.087464 0.389117 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.200465 -0.149456 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.331897 -0.032323 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.325057 0.476009 -0.503673 0.000000 0.000000 -1.000000 244 203 145 1.000000
+-0.345833 -0.066539 0.350639 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.557944 -0.490482 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.338232 -0.262670 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.417034 -0.408820 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.182075 -0.545813 -0.124812 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.284197 0.634305 -0.170491 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.349593 -0.421992 -0.325367 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.349593 0.565783 0.240372 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.097294 0.109394 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.106928 -0.408611 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.022339 0.579961 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.029532 -0.025619 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.000622 0.033909 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.349593 -0.194219 -0.295296 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.366907 -0.375104 -0.299868 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.467924 -0.342194 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.257396 0.465544 0.454616 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.125836 0.646852 0.444635 0.000000 0.000000 -1.000000 244 211 148 1.000000
+-0.366907 0.526428 0.201049 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.257141 0.249821 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.346450 0.033499 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.153185 -0.297694 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.398122 -0.515456 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.482969 -0.263950 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.556553 -0.255289 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.145922 -0.028081 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.223330 0.114911 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.374059 -0.045505 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.332077 0.634305 0.009409 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.263423 0.613231 0.361455 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.200836 -0.177327 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.784717 -0.298557 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.131361 0.665915 0.468751 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.340887 0.634305 0.408839 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.246859 -0.040320 0.487050 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.052971 0.539474 -0.510910 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.366907 0.242324 -0.360600 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.243587 0.204542 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.346952 0.656870 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.226918 0.467188 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.148293 0.300517 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.349593 -0.516554 0.363348 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.131606 -0.614795 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.257396 0.484173 0.356593 -1.000000 0.000000 0.000000 241 205 141 1.000000
+-0.134068 0.515311 -0.335085 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.249266 0.613231 -0.233862 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.210272 -0.193318 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.297154 -0.776553 -0.535284 0.000000 0.000000 -1.000000 243 210 147 1.000000
+-0.345833 0.547448 -0.200341 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.160781 -0.741778 -0.535284 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.349593 -0.139571 -0.031451 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.216144 -0.545813 -0.094826 0.000000 1.000000 0.000000 237 200 141 1.000000
+-0.285247 0.558757 0.380065 -1.000000 0.000000 0.000000 241 204 145 1.000000
+0.370666 0.239152 -0.169248 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.449790 0.253051 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.144136 -0.538869 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.056793 -0.545813 -0.233750 0.000000 1.000000 0.000000 241 204 145 1.000000
+-0.366907 -0.057452 0.425094 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.193328 -0.192095 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.187484 -0.087464 -0.146507 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.349593 0.202002 -0.065517 -1.000000 0.000000 0.000000 248 216 155 1.000000
+-0.366907 0.442956 -0.118663 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.468653 0.111388 -1.000000 0.000000 0.000000 239 208 142 1.000000
+-0.178490 -0.545813 -0.306485 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.274196 0.613231 -0.110189 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.240683 0.014737 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345269 -0.081925 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.357617 0.635656 -0.535284 0.000000 0.000000 -1.000000 243 211 150 1.000000
+0.111324 -0.119074 -0.475041 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.237796 0.404071 -1.000000 0.000000 0.000000 243 203 140 1.000000
+-0.345833 0.349679 0.405119 1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.366907 -0.132522 0.178064 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.031419 -0.394604 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.280955 0.568450 0.174804 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 0.123306 0.158132 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.136887 -0.273308 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.185129 -0.139323 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.137344 0.148585 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.322246 0.613231 -0.277014 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.140465 0.484863 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.189106 0.024363 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.426015 -0.251714 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.262358 0.298928 -0.503673 0.000000 0.000000 -1.000000 241 209 148 1.000000
+0.254131 0.613171 0.444635 0.000000 0.000000 -1.000000 251 214 155 1.000000
+-0.289076 -0.518343 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.286491 -0.385752 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.253022 0.657867 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.415069 -0.067523 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.161409 -0.101755 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.359010 -0.571232 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.235547 -0.357555 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.145128 0.455252 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.538880 -0.420760 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.210992 -0.501835 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.281064 -0.209684 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.126075 -0.119074 0.045613 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.191455 0.075836 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.133715 0.569023 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.005669 0.175738 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.351364 -0.257842 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.524826 0.141231 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.014700 -0.089686 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.337861 -0.119074 -0.031869 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.158862 0.112671 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.574699 -0.138188 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.016435 -0.759771 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.187890 0.470985 0.009520 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.086783 -0.741694 -0.535284 0.000000 0.000000 -1.000000 240 203 144 1.000000
+-0.226048 0.158711 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.745590 -0.494043 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.561787 -0.227911 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.674324 -0.014274 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.776222 -0.514378 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.079323 -0.545813 0.078114 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.529111 -0.260355 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.172675 -0.545813 -0.422027 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.366907 0.630433 -0.422341 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.264389 0.634305 -0.359644 0.000000 1.000000 0.000000 246 212 153 1.000000
+-0.289709 -0.545813 -0.393421 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.200839 -0.023141 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.389831 0.417990 -1.000000 0.000000 0.000000 243 213 151 1.000000
+0.188042 -0.100985 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.305696 -0.521504 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.218432 -0.425643 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.006257 0.369406 -0.503673 0.000000 0.000000 -1.000000 240 212 150 1.000000
+-0.339010 0.604050 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.369541 -0.010292 0.501609 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.555209 -0.473732 -1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.366907 0.362259 0.307235 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.783970 -0.055350 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.265037 -0.598682 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.184912 -0.119074 0.062645 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.032505 -0.519648 -1.000000 0.000000 0.000000 246 204 142 1.000000
+-0.048215 0.555568 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.290131 -0.087464 0.407093 0.000000 1.000000 0.000000 249 207 143 1.000000
+0.349593 0.351547 0.217763 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.162551 0.137116 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.152595 0.357585 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.442465 0.257081 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.676764 -0.019792 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.173952 -0.053324 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.053451 -0.318750 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.227811 0.046924 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.269126 -0.087464 0.344167 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.349593 0.661113 -0.511467 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.124226 -0.087464 -0.111797 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.260348 -0.119074 0.241916 0.000000 -1.000000 -0.000000 250 208 148 1.000000
+-0.377444 0.520168 0.469011 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.128327 0.498896 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+0.339015 0.558343 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.041847 0.423092 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.502696 -0.108066 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.243100 -0.542013 0.505746 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.645617 -0.285783 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.148329 0.273548 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.257801 0.462610 -0.366696 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.227287 0.634305 -0.463524 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.325155 -0.469047 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.348687 -0.545813 -0.292377 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.295356 0.420955 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.032605 0.658012 0.488042 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.213992 0.615031 -0.535284 0.000000 0.000000 -1.000000 246 215 155 1.000000
+-0.254781 -0.365631 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.384192 -0.507247 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.186851 0.470985 -0.086844 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.541116 0.103474 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.180362 0.159867 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.198658 0.224112 -1.000000 0.000000 0.000000 247 206 148 1.000000
+-0.015190 -0.654998 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.137359 -0.119074 -0.190096 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.028773 -0.119074 -0.394722 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+-0.345833 -0.478147 0.161217 1.000000 0.000000 0.000000 250 218 157 1.000000
+0.304539 -0.563422 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.587057 0.291062 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.169451 0.003957 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.183186 0.378829 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.155443 0.602694 0.447883 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.370666 0.294826 0.281150 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.119966 0.281590 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.125233 -0.119074 0.341792 0.000000 -1.000000 -0.000000 243 210 155 1.000000
+-0.366907 -0.066978 -0.466138 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.118668 -0.369540 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.154359 -0.545813 -0.389658 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.512776 0.190272 1.000000 0.000000 0.000000 239 207 146 1.000000
+-0.345833 -0.142520 0.378294 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.056296 0.463082 -0.114629 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.504320 0.078731 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.397417 -0.227581 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.255397 0.414970 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.031647 -0.119074 0.009404 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.404637 -0.380633 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.109695 0.532466 -0.366696 0.000000 0.000000 -1.000000 242 206 142 1.000000
+-0.208851 0.470985 0.263852 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.161116 -0.545813 -0.461080 0.000000 1.000000 0.000000 239 202 143 1.000000
+-0.345833 0.514062 0.377975 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.276559 0.170332 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.277934 -0.056836 -0.503673 0.000000 0.000000 -1.000000 244 216 154 1.000000
+0.303428 -0.534295 -0.487868 0.000000 -0.000000 1.000000 242 206 142 1.000000
+-0.345833 -0.590035 -0.071574 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.071976 0.368251 0.505351 -0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.209600 -0.119074 -0.179271 0.000000 -1.000000 -0.000000 240 208 147 1.000000
+0.010599 -0.119074 -0.215179 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.366907 0.386243 -0.250061 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.038175 -0.480242 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.577497 -0.232021 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349757 0.292771 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.307954 0.357548 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.274319 -0.567497 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.173714 -0.087464 -0.201541 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.165279 0.470985 -0.039260 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.409187 -0.372222 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.044413 -0.288581 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+0.370666 -0.629576 -0.320231 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.646182 -0.098416 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.180760 0.299085 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.204083 -0.397504 1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.126701 -0.545813 -0.176637 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.526765 0.261126 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.370666 0.662911 -0.347564 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.348202 -0.179527 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.328925 0.613231 -0.028414 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.180498 -0.423083 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 -0.545088 -0.409716 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.297538 0.598430 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.370666 0.036985 -0.450564 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.298160 0.613231 0.387096 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.039020 0.560219 -0.335085 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.345833 -0.177561 0.273515 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.090243 0.166362 -1.000000 0.000000 0.000000 244 201 144 1.000000
+-0.345833 -0.104931 0.417681 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.216415 -0.751122 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.325678 -0.596604 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.338461 -0.233109 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.365516 -0.154940 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.172833 0.434144 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.268546 -0.335055 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.315557 0.286600 -0.487868 0.000000 -0.000000 1.000000 245 209 145 1.000000
+0.246859 -0.532135 0.482169 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.762328 -0.031428 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.466924 -0.219396 -1.000000 0.000000 0.000000 249 215 155 1.000000
+-0.134168 0.452545 0.492909 -0.000000 0.920839 0.389943 248 235 215 1.000000
+-0.338759 -0.432302 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.366907 0.525927 -0.469697 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.232581 0.202053 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.630825 -0.337685 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.649262 -0.465611 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.223960 0.496130 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.609332 0.179662 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.200338 -0.087464 0.079874 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.325105 0.613231 0.415969 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.286169 0.411247 -0.487868 0.000000 -0.000000 1.000000 247 210 144 1.000000
+-0.345833 -0.106525 -0.317147 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.273981 -0.142377 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.096025 -0.006365 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.026620 0.327767 0.507856 -0.000000 0.035837 -0.999358 255 255 255 1.000000
+0.349593 0.381133 -0.056549 -1.000000 0.000000 0.000000 249 217 156 1.000000
+0.328797 0.634305 -0.329845 0.000000 1.000000 0.000000 238 206 145 1.000000
+-0.308904 -0.545813 0.064068 0.000000 1.000000 0.000000 242 202 137 1.000000
+0.370666 0.191522 -0.019942 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.091357 -0.087464 -0.140188 0.000000 1.000000 0.000000 244 212 151 1.000000
+-0.366907 -0.244345 -0.249461 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.317983 -0.407627 0.471967 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.029336 0.142869 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.365062 0.270121 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.294886 -0.031476 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.430780 -0.126772 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.291569 -0.209698 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.223152 0.633079 0.024374 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.258418 -0.087464 0.372617 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.279629 -0.428121 -0.503673 0.000000 0.000000 -1.000000 248 211 152 1.000000
+0.106881 -0.119074 0.323180 0.000000 -1.000000 -0.000000 243 205 144 1.000000
+0.062126 0.510292 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.074642 0.601083 0.507856 -0.000000 0.127016 -0.991901 255 255 255 1.000000
+0.370666 0.229241 -0.027576 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.351527 0.003841 -0.535284 0.000000 0.000000 -1.000000 246 205 147 1.000000
+-0.058607 0.005531 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.325692 -0.545813 0.161380 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.345025 0.108459 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.366907 -0.225175 -0.176508 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.110531 0.471495 -0.487868 0.000000 -0.000000 1.000000 242 210 149 1.000000
+0.089553 -0.392106 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.273524 -0.267267 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.371064 -0.109071 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.571351 -0.227675 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.086766 -0.325916 -0.487868 0.000000 -0.000000 1.000000 250 208 146 1.000000
+0.223152 0.622308 -0.472121 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.074081 -0.283449 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.059633 0.000548 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.124307 0.641441 0.507856 0.000000 -0.037150 0.999310 248 235 215 1.000000
+-0.108669 0.151985 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.757627 -0.457440 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.258929 0.233117 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 0.513195 0.469039 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.424246 -0.145639 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.317093 0.049548 0.545129 -0.676889 0.597161 -0.430372 255 255 255 1.000000
+-0.322850 0.552353 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.306421 0.613231 0.107544 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.072804 -0.110464 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.366907 0.235416 -0.060205 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.222619 0.602694 0.453348 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.366907 -0.473418 -0.349951 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.326393 0.613231 -0.163579 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+-0.366907 0.024362 0.162540 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.603707 0.364696 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.335266 0.613231 0.283431 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.273838 -0.598497 0.472546 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.366907 -0.383981 0.255980 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.213321 -0.546260 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.164842 -0.529090 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.204944 0.359724 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.352805 0.019453 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.465568 -0.326252 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.098048 0.572283 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.021690 0.369820 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.017296 -0.524210 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.119626 -0.464153 0.480610 -0.000000 0.990136 0.140111 248 235 215 1.000000
+0.168458 -0.545813 -0.413731 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.221940 -0.119074 0.214732 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.300145 0.221112 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.030907 -0.545813 -0.267586 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.345833 0.199539 0.023979 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122901 -0.195677 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.308471 0.625947 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.322743 -0.373310 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.288225 0.169781 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.370666 -0.787981 -0.246800 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.114956 0.163767 -0.503673 0.000000 0.000000 -1.000000 239 207 146 1.000000
+0.370666 -0.449057 0.129895 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.089474 -0.403759 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.409540 0.342728 1.000000 0.000000 0.000000 235 203 142 1.000000
+0.123185 0.562673 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.012033 0.276783 -0.503673 0.000000 0.000000 -1.000000 239 205 145 1.000000
+0.309180 0.595189 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.240786 0.463082 0.147608 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.094092 -0.247811 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.129092 -0.119074 -0.301781 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+-0.190496 -0.545813 0.199890 0.000000 1.000000 0.000000 243 209 149 1.000000
+0.370666 -0.693688 -0.341339 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.198372 0.330377 0.507856 0.000000 -0.032043 0.999487 248 235 215 1.000000
+0.150443 -0.087464 0.289698 0.000000 1.000000 0.000000 242 204 143 1.000000
+0.370666 0.438105 0.120851 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.268784 0.645482 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.484684 -0.442080 -1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.317794 -0.475407 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.089156 -0.545813 0.298619 0.000000 1.000000 0.000000 244 214 152 1.000000
+-0.336006 0.203511 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.061668 -0.087464 -0.117876 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.052657 0.563619 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.314822 -0.283415 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.241031 -0.049601 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.118369 -0.533154 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.350674 0.665915 -0.125138 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.106161 0.459390 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.322530 -0.597840 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.728880 -0.431838 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.193474 -0.044480 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.337862 0.634305 -0.435066 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.071392 -0.560687 0.507856 -0.000000 0.043438 0.999056 248 235 215 1.000000
+-0.221065 -0.087464 0.178101 0.000000 1.000000 0.000000 246 214 153 1.000000
+0.349593 -0.163872 -0.509070 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.326227 -0.701489 -0.535284 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.292660 -0.368514 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.124604 0.535629 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.670282 -0.500628 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.460715 -0.300462 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.258811 0.584673 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.320183 -0.109342 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.487048 0.120442 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.147373 0.011742 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.237782 0.613231 0.214146 0.000000 -1.000000 -0.000000 246 210 146 1.000000
+0.050711 0.568450 0.456111 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.151380 -0.244694 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.222770 -0.174883 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.140637 -0.119074 0.130225 0.000000 -1.000000 -0.000000 252 212 149 1.000000
+-0.366907 0.319122 -0.170018 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.464015 -0.228113 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.402918 -0.066446 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.672572 -0.129508 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.157034 -0.445932 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.359628 -0.146562 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.170730 0.618490 -0.503673 0.000000 -0.000000 1.000000 248 211 152 1.000000
+0.370666 -0.465283 -0.433955 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.283211 -0.214453 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+0.349593 -0.220904 0.363908 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.145788 0.558298 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.414375 -0.045786 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.291363 -0.287581 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.252590 -0.119074 0.342863 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.110784 -0.056272 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.534309 0.135256 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 -0.293710 0.303929 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.034669 0.462291 0.476245 0.000000 -0.000000 1.000000 243 207 143 1.000000
+-0.345833 0.390625 -0.164517 1.000000 0.000000 0.000000 241 209 148 1.000000
+-0.170037 0.463082 -0.242973 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.366907 0.349348 -0.138827 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.273578 0.329300 0.444635 0.000000 0.000000 -1.000000 234 197 138 1.000000
+-0.120490 -0.087464 0.308332 0.000000 1.000000 0.000000 242 209 154 1.000000
+0.236689 -0.545813 -0.277352 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.010233 0.463082 0.046880 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 0.191147 0.197279 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.215747 -0.148340 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.349593 -0.357264 -0.287240 -1.000000 0.000000 0.000000 244 212 151 1.000000
+0.349593 -0.304242 0.223628 -1.000000 0.000000 0.000000 244 204 141 1.000000
+-0.240028 -0.545813 0.232306 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.289007 0.497638 0.154238 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.327829 0.204446 0.515618 0.608469 -0.617477 0.498486 255 255 255 1.000000
+-0.285247 0.544127 0.045008 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.111328 -0.123203 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.150377 -0.087464 -0.325799 0.000000 1.000000 0.000000 250 213 154 1.000000
+-0.376723 -0.000993 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.320758 0.613231 0.161744 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+-0.305615 -0.087464 -0.094451 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.294215 -0.087464 0.029191 0.000000 1.000000 0.000000 243 207 143 1.000000
+0.036152 0.470985 0.425190 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.296087 -0.545813 0.316707 0.000000 1.000000 0.000000 234 206 144 1.000000
+-0.345833 0.118726 -0.006469 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.030045 0.548338 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.021748 0.301040 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.253637 0.473766 0.063349 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.148309 -0.195833 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.171714 -0.119074 -0.006418 0.000000 -1.000000 -0.000000 240 203 144 1.000000
+-0.345833 -0.426858 -0.158732 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.055974 0.602694 0.447156 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 0.555763 -0.105727 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.247212 -0.087464 -0.371120 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.032426 -0.538968 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 -0.072210 0.027578 1.000000 0.000000 0.000000 244 208 144 1.000000
+-0.135383 -0.119074 0.312597 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.075409 0.276405 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.255011 -0.119074 -0.160052 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.286880 0.050967 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.223649 0.061047 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.294943 0.545497 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.327186 -0.190513 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.341378 -0.235674 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.017064 -0.540544 -0.507850 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.298070 0.161533 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.250078 0.595743 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.048101 -0.409760 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.224696 -0.119074 -0.217622 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.345833 -0.324312 0.219133 1.000000 0.000000 0.000000 246 208 147 1.000000
+-0.366907 0.292989 0.401642 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.216174 0.129132 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.363080 0.092419 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.327390 -0.087464 -0.432880 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.370666 -0.084435 0.004409 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.364848 0.089474 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122740 0.470985 -0.000151 0.000000 1.000000 0.000000 247 204 147 1.000000
+-0.345833 0.169915 0.429606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.250984 0.613231 0.108607 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.328153 0.634305 -0.063382 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.578409 -0.277356 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.488055 -0.397687 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.238691 0.332534 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.254585 0.634305 0.059134 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.000034 -0.574785 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.131957 -0.545813 0.177700 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.285247 0.514993 0.334867 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.035126 -0.117361 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.349593 -0.450203 -0.253427 -1.000000 0.000000 0.000000 245 212 149 1.000000
+0.370666 -0.672256 -0.248526 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.475666 -0.416260 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.038638 0.383286 -1.000000 0.000000 0.000000 244 208 146 1.000000
+0.370666 0.053089 -0.007742 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.108086 -0.343005 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.293468 0.613231 -0.021577 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.292828 -0.087464 -0.057126 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.519124 0.230504 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.064847 -0.119074 -0.203251 0.000000 -1.000000 -0.000000 250 213 154 1.000000
+0.257396 0.481313 0.252251 -1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.279607 -0.223810 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.211387 0.008273 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.345833 -0.261771 -0.501229 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.349593 -0.352583 -0.393319 -1.000000 0.000000 0.000000 241 205 141 1.000000
+-0.297556 0.634305 -0.404038 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.250134 -0.265756 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.004594 -0.431994 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.485249 -0.205256 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.721286 -0.116666 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.335465 0.646700 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.243383 -0.298073 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.333143 -0.029601 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.077966 -0.425214 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.104191 0.452545 0.491851 -0.000000 0.931422 0.363941 248 235 215 1.000000
+0.370666 -0.548524 0.166324 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.369541 -0.184579 0.503647 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.180473 -0.451946 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.064216 0.025407 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.258168 0.613231 -0.139339 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.195109 -0.202607 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.352504 0.282425 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 -0.405207 0.113053 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.194496 -0.095919 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.177340 -0.479231 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.156531 0.432331 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.119798 -0.363566 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.474640 0.167851 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.060888 -0.087464 -0.474637 0.000000 1.000000 0.000000 246 206 141 1.000000
+0.370666 0.188245 0.333386 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.664269 -0.257370 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.359219 0.246356 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.727485 -0.338363 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.177231 -0.545813 0.431151 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.535957 -0.026544 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.331959 0.613231 -0.153625 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+0.349593 -0.294700 0.075395 -1.000000 0.000000 0.000000 243 207 143 1.000000
+0.349593 0.403246 -0.351509 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.220843 -0.527177 -0.503673 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.345833 -0.469088 0.354212 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 0.384063 0.203886 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.364875 -0.598497 0.382827 0.000000 -1.000000 -0.000000 242 205 146 1.000000
+0.349593 -0.307240 -0.374862 -1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.295123 0.108261 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.317240 0.634305 0.219722 0.000000 1.000000 0.000000 248 216 156 1.000000
+-0.366907 -0.548363 0.070268 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.157680 -0.386428 -0.503673 0.000000 0.000000 -1.000000 245 208 149 1.000000
+0.349593 0.608776 -0.291709 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.466420 0.275579 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.349593 0.613841 -0.503504 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.210526 -0.545813 0.115325 0.000000 1.000000 0.000000 246 218 159 1.000000
+-0.235547 -0.565008 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.248023 0.634305 -0.119248 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.146774 0.377881 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.322700 -0.021930 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.169856 0.574537 0.497504 -0.000000 0.857924 -0.513776 255 255 255 1.000000
+-0.366907 0.134112 -0.258025 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.072604 -0.366322 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.565818 0.330734 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.159184 -0.329271 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.305579 0.628120 0.444635 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.282662 0.092907 -0.503673 0.000000 0.000000 -1.000000 233 196 137 1.000000
+0.349593 -0.278516 0.153582 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.222502 -0.298151 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.075280 0.350111 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.262880 0.568450 -0.325189 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.108024 0.367256 0.444635 0.000000 0.000000 -1.000000 247 215 154 1.000000
+-0.366907 -0.064479 -0.132560 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.090116 0.027823 -0.503673 0.000000 0.000000 -1.000000 243 209 149 1.000000
+0.370666 -0.317218 -0.287863 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.478090 0.067166 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.366907 -0.126907 -0.276951 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.253585 0.634305 -0.269810 0.000000 1.000000 0.000000 239 206 143 1.000000
+-0.366907 0.501867 -0.120458 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.279481 0.352447 0.496949 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.197178 -0.119074 0.133753 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+0.370666 0.544406 -0.005110 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.252804 -0.438777 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.311182 -0.087464 0.252347 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.305039 0.184618 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.335503 0.587159 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.478444 0.298569 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.223694 0.613231 0.088030 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+-0.366907 0.406199 -0.462784 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.409832 -0.389052 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.219310 -0.390865 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.202057 0.521241 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.328512 -0.087464 0.438361 0.000000 1.000000 0.000000 243 215 153 1.000000
+0.370666 0.476894 -0.007373 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.345051 -0.263397 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.380766 -0.331658 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.279209 0.613231 0.325086 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.719997 0.189068 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.313506 -0.119074 0.013435 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.105684 -0.545813 -0.285630 0.000000 1.000000 0.000000 244 208 144 1.000000
+0.349593 0.064795 0.187692 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.366907 -0.202877 0.299127 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.503886 -0.103351 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.065301 -0.513839 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.244304 0.634305 -0.049130 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.624044 -0.151115 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.186402 -0.026389 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.606890 0.245530 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.131854 0.470985 -0.214647 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.253637 0.483349 0.293499 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 0.076840 0.222170 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.458272 -0.049813 1.000000 0.000000 0.000000 238 206 145 1.000000
+0.370666 0.503324 -0.305192 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.517183 -0.304928 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.093701 0.614006 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.655781 -0.364064 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.209289 0.602694 0.453593 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.361833 -0.033942 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.282937 -0.472554 -0.503673 0.000000 0.000000 -1.000000 241 209 148 1.000000
+-0.366907 0.209983 -0.019795 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.276951 -0.141371 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.249623 -0.087464 0.049824 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.253637 0.513703 -0.074354 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.369541 0.415878 0.496166 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.444687 0.033412 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.603227 0.080178 -1.000000 0.000000 0.000000 241 201 136 1.000000
+0.349593 0.143610 -0.126003 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.488621 -0.532158 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.546898 0.134088 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.530917 -0.381692 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 0.500097 -0.529686 1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.292650 0.544128 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.152338 0.117484 1.000000 0.000000 0.000000 247 207 141 1.000000
+0.337383 -0.087464 -0.383011 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.035848 -0.545813 -0.116234 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.007597 -0.119074 0.272231 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.349593 -0.025902 -0.140591 -1.000000 0.000000 0.000000 252 211 153 1.000000
+-0.280113 0.160024 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.185335 -0.194660 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.189772 0.463082 0.403445 0.000000 -1.000000 -0.000000 240 207 152 1.000000
+0.349593 -0.384248 0.163361 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.092703 0.045905 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.137302 0.278746 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.260891 -0.199562 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.142514 -0.026095 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.022384 -0.346644 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.177657 -0.233928 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.527274 -0.035244 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.613518 -0.242580 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.365336 0.012304 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.038724 -0.119074 -0.309983 0.000000 -1.000000 -0.000000 246 212 152 1.000000
+-0.366907 -0.166142 -0.390217 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.082212 0.171829 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.424995 0.351515 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.225361 0.568450 -0.347859 0.000000 1.000000 0.000000 247 211 145 1.000000
+0.370666 -0.359243 0.378865 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.298042 0.613231 -0.425019 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+0.268954 0.166446 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.056060 0.120531 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.062402 -0.208303 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.499910 0.130381 1.000000 0.000000 0.000000 244 211 154 1.000000
+0.349593 -0.222785 0.286890 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.347886 -0.743751 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.117384 -0.299322 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.265129 -0.087464 0.272567 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.247662 0.389605 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.087572 0.628252 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.041830 0.470985 -0.317596 0.000000 1.000000 0.000000 239 203 139 1.000000
+-0.345833 0.607551 -0.458007 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.612321 -0.214846 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.359218 -0.374999 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.315807 -0.202071 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.337985 0.634305 -0.068921 0.000000 1.000000 0.000000 247 209 156 1.000000
+-0.271944 0.613231 -0.353055 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.369672 -0.467968 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.277234 -0.461343 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.249912 -0.087899 0.444635 0.000000 -0.000000 1.000000 245 211 151 1.000000
+0.174841 0.153172 -0.503673 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.248293 -0.021459 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.099910 0.470985 0.354141 0.000000 1.000000 0.000000 245 211 152 1.000000
+-0.014234 0.248286 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.248767 -0.100628 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.174497 -0.556459 -0.535284 0.000000 0.000000 -1.000000 250 213 154 1.000000
+-0.345833 0.153733 -0.468852 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.267692 0.613231 -0.470377 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.001026 0.582585 0.499387 0.000000 -0.706791 0.707422 248 235 215 1.000000
+-0.366907 0.358432 -0.361521 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.267750 0.539474 -0.528443 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.003579 -0.584996 0.507856 -0.000000 0.008120 0.999967 248 235 215 1.000000
+0.343622 0.521112 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.288817 0.568450 0.044098 0.000000 1.000000 0.000000 251 219 158 1.000000
+-0.366907 0.570108 0.171603 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.091071 0.275059 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.145190 0.463082 0.380224 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.570246 -0.445766 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.083733 0.304637 0.507856 -0.000000 0.069455 -0.997585 255 255 255 1.000000
+-0.140950 0.528450 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.506362 -0.156867 1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.187171 0.483475 -0.335085 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.370666 0.611567 -0.319709 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.388557 -0.195030 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.596651 -0.517003 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.039332 -0.119074 0.367851 0.000000 -1.000000 -0.000000 244 202 140 1.000000
+0.306010 0.634305 -0.362542 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.274384 -0.362538 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.178447 0.463082 0.260978 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.370666 -0.052984 0.194411 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.652406 -0.037826 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.455878 -0.433467 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.340841 0.109413 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.087253 0.291929 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.368213 0.212979 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.203358 -0.132398 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.242862 0.634305 -0.165108 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.370666 -0.127106 0.402178 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314223 0.066410 0.458831 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.317983 0.444307 0.450283 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.039960 -0.012489 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.259319 -0.344105 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.255099 -0.545813 0.113195 0.000000 1.000000 0.000000 240 207 150 1.000000
+0.066556 0.226020 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+-0.366907 -0.273956 0.119892 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.276695 0.634305 -0.334542 0.000000 1.000000 0.000000 238 206 145 1.000000
+-0.366907 0.380513 -0.500324 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.235883 -0.171898 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.285247 0.463006 -0.023886 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.108658 0.527593 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.530794 0.038256 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.137149 -0.409294 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122994 0.203952 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.275209 0.470938 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.061789 0.231706 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.170479 -0.644339 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.285247 0.543278 0.245601 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.110559 -0.286043 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.029978 -0.271337 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.001160 0.617258 0.507856 0.000000 -0.091192 0.995833 248 235 215 1.000000
+-0.000389 0.470985 0.160479 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.255466 -0.087464 -0.485293 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.297931 -0.319791 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.290849 0.015766 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.349593 -0.499453 0.201515 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.399413 -0.420876 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.313578 0.098373 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.291937 0.366502 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.116984 -0.545813 -0.058551 0.000000 1.000000 0.000000 242 210 149 1.000000
+0.370666 -0.394709 0.067916 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.189288 0.419850 -1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.099276 0.463258 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.225851 0.313286 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.230242 0.665468 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.135829 -0.273234 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.014801 0.358219 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.233969 0.172909 1.000000 0.000000 0.000000 247 209 150 1.000000
+-0.366907 0.004206 -0.082868 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.195763 -0.121463 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.340940 0.634305 -0.155448 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.064520 0.158594 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.221469 0.634305 -0.284105 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.109234 0.047748 -0.503673 0.000000 0.000000 -1.000000 250 207 150 1.000000
+-0.088653 -0.119074 -0.330032 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.251508 -0.135784 -0.503673 0.000000 0.000000 -1.000000 249 212 153 1.000000
+-0.345833 -0.313995 -0.104364 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.253932 -0.119074 0.114111 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.182219 0.391959 0.476035 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.028619 0.407243 1.000000 0.000000 0.000000 244 200 143 1.000000
+-0.345833 -0.526211 0.142922 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.216391 -0.087464 0.349828 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.264021 0.442009 -0.021505 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+0.227204 0.430725 0.502416 -0.000000 0.257930 0.966164 248 235 215 1.000000
+0.186757 0.288249 0.507856 0.000000 -0.093226 0.995645 248 235 215 1.000000
+0.245060 -0.365578 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.072518 -0.352861 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.599318 -0.006324 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.167960 -0.415758 -0.503673 0.000000 0.000000 -1.000000 246 210 146 1.000000
+0.298965 -0.229918 -0.503673 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.366907 0.436385 0.142468 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.324529 -0.369485 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.285434 -0.020804 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.016976 -0.270720 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.052475 -0.301718 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.151850 -0.697305 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253503 -0.567352 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.025352 0.017185 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.617225 0.266748 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.257396 0.507508 -0.349079 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.293059 -0.115342 0.444635 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.135254 0.080160 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.567490 0.283272 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.108357 0.001664 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.106748 0.204581 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.156062 -0.119074 -0.045675 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+-0.074013 -0.481163 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.057392 -0.756747 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.144523 -0.376853 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.119400 -0.104091 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.444716 -0.270749 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.139343 -0.087464 0.027039 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.345833 0.420883 0.042863 1.000000 0.000000 0.000000 243 207 143 1.000000
+-0.172734 -0.494039 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.008779 -0.113363 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.343456 -0.419495 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.308644 0.634305 0.296065 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.493126 0.301101 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.355653 -0.351389 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.342818 0.622051 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.068188 -0.348169 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.243449 0.613231 0.138209 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.345833 -0.339685 -0.408448 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.156244 0.256673 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.441780 -0.368043 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.104114 -0.074289 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.398879 0.096422 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.475592 0.278725 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.257653 0.304007 -0.487868 0.000000 -0.000000 1.000000 242 208 148 1.000000
+0.201160 -0.543788 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.450608 0.407303 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.224941 -0.337815 1.000000 0.000000 0.000000 239 202 143 1.000000
+0.349593 0.148856 -0.162017 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.349593 0.370655 0.342766 -1.000000 0.000000 0.000000 242 214 152 1.000000
+0.148570 0.381246 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.070433 -0.178219 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.343333 0.642173 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.263571 0.334439 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.208401 0.304722 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.176300 -0.287407 -0.503673 0.000000 0.000000 -1.000000 238 201 142 1.000000
+-0.285247 0.452698 0.207328 -1.000000 0.000000 0.000000 238 202 138 1.000000
+-0.323607 -0.185274 -0.487868 0.000000 -0.000000 1.000000 239 209 147 1.000000
+-0.169742 0.470985 0.361321 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.082535 -0.475227 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.243326 0.241944 -0.487868 0.000000 -0.000000 1.000000 247 214 157 1.000000
+-0.083175 -0.545813 -0.149194 0.000000 1.000000 0.000000 244 212 151 1.000000
+0.089346 0.121562 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.363778 -0.101621 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.056698 -0.100077 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.155455 0.536484 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.282417 0.214895 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.378846 0.273931 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.300538 -0.087464 -0.000655 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.288803 0.614209 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.289860 -0.280282 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.447137 0.282859 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.274737 -0.119074 0.407050 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.315756 0.643307 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+0.342407 0.248240 -0.487868 0.000000 -0.000000 1.000000 240 204 140 1.000000
+0.321828 -0.545813 0.017458 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.148757 -0.337585 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.289007 0.528589 -0.196967 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.276551 -0.135758 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.488118 -0.001327 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.026791 -0.225570 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.661661 -0.311764 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.082097 -0.590594 0.507094 -0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.069296 -0.320523 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.005698 -0.545813 0.223936 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.235069 0.613231 0.256019 0.000000 -1.000000 -0.000000 248 212 148 1.000000
+0.185052 0.103769 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.140612 -0.368096 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.037942 -0.762515 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 0.170835 0.104267 -1.000000 0.000000 0.000000 239 203 139 1.000000
+-0.366907 0.533391 -0.366903 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.216658 -0.481674 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.267835 0.634305 -0.430287 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.045494 0.447080 0.444635 0.000000 0.000000 -1.000000 247 204 147 1.000000
+0.182362 -0.545813 0.274060 0.000000 1.000000 0.000000 240 209 143 1.000000
+-0.366907 0.582431 0.209624 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.085528 -0.537661 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.257396 0.467296 -0.317267 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.006877 -0.512692 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.494492 -0.333853 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.057735 -0.066026 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.031852 -0.447275 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.213579 -0.108593 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.389594 0.050578 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.150361 -0.369697 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.639821 0.132518 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.311269 -0.059480 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.328034 0.613231 -0.221161 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.083021 -0.702934 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.233181 0.077827 -1.000000 0.000000 0.000000 245 204 136 1.000000
+0.256479 0.613231 0.305121 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.305318 0.004321 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.328905 0.032633 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.010167 -0.174922 -0.503673 0.000000 0.000000 -1.000000 239 201 140 1.000000
+0.343896 0.634305 -0.238050 0.000000 1.000000 0.000000 243 213 151 1.000000
+0.370666 -0.785648 0.156800 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.224260 -0.761880 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.431948 -0.023458 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.273253 0.140380 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.349593 -0.286645 -0.093355 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.024487 0.543015 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.115566 -0.119074 0.276843 0.000000 -1.000000 -0.000000 238 206 145 1.000000
+0.330863 -0.540544 -0.521837 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.199737 -0.119074 0.298139 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.007748 0.284568 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.343273 -0.099392 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.602822 -0.003866 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.248936 -0.783936 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.138531 -0.151494 -0.487868 0.000000 -0.000000 1.000000 239 203 139 1.000000
+-0.345833 0.098397 0.413069 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 -0.039232 0.427703 1.000000 0.000000 0.000000 246 205 137 1.000000
+-0.253637 0.515563 0.442945 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.157489 -0.321769 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.069641 0.383990 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.090705 0.217154 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.203425 -0.530457 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349081 0.634305 0.197146 0.000000 1.000000 0.000000 242 206 142 1.000000
+0.349593 -0.588932 -0.329561 -1.000000 0.000000 0.000000 243 211 150 1.000000
+-0.345833 0.541268 -0.390885 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.260774 0.097068 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.078234 -0.338736 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.688519 0.271212 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.192882 -0.424094 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.301636 0.613231 0.190245 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.316868 -0.119074 -0.358799 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.191739 -0.545813 0.275954 0.000000 1.000000 0.000000 244 201 144 1.000000
+0.154966 -0.051885 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.360345 -0.183782 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.351932 -0.483555 -1.000000 0.000000 0.000000 245 211 152 1.000000
+0.171806 -0.545813 -0.076397 0.000000 1.000000 0.000000 249 217 156 1.000000
+0.370666 -0.228760 0.184551 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.196171 -0.119074 -0.338680 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.366907 0.094132 0.375594 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.314601 -0.141919 -1.000000 0.000000 0.000000 243 215 153 1.000000
+0.246859 0.392459 0.482842 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.599581 -0.472421 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.161234 0.610931 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.079206 -0.087464 0.386640 0.000000 1.000000 0.000000 243 211 150 1.000000
+-0.345833 0.520285 0.042353 1.000000 0.000000 0.000000 246 210 146 1.000000
+0.370666 0.354297 -0.394211 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.000330 0.470985 0.011060 0.000000 1.000000 0.000000 240 203 144 1.000000
+0.149973 -0.484655 0.500591 0.000000 -0.422449 -0.906386 255 255 255 1.000000
+0.370666 0.613096 -0.127533 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.476902 -0.348631 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.064763 -0.504431 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.341840 -0.302293 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.574145 -0.073549 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.265639 -0.064040 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.384056 -0.198837 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.489718 0.446602 -1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 0.525624 -0.150909 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.062267 0.665915 0.470136 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.089077 -0.556487 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.198659 -0.535276 0.448428 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.349593 -0.284496 -0.154174 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 0.378733 -0.141239 1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.345833 -0.059451 0.100238 1.000000 0.000000 0.000000 243 206 147 1.000000
+0.123265 0.460201 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.529285 -0.334632 1.000000 0.000000 0.000000 247 215 154 1.000000
+0.158685 -0.230544 -0.487868 0.000000 -0.000000 1.000000 244 202 140 1.000000
+-0.345298 0.569668 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.323298 0.576069 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.014002 0.352446 0.497168 -0.000000 1.000000 0.000000 248 235 215 1.000000
+0.131844 0.525197 0.444635 0.000000 0.000000 -1.000000 245 209 145 1.000000
+0.010904 -0.157824 -0.487868 0.000000 -0.000000 1.000000 245 208 149 1.000000
+-0.305415 -0.267918 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.643756 -0.034767 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.053559 0.470686 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.308425 0.391959 0.472874 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.315817 -0.415376 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.275562 -0.545813 0.308334 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.396225 -0.112553 1.000000 0.000000 0.000000 246 214 153 1.000000
+-0.345833 -0.273450 0.220956 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.469375 -0.215467 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.558073 0.244557 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.043119 -0.439783 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.602977 0.327030 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.252486 0.028586 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.042070 0.363140 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.339979 -0.545813 0.053423 0.000000 1.000000 0.000000 242 206 142 1.000000
+-0.345833 0.613110 0.376686 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 0.380079 -0.015819 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.297879 -0.119074 -0.179210 0.000000 -1.000000 -0.000000 249 212 153 1.000000
+0.102558 0.648191 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.102712 -0.087464 0.292591 0.000000 1.000000 0.000000 243 205 144 1.000000
+-0.328468 -0.645428 -0.535284 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.345833 0.377993 -0.331176 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.534341 0.378109 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.300571 -0.236935 1.000000 0.000000 0.000000 244 211 146 1.000000
+0.349593 -0.048271 0.022015 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.188035 -0.119074 0.135421 0.000000 -1.000000 -0.000000 239 207 146 1.000000
+0.370666 -0.229310 0.443197 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.008184 0.562334 0.444635 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.366907 0.075762 -0.142181 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.284792 0.568450 -0.049632 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.259524 -0.047399 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.345833 -0.582117 0.200471 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.255613 0.253739 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.277833 -0.185966 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.112720 -0.157915 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.416839 0.100793 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.332073 0.005453 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.104862 0.576110 -0.535284 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.288125 0.604625 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.147637 0.073883 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.339232 -0.325926 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 -0.758105 0.111014 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.049034 -0.366455 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.280290 0.634305 -0.488233 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.296126 -0.432928 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.150064 0.535772 -0.335085 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.349593 -0.290019 -0.478916 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.271632 -0.541812 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.063180 -0.573807 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.105420 0.097202 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.219557 0.332371 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.299215 -0.137671 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.649948 0.172813 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.427925 -0.184057 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.663767 -0.101139 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.325794 0.239066 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.302704 0.136674 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.088146 0.519345 -0.487868 0.000000 -0.000000 1.000000 238 206 145 1.000000
+-0.304267 0.552878 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 -0.338968 -0.376722 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.115720 0.463082 0.315989 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+-0.366907 0.360831 0.253745 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.095277 -0.402071 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.199878 0.117414 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.479561 0.248300 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.345833 0.508421 -0.257801 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.190325 -0.132886 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.038912 0.463082 0.362284 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.330408 0.346718 1.000000 0.000000 0.000000 238 201 142 1.000000
+-0.366907 -0.716864 -0.056272 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.007217 -0.517552 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.071156 0.429987 0.502832 0.000000 -0.999931 -0.011792 255 255 255 1.000000
+0.173644 -0.087464 -0.477611 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.349593 -0.060345 -0.079720 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.337181 -0.119074 -0.467334 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+-0.366579 -0.598497 0.440996 0.000000 -1.000000 -0.000000 243 211 150 1.000000
+0.005664 0.558923 -0.335085 0.000000 -0.000000 1.000000 239 202 143 1.000000
+0.349593 -0.285102 -0.022563 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.345833 0.117180 0.249983 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.108533 -0.284906 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.212307 -0.334392 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.206746 -0.398873 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.301611 0.183320 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.056082 0.530174 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.021594 -0.590594 0.495493 -0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.559070 0.264297 1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 0.232893 0.263848 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.206041 0.270240 0.507856 0.000000 -0.119251 0.992864 248 235 215 1.000000
+0.094780 0.143326 -0.503673 0.000000 0.000000 -1.000000 247 205 141 1.000000
+0.252325 -0.425360 -0.503673 0.000000 0.000000 -1.000000 247 215 154 1.000000
+0.239014 0.032340 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.349593 0.416854 -0.060664 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 0.629302 0.143321 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.671047 0.013024 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.203220 -0.456111 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.534501 0.392489 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.348662 0.642851 0.444635 0.000000 0.000000 -1.000000 243 211 150 1.000000
+-0.366907 0.542508 -0.079416 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.300173 -0.084451 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.334595 0.393945 -1.000000 0.000000 0.000000 248 211 152 1.000000
+0.152590 -0.340936 -0.503673 0.000000 0.000000 -1.000000 244 207 148 1.000000
+0.370666 -0.410174 0.424420 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.129993 -0.382317 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.251074 -0.379062 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.253637 0.566804 0.179142 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.548465 -0.379378 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.451812 -0.153359 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.349593 0.540749 -0.100448 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.274949 -0.545813 -0.362055 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.277535 0.568450 -0.099404 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.090142 -0.237993 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.147589 0.201639 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.094451 0.062026 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.593704 0.221419 1.000000 0.000000 0.000000 244 204 141 1.000000
+0.370666 0.474238 -0.085163 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.231924 0.613231 0.235282 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.632536 -0.197864 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.242595 -0.169970 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.349593 -0.229031 -0.348486 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.246407 0.213478 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.326487 0.127230 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.339970 0.371851 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.144094 -0.074297 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.536082 0.314236 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.188280 -0.153574 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 -0.720008 -0.199957 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.012717 0.062680 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.370666 -0.280372 0.420086 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.102975 -0.113281 1.000000 0.000000 0.000000 252 215 156 1.000000
+0.224210 0.470985 -0.037776 0.000000 1.000000 0.000000 247 215 154 1.000000
+-0.366907 -0.705161 -0.125860 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.381203 -0.530556 0.458508 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.181200 -0.545813 -0.187789 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.237192 0.613231 -0.359917 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.345833 0.298644 0.102933 1.000000 0.000000 0.000000 236 200 136 1.000000
+-0.366907 -0.405898 -0.504449 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.332591 -0.545813 -0.097045 0.000000 1.000000 0.000000 243 206 147 1.000000
+0.051050 0.030121 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.269118 -0.414361 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.123305 0.463082 -0.311028 0.000000 -1.000000 -0.000000 243 207 143 1.000000
+-0.159512 -0.119074 0.224037 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.020888 0.470985 0.259810 0.000000 1.000000 0.000000 248 212 148 1.000000
+0.349593 -0.103268 0.169007 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.377736 -0.367124 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.043298 -0.545813 0.215767 0.000000 1.000000 0.000000 248 212 146 1.000000
+-0.366907 0.233763 0.107957 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.020019 -0.544219 0.507856 0.000000 -0.067372 -0.997728 255 255 255 1.000000
+-0.344446 0.613231 -0.430346 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.281379 0.568450 -0.289819 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.571761 0.023050 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.447174 0.106358 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.134495 0.135118 -1.000000 0.000000 0.000000 247 205 143 1.000000
+0.022736 0.602694 0.447965 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.038906 -0.119074 -0.439187 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.211763 -0.446959 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.205608 0.463082 0.335876 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+-0.345833 -0.562977 -0.120741 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370666 -0.233120 0.312305 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.299810 0.258328 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.314223 -0.104874 0.451021 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.057278 0.336352 -1.000000 0.000000 0.000000 244 210 151 1.000000
+-0.366907 -0.447820 0.084148 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.006329 0.268545 -1.000000 0.000000 0.000000 237 201 137 1.000000
+-0.057052 -0.270630 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.166198 -0.087464 -0.366219 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.278267 0.154920 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.262764 0.442009 0.013800 0.000000 -1.000000 -0.000000 247 204 147 1.000000
+0.012703 0.061725 -0.487868 0.000000 -0.000000 1.000000 246 210 146 1.000000
+0.349593 -0.133707 0.168624 -1.000000 0.000000 0.000000 247 205 141 1.000000
+0.008513 -0.087464 0.409591 0.000000 1.000000 0.000000 247 205 143 1.000000
+-0.366907 0.068183 0.062805 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.224948 -0.229934 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.258850 -0.394312 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.034757 0.070211 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.012336 -0.545813 0.384563 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.253637 0.530166 0.315550 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.053404 -0.545813 0.150019 0.000000 1.000000 0.000000 244 201 144 1.000000
+-0.366907 -0.241981 0.112684 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.293976 0.634305 0.236027 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.063724 -0.244839 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.495841 -0.335538 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.103512 -0.431689 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.512712 -0.252568 -1.000000 0.000000 0.000000 249 212 153 1.000000
+0.260355 0.613231 -0.205747 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.282550 -0.119074 -0.335959 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.236748 0.164698 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.272339 0.613231 -0.254197 0.000000 -1.000000 -0.000000 242 206 142 1.000000
+0.022522 -0.224010 -0.503673 0.000000 0.000000 -1.000000 238 204 144 1.000000
+0.349593 0.607170 0.366550 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.191416 0.505695 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.138779 -0.437139 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.079891 -0.226821 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.094516 0.463082 0.269369 0.000000 -1.000000 -0.000000 244 210 151 1.000000
+0.257396 0.501217 -0.141019 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.243104 -0.420434 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.248545 -0.119074 -0.021369 0.000000 -1.000000 -0.000000 249 217 156 1.000000
+-0.237817 -0.711301 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.222175 -0.432765 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.526441 0.168404 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.149472 0.447809 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.144693 -0.234416 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.299800 0.200165 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.071797 -0.612200 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+0.349593 0.168528 -0.259958 -1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.345833 0.548853 -0.486071 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.081107 0.602694 0.470168 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.456143 -0.352853 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.492536 -0.341064 1.000000 0.000000 0.000000 249 212 153 1.000000
+0.246859 -0.139942 0.506494 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.516304 0.098498 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.392311 0.381585 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.379813 0.138923 1.000000 0.000000 0.000000 238 206 145 1.000000
+-0.208996 -0.087464 -0.344543 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.134015 -0.545813 0.146594 0.000000 1.000000 0.000000 249 217 156 1.000000
+-0.345833 -0.018883 -0.335845 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.349593 -0.486163 0.224291 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.349593 0.400169 -0.325764 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.265914 -0.536403 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.022309 0.061094 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.150011 -0.589299 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.056141 0.248641 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.625862 -0.278307 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.373777 -0.362043 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.243100 0.343696 0.491031 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.301033 -0.255023 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.000164 0.658012 0.499509 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.045221 0.470985 -0.275875 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.345833 -0.193419 -0.431203 1.000000 0.000000 0.000000 241 204 145 1.000000
+0.118581 0.470985 -0.046174 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.299445 -0.217771 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.398098 0.260368 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.024071 0.470985 0.102971 0.000000 1.000000 0.000000 243 206 147 1.000000
+-0.032243 0.429987 0.503532 -0.000000 0.998947 0.045889 248 235 215 1.000000
+0.245939 -0.111232 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.016006 -0.385187 -0.503673 0.000000 0.000000 -1.000000 238 201 142 1.000000
+-0.052301 0.442009 0.452888 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.046887 -0.254099 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.246859 -0.017298 0.498544 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.412629 -0.002006 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.089736 -0.569804 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.639504 0.220326 1.000000 0.000000 0.000000 244 208 142 1.000000
+-0.106588 -0.052321 -0.487868 0.000000 -0.000000 1.000000 244 216 154 1.000000
+-0.232631 -0.119074 0.053524 0.000000 -1.000000 -0.000000 247 211 147 1.000000
+0.349593 0.017837 -0.367401 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.265144 -0.280704 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.270851 -0.545813 0.039024 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.166570 -0.087464 -0.417845 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.333064 0.411762 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.113251 -0.097420 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.354409 0.166105 0.444635 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.345833 0.048166 -0.458187 1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.099365 -0.595212 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.253637 0.466104 0.441109 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.297844 -0.355963 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.342547 -0.639859 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.158635 -0.087464 -0.368272 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 0.325593 0.433967 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.018370 -0.450535 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.315906 0.634305 0.159945 0.000000 1.000000 0.000000 239 205 145 1.000000
+0.349593 0.200393 -0.260176 -1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.366907 -0.781569 0.050419 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.043673 0.177545 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.067163 -0.423640 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.105456 0.470985 -0.161996 0.000000 1.000000 0.000000 255 218 159 1.000000
+0.370666 0.271714 -0.513138 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.612612 0.041765 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.151239 0.418178 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.307133 0.634305 -0.187961 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.282719 0.613231 -0.288834 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.010317 0.463082 -0.091695 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.108625 0.470985 0.126903 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.345833 -0.468215 -0.241251 1.000000 0.000000 0.000000 246 203 146 1.000000
+0.349593 -0.335371 0.166923 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.395011 0.029346 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.755193 -0.350287 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.038849 -0.070760 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.072208 0.122762 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.084322 0.470985 0.222167 0.000000 1.000000 0.000000 243 203 138 1.000000
+-0.015296 -0.684674 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.324769 -0.321836 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.282532 0.613231 -0.446373 0.000000 -1.000000 -0.000000 241 204 145 1.000000
+0.370666 -0.659038 -0.160900 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.136356 0.474571 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.783778 -0.179576 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.419980 0.157276 1.000000 0.000000 0.000000 241 213 151 1.000000
+0.011698 -0.545813 0.354566 0.000000 1.000000 0.000000 247 209 148 1.000000
+0.349593 0.088824 0.337033 -1.000000 0.000000 0.000000 245 211 152 1.000000
+0.184256 -0.537187 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.098796 -0.394065 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.523794 0.411379 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.149073 -0.545813 0.033926 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.229058 -0.236106 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.186140 -0.425122 -1.000000 0.000000 0.000000 247 210 151 1.000000
+-0.285247 0.502789 0.075484 -1.000000 0.000000 0.000000 245 209 145 1.000000
+-0.345833 -0.275870 -0.101784 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.104345 0.470985 0.172232 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.154363 0.046297 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.005376 -0.545813 -0.174230 0.000000 1.000000 0.000000 248 211 152 1.000000
+-0.366907 0.078714 -0.314571 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.272655 -0.016138 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.635362 -0.466517 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.172575 0.549619 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+0.370666 -0.332185 0.243539 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.043580 0.338782 0.507856 0.000000 -0.019829 0.999803 248 235 215 1.000000
+-0.325489 -0.018357 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.058199 -0.087464 0.151192 0.000000 1.000000 0.000000 251 208 151 1.000000
+-0.129590 0.531254 -0.366696 0.000000 0.000000 -1.000000 244 208 144 1.000000
+-0.366907 0.291868 0.303848 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.136719 0.405002 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.098824 0.391959 0.458723 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.001003 0.105853 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.070506 -0.545813 -0.437179 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.056187 -0.545813 -0.355617 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.473133 0.308758 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.022747 -0.230358 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.036856 -0.545813 -0.055416 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.316020 0.665915 -0.524759 0.000000 1.000000 0.000000 246 212 152 1.000000
+0.370666 -0.144541 -0.100932 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.249690 0.613231 -0.316637 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.111440 -0.087464 -0.389333 0.000000 1.000000 0.000000 248 212 148 1.000000
+-0.366907 0.288671 -0.509837 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.363418 0.360559 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.460961 -0.194357 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.455133 0.193051 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.208746 0.594566 0.502189 0.000000 -0.297552 0.954706 248 235 215 1.000000
+-0.321028 0.455476 0.444635 0.000000 0.000000 -1.000000 248 211 152 1.000000
+0.349593 -0.115261 -0.320073 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.038658 -0.545813 0.421190 0.000000 1.000000 0.000000 250 207 150 1.000000
+-0.273821 -0.087464 -0.260131 0.000000 1.000000 0.000000 248 219 163 1.000000
+0.349593 -0.465018 -0.077632 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.216596 0.452545 0.484134 -0.000000 0.984456 0.175629 248 235 215 1.000000
+0.370666 -0.409584 -0.211390 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.039608 0.104067 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.450193 -0.443226 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.234578 0.299023 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.341423 -0.256314 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.020419 -0.041301 -1.000000 0.000000 0.000000 249 212 153 1.000000
+0.289007 0.524637 -0.141087 1.000000 0.000000 0.000000 244 208 144 1.000000
+0.257385 -0.596239 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.312145 0.460537 -0.487868 0.000000 -0.000000 1.000000 240 204 140 1.000000
+-0.345833 -0.480935 0.409596 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.321644 -0.087464 0.191651 0.000000 1.000000 0.000000 248 214 154 1.000000
+-0.366907 0.245433 -0.026946 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.241886 -0.545813 0.199237 0.000000 1.000000 0.000000 241 207 147 1.000000
+0.202095 0.470985 -0.167380 0.000000 1.000000 0.000000 244 214 152 1.000000
+-0.253637 0.490431 -0.055695 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.270257 -0.527940 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.395457 -0.112404 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.345833 0.438593 -0.092257 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.139031 0.351742 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.278514 0.016985 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.190383 0.332469 -0.487868 0.000000 -0.000000 1.000000 244 212 151 1.000000
+0.349593 0.308611 0.050612 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.051341 0.606880 -0.503673 0.000000 0.000000 -1.000000 243 206 147 1.000000
+0.370666 -0.123444 0.228708 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.087913 0.387128 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.320159 0.034228 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.567168 0.407360 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.589082 0.327193 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.058101 -0.429683 -1.000000 0.000000 0.000000 248 212 148 1.000000
+-0.128081 -0.343446 -0.503673 0.000000 0.000000 -1.000000 245 203 141 1.000000
+0.349593 -0.511008 -0.426010 -1.000000 0.000000 0.000000 243 206 147 1.000000
+0.370666 0.477591 -0.284361 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.179654 0.463082 0.423097 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.092159 0.463082 0.397704 0.000000 -1.000000 -0.000000 239 209 147 1.000000
+-0.325209 0.634305 0.331699 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.172161 -0.119074 -0.203313 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.354741 0.196607 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.220037 -0.119074 -0.076252 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.067412 -0.023363 -0.503673 0.000000 0.000000 -1.000000 241 205 141 1.000000
+-0.118599 -0.087464 0.103875 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.108986 0.169892 -0.487868 0.000000 -0.000000 1.000000 247 210 151 1.000000
+-0.340682 -0.004633 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.270125 0.371422 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.443912 0.259590 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.246040 0.463082 -0.305380 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.272535 0.167750 -1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.154166 -0.474970 0.499030 0.000000 -0.601434 -0.798922 255 255 255 1.000000
+-0.345833 -0.070065 0.141069 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.336099 -0.430910 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.224429 -0.018803 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.246354 -0.169028 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.112404 -0.087464 -0.477508 0.000000 1.000000 0.000000 236 200 136 1.000000
+0.289007 0.528409 0.346469 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.115100 -0.498127 -0.503673 0.000000 0.000000 -1.000000 248 214 155 1.000000
+-0.187766 0.571377 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.308632 -0.313130 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 -0.207732 0.045097 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.184462 -0.258886 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.276724 0.613231 0.057402 0.000000 -1.000000 -0.000000 240 203 144 1.000000
+-0.329700 -0.531375 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.326429 -0.087464 -0.031750 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.349593 0.507893 0.263833 -1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.366907 0.220665 -0.258422 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.220139 -0.626987 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.584425 -0.439010 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.000837 0.470985 0.311000 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.196598 0.382905 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.009870 -0.084139 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.069820 0.090790 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.089700 0.619177 -0.503673 0.000000 -0.000000 1.000000 248 211 152 1.000000
+0.169944 -0.087464 0.150564 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.128983 -0.429417 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.263915 0.613231 0.276031 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+0.211118 0.539278 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.218915 0.463082 0.165338 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.536091 -0.033144 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.198167 0.470985 -0.329856 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.214253 -0.036688 1.000000 0.000000 0.000000 251 214 155 1.000000
+0.370666 -0.527515 0.349217 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.003786 0.328738 0.444716 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.345833 -0.260259 -0.431738 1.000000 0.000000 0.000000 244 208 144 1.000000
+0.144022 -0.343583 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.370666 0.152354 -0.461863 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.170122 0.174655 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.287007 -0.119074 -0.444430 0.000000 -1.000000 -0.000000 247 207 142 1.000000
+0.037143 -0.545813 -0.478426 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.300581 0.634305 0.182093 0.000000 1.000000 0.000000 245 203 139 1.000000
+0.340227 -0.449720 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.270277 0.568450 0.449951 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.063053 -0.531266 -0.487868 0.000000 -0.000000 1.000000 242 213 157 1.000000
+-0.148503 0.177362 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.023306 -0.153852 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.189099 -0.506976 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.151094 -0.189090 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.335049 -0.295132 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.173989 -0.070146 -1.000000 0.000000 0.000000 247 215 154 1.000000
+0.057995 0.470985 -0.243849 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.267020 0.394303 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.661068 -0.318407 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.357365 0.141998 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.000717 -0.119074 0.011681 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.235603 0.420906 1.000000 0.000000 0.000000 244 212 151 1.000000
+0.004660 0.271255 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 0.393765 0.211248 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.141414 0.511822 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.260798 -0.007425 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.623514 0.272835 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.337275 -0.545813 -0.183358 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.240879 -0.049201 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.016907 0.239199 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.356444 0.665915 -0.024775 0.000000 1.000000 0.000000 247 204 147 1.000000
+-0.233889 0.634305 0.322673 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.323748 0.201286 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.240893 -0.545813 -0.330851 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.240758 0.328738 0.456226 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.612862 -0.090785 -1.000000 0.000000 0.000000 252 220 159 1.000000
+-0.366907 -0.597810 -0.330931 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.005176 -0.545813 -0.028570 0.000000 1.000000 0.000000 247 210 151 1.000000
+0.174664 0.539474 -0.511991 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 0.279749 0.320517 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.166174 -0.176624 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.317803 -0.091952 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.293356 0.123631 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.550434 0.010365 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.288216 -0.376122 1.000000 0.000000 0.000000 239 202 143 1.000000
+0.370666 0.054582 -0.090233 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.622519 -0.394046 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.663707 0.412025 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.362134 0.159053 1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.165367 -0.227393 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.157503 0.368251 0.498245 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.113838 0.143452 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.062734 -0.119074 -0.084891 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+0.274901 -0.363379 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.586838 0.316467 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.593198 -0.145763 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.338418 0.113686 1.000000 0.000000 0.000000 245 203 141 1.000000
+-0.187083 -0.598497 0.451028 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+-0.285247 0.456254 0.345192 -1.000000 0.000000 0.000000 239 203 139 1.000000
+-0.314241 -0.093234 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.082179 0.470985 -0.111979 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.208131 -0.087464 0.375458 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.096877 -0.570831 -0.535284 0.000000 0.000000 -1.000000 246 214 153 1.000000
+-0.268950 0.568450 -0.364305 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.037155 0.513357 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.242468 0.634305 -0.230969 0.000000 1.000000 0.000000 245 209 145 1.000000
+0.257396 0.566755 0.244912 -1.000000 0.000000 0.000000 251 214 155 1.000000
+0.370666 -0.712270 -0.062047 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.117979 0.158156 -1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.017950 0.114710 -0.487868 0.000000 -0.000000 1.000000 251 214 155 1.000000
+0.370666 -0.156462 -0.396098 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.202657 0.496895 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.285247 0.486540 -0.345686 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.255893 0.389722 -0.487868 0.000000 -0.000000 1.000000 243 211 150 1.000000
+-0.345833 0.656248 0.003031 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.440053 0.204914 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.568830 0.101463 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.238251 0.613231 0.179798 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.033295 0.470985 -0.041723 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.252527 -0.223701 -0.503673 0.000000 0.000000 -1.000000 242 205 146 1.000000
+-0.215920 -0.590594 0.506037 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.306682 0.328738 0.460520 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.370666 -0.152618 -0.037243 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.036270 -0.739467 -0.535284 0.000000 0.000000 -1.000000 243 207 143 1.000000
+-0.366907 -0.386185 0.088523 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.163838 -0.119074 -0.103827 0.000000 -1.000000 -0.000000 245 213 152 1.000000
+0.298721 -0.501001 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.432908 -0.001399 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.084729 -0.511247 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.176384 0.544910 -0.366696 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.253637 0.443219 -0.070369 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.048122 0.601472 0.507856 -0.000000 0.126160 -0.992010 255 255 255 1.000000
+0.349593 -0.167270 0.290462 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.250376 -0.726410 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.108332 -0.119074 -0.194246 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.345833 -0.140807 0.088195 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.126219 0.304237 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.105816 -0.087464 -0.354418 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 0.299491 -0.066232 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.692529 -0.433427 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.253801 0.192106 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.284404 0.613231 -0.139759 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.246759 -0.229227 -1.000000 0.000000 0.000000 242 210 149 1.000000
+0.349593 -0.306509 -0.452666 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.319948 0.658012 0.487907 0.000000 1.000000 0.000000 248 235 215 1.000000
+0.370666 -0.582807 -0.452342 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.094443 0.137831 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.456741 -0.304155 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.003036 0.525368 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.093280 0.268952 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.034446 -0.071899 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.222530 -0.066934 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.164900 0.216305 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.289007 0.540061 0.391861 1.000000 0.000000 0.000000 246 210 146 1.000000
+0.370666 0.038235 0.038537 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.148825 -0.299369 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.351924 -0.057336 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.127969 0.540856 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.115198 0.540222 -0.535284 0.000000 0.000000 -1.000000 252 220 159 1.000000
+0.370666 0.232440 0.380405 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.590393 -0.049282 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.226748 0.463082 -0.187712 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.366907 -0.335020 -0.053510 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.210179 0.416776 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.075444 -0.502714 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.018558 0.466182 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 0.493950 -0.076992 1.000000 0.000000 0.000000 244 212 151 1.000000
+-0.366907 -0.136287 -0.511479 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.147202 0.103925 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.253637 0.499635 0.040571 1.000000 0.000000 0.000000 246 214 153 1.000000
+0.228614 0.634305 0.298024 0.000000 1.000000 0.000000 251 214 155 1.000000
+0.349593 0.486250 0.175943 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.345833 -0.511827 0.273079 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.267827 0.568450 0.354737 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.345833 -0.218137 0.064339 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 0.045840 0.179717 1.000000 0.000000 0.000000 241 211 149 1.000000
+0.370666 0.049944 -0.157957 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.522322 -0.433846 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.426470 -0.337021 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.119290 -0.119074 0.208738 0.000000 -1.000000 -0.000000 242 202 137 1.000000
+0.349409 -0.112599 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.341060 0.371263 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.142961 -0.540544 -0.509886 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.155111 0.328738 0.470383 0.000000 -1.000000 -0.000000 248 235 215 1.000000
+0.349593 0.665517 0.408163 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.275232 0.380085 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.074610 0.568450 0.452575 0.000000 1.000000 0.000000 249 212 153 1.000000
+0.313454 -0.545813 -0.329968 0.000000 1.000000 0.000000 238 206 145 1.000000
+-0.366907 -0.564440 0.150960 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.238933 -0.545813 0.369438 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.349593 -0.519500 -0.108150 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.345833 0.083526 -0.362835 1.000000 0.000000 0.000000 242 205 146 1.000000
+0.370666 -0.405301 0.024345 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.217582 0.470985 -0.227903 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.355572 0.000251 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.557026 -0.207883 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.566767 -0.391472 1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.345833 -0.184315 -0.363442 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.197832 -0.087464 -0.291445 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.381203 0.181405 0.446604 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.191408 0.226005 0.477283 0.000000 -0.999477 0.032327 248 235 215 1.000000
+-0.366907 -0.488135 -0.235723 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.238777 0.470985 0.093647 0.000000 1.000000 0.000000 246 209 150 1.000000
+0.370666 0.585909 0.333596 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.371690 0.122928 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.018683 -0.026180 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.126206 0.262545 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.208947 -0.545813 0.357314 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.120861 -0.211067 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.023211 0.502349 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.424758 0.164088 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.023200 -0.191388 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.032687 -0.355888 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.317983 0.012794 0.454424 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.156952 0.227530 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.692043 -0.467309 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.255149 0.480475 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.138962 0.268242 0.507856 -0.000000 0.122129 -0.992514 255 255 255 1.000000
+0.152514 -0.119074 0.017996 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.273932 0.053086 -0.487868 0.000000 -0.000000 1.000000 239 202 143 1.000000
+-0.249885 0.634305 0.123981 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.123636 -0.545813 -0.423615 0.000000 1.000000 0.000000 242 205 146 1.000000
+0.370666 -0.282609 -0.168309 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.110222 0.037709 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.788110 -0.350600 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.242898 0.613231 0.401505 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.201349 0.179958 -0.487868 0.000000 -0.000000 1.000000 242 205 146 1.000000
+0.165071 -0.119074 -0.440932 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.114480 0.547645 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.063193 0.584153 -0.487868 0.000000 -0.000000 1.000000 250 213 154 1.000000
+0.129617 0.463082 -0.161127 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.366907 0.600829 -0.510531 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.135006 -0.237062 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.057473 -0.462166 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.507015 -0.219451 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.327846 0.085755 -0.487868 0.000000 -0.000000 1.000000 247 213 153 1.000000
+0.349593 -0.300373 0.017745 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.087262 0.188003 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.396769 0.076137 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.182729 -0.456962 -1.000000 0.000000 0.000000 244 204 141 1.000000
+-0.377117 -0.413513 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.089186 0.055141 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.192622 -0.157669 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.359994 0.363037 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.285247 0.494366 0.169367 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.467352 -0.149069 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.054639 -0.441054 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.410980 -0.297712 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.432870 0.365237 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.355242 0.050034 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.248198 0.532363 -0.503673 0.000000 0.000000 -1.000000 247 210 151 1.000000
+-0.366907 -0.560563 -0.464130 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.354983 0.124194 0.444635 0.000000 0.000000 -1.000000 247 210 151 1.000000
+0.000472 -0.119074 0.088074 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.230639 0.548141 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.087098 -0.213503 -0.503673 0.000000 0.000000 -1.000000 246 209 150 1.000000
+0.116984 -0.009047 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.257396 0.466022 0.179992 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.118247 0.200798 -0.503673 0.000000 0.000000 -1.000000 243 205 144 1.000000
+-0.026909 0.470985 -0.230490 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.114124 -0.168140 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.114333 0.360586 -1.000000 0.000000 0.000000 242 214 152 1.000000
+0.295589 0.126538 0.549957 0.948759 -0.003932 -0.315977 255 255 255 1.000000
+-0.095134 -0.008434 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.349593 -0.533851 0.019895 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.098081 -0.119074 -0.020735 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.195659 -0.545813 -0.410419 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.349593 -0.133154 -0.222137 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.432083 0.004211 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.345833 -0.286114 0.148481 1.000000 0.000000 0.000000 246 209 150 1.000000
+0.179538 -0.464892 -0.487868 0.000000 -0.000000 1.000000 247 213 154 1.000000
+-0.009618 0.470985 0.423347 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.141217 0.654565 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 0.577398 0.254206 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.139338 -0.538307 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.115715 0.463082 0.213462 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.167315 -0.119074 -0.406976 0.000000 -1.000000 -0.000000 247 210 151 1.000000
+0.025365 -0.416236 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.498332 -0.268357 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.019087 -0.087464 -0.313893 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.113534 0.450654 0.497755 0.000000 -0.842926 -0.538030 255 255 255 1.000000
+0.349593 0.488704 -0.183003 -1.000000 0.000000 0.000000 246 214 153 1.000000
+0.164606 -0.590594 0.489385 -0.000000 1.000000 0.000000 255 255 255 1.000000
+0.315600 -0.545813 0.096936 0.000000 1.000000 0.000000 244 207 148 1.000000
+0.217908 0.578002 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.226778 -0.407758 -1.000000 0.000000 0.000000 242 205 146 1.000000
+0.319744 0.417954 -0.487868 0.000000 -0.000000 1.000000 247 211 147 1.000000
+-0.345833 0.422134 -0.508782 1.000000 0.000000 0.000000 241 213 151 1.000000
+0.170223 -0.087464 -0.089908 0.000000 1.000000 0.000000 243 211 150 1.000000
+0.257396 0.550339 -0.161585 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.428721 0.182139 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.255187 0.442009 0.111789 0.000000 -1.000000 -0.000000 247 215 154 1.000000
+0.118698 -0.119074 -0.149541 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 0.605505 0.419617 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.213233 0.263550 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.467218 -0.124376 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.559882 0.423256 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.087242 -0.119074 -0.487801 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.370666 -0.634471 -0.174757 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.585963 0.146855 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.167227 0.463082 -0.275944 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.572043 0.187324 -1.000000 0.000000 0.000000 249 217 156 1.000000
+-0.345833 0.472750 -0.046783 1.000000 0.000000 0.000000 246 209 150 1.000000
+-0.285247 0.445954 -0.288130 -1.000000 0.000000 0.000000 246 205 147 1.000000
+0.045876 0.463082 0.163360 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.286501 0.613231 0.133426 0.000000 -1.000000 -0.000000 246 209 150 1.000000
+-0.115082 0.568450 -0.340870 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.770449 -0.080442 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.257396 0.518824 0.379578 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.350311 -0.327781 0.444635 0.000000 0.000000 -1.000000 249 212 153 1.000000
+0.349593 -0.132668 -0.363384 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289934 -0.404150 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.202490 0.294876 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.191477 0.464302 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.421340 -0.400219 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.644341 -0.020115 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.366907 0.033969 0.053465 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.523715 -0.225167 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.373236 0.350721 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.230284 0.650810 0.507856 -0.000000 0.016145 -0.999870 255 255 255 1.000000
+0.048615 -0.595917 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.070154 -0.119074 -0.152301 0.000000 -1.000000 -0.000000 244 212 151 1.000000
+-0.345833 -0.213290 0.236166 1.000000 0.000000 0.000000 246 204 140 1.000000
+0.370666 0.036459 -0.486587 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.073985 -0.325091 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.200484 -0.016237 -1.000000 0.000000 0.000000 240 203 144 1.000000
+0.281886 0.582549 -0.535284 0.000000 0.000000 -1.000000 241 208 143 1.000000
+0.370666 -0.263901 -0.460696 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.348288 0.204126 -0.535284 0.000000 0.000000 -1.000000 245 213 152 1.000000
+-0.114763 0.448267 -0.503673 0.000000 0.000000 -1.000000 242 211 151 1.000000
+-0.177982 -0.087464 0.296792 0.000000 1.000000 0.000000 245 213 152 1.000000
+0.210189 -0.002602 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.285247 0.543725 0.416226 -1.000000 0.000000 0.000000 242 206 142 1.000000
+-0.006583 -0.761021 -0.535284 0.000000 0.000000 -1.000000 244 202 140 1.000000
+0.083340 -0.545813 0.375100 0.000000 1.000000 0.000000 236 204 143 1.000000
+0.370666 -0.337365 0.402823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.147133 -0.545813 0.073807 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 0.478421 0.024214 1.000000 0.000000 0.000000 242 206 142 1.000000
+0.025683 -0.771196 -0.535284 0.000000 0.000000 -1.000000 247 209 150 1.000000
+0.370666 -0.405766 -0.274874 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.320776 -0.531564 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.369122 -0.185686 1.000000 0.000000 0.000000 243 211 150 1.000000
+0.349593 0.651678 0.334391 -1.000000 0.000000 0.000000 247 215 154 1.000000
+-0.292861 0.413448 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.052194 -0.486518 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.257396 0.504492 0.311565 -1.000000 0.000000 0.000000 244 207 148 1.000000
+0.349593 0.453648 -0.036753 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.035231 -0.087464 0.422734 0.000000 1.000000 0.000000 249 212 153 1.000000
+-0.243100 -0.258376 0.505182 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.444238 -0.073292 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.265190 -0.360680 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.168213 0.070550 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.200972 -0.104834 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.307617 -0.119074 -0.257531 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366401 0.665915 -0.409916 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.141508 0.107512 -0.487868 0.000000 -0.000000 1.000000 246 209 150 1.000000
+-0.345833 -0.502870 -0.241170 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.075393 -0.087464 0.286325 0.000000 1.000000 0.000000 250 213 154 1.000000
+0.328950 -0.545813 -0.195480 0.000000 1.000000 0.000000 239 207 146 1.000000
+0.332712 -0.194664 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.240247 -0.081327 0.492051 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.028498 0.587341 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.480507 0.261431 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.665707 0.316440 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.299392 0.634305 0.262313 0.000000 1.000000 0.000000 248 206 144 1.000000
+0.370666 -0.642038 -0.266272 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.038275 0.245689 0.500459 0.000000 -0.438398 0.898781 248 235 215 1.000000
+0.370666 0.341946 -0.114349 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.773169 -0.393488 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.297500 -0.535276 0.447462 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.016067 -0.138394 1.000000 0.000000 0.000000 254 211 154 1.000000
+-0.345833 0.585894 0.259931 1.000000 0.000000 0.000000 248 211 152 1.000000
+-0.345833 0.265851 -0.364867 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.209083 -0.119074 -0.419309 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.421655 -0.220927 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.116589 -0.357138 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.250247 -0.087464 0.164766 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.317983 -0.081095 0.454135 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.173009 0.463082 0.117792 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.350946 -0.760525 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.320287 -0.478095 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+0.280376 0.442009 -0.066584 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.245613 0.523156 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+0.370666 0.571265 -0.325243 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.432401 0.188729 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.468189 0.394367 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.520076 -0.513311 1.000000 0.000000 0.000000 245 213 152 1.000000
+0.370666 -0.075090 -0.384792 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.270180 -0.175817 -0.503673 0.000000 0.000000 -1.000000 255 214 157 1.000000
+0.335877 -0.087464 -0.255771 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.080213 0.463082 0.098807 0.000000 -1.000000 -0.000000 248 211 153 1.000000
+-0.366907 0.540985 0.065550 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.193251 -0.294690 1.000000 0.000000 0.000000 249 217 156 1.000000
+0.349593 0.290591 0.224318 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.452374 0.086826 1.000000 0.000000 0.000000 245 208 149 1.000000
+-0.366907 0.604330 -0.234627 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 0.601564 0.190897 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.162964 -0.212685 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.119326 0.085556 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.320123 0.285932 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.322113 0.092455 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.513279 0.174073 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.290150 -0.119074 -0.383537 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.261488 0.613231 0.263337 0.000000 -1.000000 -0.000000 254 218 154 1.000000
+0.338699 -0.545813 0.183707 0.000000 1.000000 0.000000 242 214 152 1.000000
+-0.318109 0.242595 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.554785 -0.397156 -1.000000 0.000000 0.000000 246 210 146 1.000000
+0.257396 0.518205 -0.322073 -1.000000 0.000000 0.000000 241 204 145 1.000000
+-0.345833 0.098283 -0.261712 1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.098660 0.244986 0.500346 -0.000000 0.452005 -0.892015 255 255 255 1.000000
+-0.360236 0.275962 0.444635 0.000000 0.000000 -1.000000 251 218 155 1.000000
+-0.137249 0.345088 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 0.528480 -0.285806 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.699282 0.233411 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 0.341461 0.135806 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.028734 0.588221 -0.535284 0.000000 0.000000 -1.000000 243 205 142 1.000000
+-0.345833 -0.426690 -0.219873 1.000000 0.000000 0.000000 249 217 156 1.000000
+-0.087067 -0.087464 -0.219499 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.176389 0.633062 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.135371 0.054496 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.198483 0.409425 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.058494 0.157659 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.032924 -0.282448 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.343122 -0.442998 1.000000 0.000000 0.000000 241 208 143 1.000000
+-0.366907 0.550631 -0.179713 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.118103 -0.695897 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.063218 -0.087464 -0.342083 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 0.645852 0.293329 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.221358 -0.304656 -0.487868 0.000000 -0.000000 1.000000 244 207 148 1.000000
+-0.049975 -0.491784 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 -0.457670 0.442841 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.183769 0.463082 0.309477 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+0.159360 -0.087464 -0.170063 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+0.370666 -0.522343 0.124225 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.343792 -0.545813 0.235919 0.000000 1.000000 0.000000 241 204 145 1.000000
+0.295130 0.500030 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.145270 0.428342 0.507586 0.000000 -0.435472 -0.900202 255 255 255 1.000000
+0.241833 -0.779936 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.243320 0.641023 0.507856 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.345833 -0.397400 -0.004332 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.116020 0.442009 0.472434 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.570741 0.395606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.465556 0.047613 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.252523 0.630422 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.520273 0.310850 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.155660 -0.571568 0.444635 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 -0.351503 -0.317957 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.362795 -0.475468 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.038634 0.207476 -0.503673 0.000000 0.000000 -1.000000 241 204 145 1.000000
+-0.366907 0.607002 -0.137103 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.203078 -0.090542 -1.000000 0.000000 0.000000 249 212 153 1.000000
+-0.237520 0.000341 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.370666 -0.744633 0.078573 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.366627 0.010699 -1.000000 0.000000 0.000000 246 209 150 1.000000
+0.370666 -0.346444 -0.010512 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.224584 -0.147639 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.246859 0.433709 0.479598 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.472873 -0.457976 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.555614 0.259707 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.206243 0.614405 -0.503673 0.000000 -0.000000 1.000000 247 210 151 1.000000
+0.087529 0.463082 0.218547 0.000000 -1.000000 -0.000000 245 209 145 1.000000
+-0.285247 0.526596 -0.338865 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.509368 -0.203098 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.201517 0.090606 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.711635 0.200222 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.218564 0.203721 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.473901 -0.310218 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.097068 -0.545813 0.209125 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.345833 0.027802 0.067823 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.327028 -0.132894 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.024130 0.122165 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.246859 0.058078 0.479177 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.373981 -0.237178 0.476245 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.411622 0.316847 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.113986 -0.087464 0.348979 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.065711 0.442009 -0.356273 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.366907 -0.510722 -0.500171 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.242353 0.613231 -0.035699 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.123572 0.534805 -0.335085 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 0.303320 -0.242596 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.046037 -0.545813 0.263355 0.000000 1.000000 0.000000 245 208 149 1.000000
+0.255248 0.634305 -0.389390 0.000000 1.000000 0.000000 245 208 149 1.000000
+-0.244031 0.613231 -0.391736 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.345833 0.358529 0.279948 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 0.371577 0.388387 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.264489 0.442009 -0.320119 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+0.370666 -0.224343 0.130324 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.136795 0.415015 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.345833 -0.146462 -0.429377 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.078676 0.223526 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.297490 0.613231 -0.172661 0.000000 -1.000000 -0.000000 248 211 152 1.000000
+-0.253110 -0.227081 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.249302 -0.119074 0.361927 0.000000 1.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.217806 0.332130 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.310233 0.168794 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.474604 0.145379 -1.000000 0.000000 0.000000 245 213 152 1.000000
+-0.345833 -0.402077 -0.296870 1.000000 0.000000 0.000000 243 206 147 1.000000
+-0.100188 -0.540544 -0.528140 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.366907 -0.104235 0.320879 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.090926 0.430425 -0.487868 0.000000 -0.000000 1.000000 245 213 152 1.000000
+0.032408 -0.545813 0.255598 0.000000 1.000000 0.000000 244 204 139 1.000000
+-0.345833 0.447839 -0.327907 1.000000 0.000000 0.000000 243 209 149 1.000000
+0.349593 0.580221 0.021959 -1.000000 0.000000 0.000000 240 204 140 1.000000
+-0.345833 -0.240397 0.017623 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.285428 -0.405989 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.604844 -0.101552 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.538288 0.431608 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.307874 0.219587 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.366907 -0.591309 0.057467 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 0.356195 -0.333638 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.366907 -0.162467 -0.181390 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.316151 -0.342458 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.000126 0.592931 -0.487868 0.000000 -0.000000 1.000000 244 208 144 1.000000
+0.291173 0.658012 0.499481 0.000000 1.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.507149 -0.427867 1.000000 0.000000 0.000000 245 208 149 1.000000
+0.320385 0.211164 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.574519 0.414077 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.219135 -0.452874 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.234701 -0.078197 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.330419 -0.414273 -0.487868 0.000000 -0.000000 1.000000 241 209 148 1.000000
+0.349593 -0.464367 0.199885 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.349593 -0.398467 0.142366 -1.000000 0.000000 0.000000 245 213 152 1.000000
+0.274194 0.613231 -0.500146 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.345833 -0.065268 -0.361836 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.162013 -0.508829 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.366907 0.308327 -0.400313 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.370666 -0.535125 0.303131 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 0.542394 0.289979 1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.148845 -0.575342 -0.535284 0.000000 0.000000 -1.000000 244 207 148 1.000000
+-0.018413 -0.599958 0.344536 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.103345 -0.119074 -0.295882 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.291300 -0.547651 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.302525 -0.545813 0.121658 0.000000 1.000000 0.000000 241 209 148 1.000000
+-0.366907 0.183694 0.241126 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.250778 -0.436378 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.366907 0.656487 -0.056232 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.075989 -0.087464 0.107937 0.000000 1.000000 0.000000 244 210 151 1.000000
+0.266849 0.222320 0.507856 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.345833 -0.149619 -0.135425 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 0.573990 0.044532 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 -0.510363 -0.021279 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.043457 0.470985 -0.332941 0.000000 1.000000 0.000000 244 207 148 1.000000
+-0.116143 -0.452440 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.349593 -0.324830 0.391203 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.176997 -0.033396 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.370666 0.211277 0.020737 1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.163504 0.549079 0.444635 0.000000 0.000000 -1.000000 246 209 150 1.000000
+-0.366907 -0.001798 -0.210015 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 -0.485461 0.110571 -1.000000 0.000000 0.000000 240 203 144 1.000000
+-0.345833 0.415132 0.366516 1.000000 0.000000 0.000000 247 210 151 1.000000
+0.370666 0.231930 0.419271 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.427918 -0.323759 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.345833 -0.402262 -0.455523 -1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.189684 -0.229662 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.023936 0.496536 0.492051 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.170420 -0.087464 0.413879 0.000000 1.000000 0.000000 246 209 150 1.000000
+-0.377444 -0.074399 0.449568 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.099833 0.315855 -0.487868 0.000000 -0.000000 1.000000 244 216 154 1.000000
+-0.221440 -0.545813 -0.219952 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.088213 -0.348829 -0.503673 0.000000 0.000000 -1.000000 246 208 149 1.000000
+-0.285247 0.498474 -0.234120 -1.000000 0.000000 0.000000 245 208 149 1.000000
+0.349593 -0.236592 0.141803 -1.000000 0.000000 0.000000 244 207 148 1.000000
+-0.253637 0.507321 -0.273697 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.122074 0.646078 -0.503673 0.000000 0.000000 -1.000000 255 255 255 1.000000
+0.241591 -0.119074 0.042183 0.000000 -1.000000 -0.000000 244 208 144 1.000000
+0.349593 0.253312 -0.324495 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.241320 -0.087464 -0.097274 0.000000 1.000000 0.000000 247 210 151 1.000000
+-0.290374 -0.721674 0.344536 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.366907 -0.547148 -0.084487 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.289007 0.497428 0.349604 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.060703 -0.119074 0.218688 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.373301 0.495363 0.484553 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.061369 0.623224 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.082013 0.463082 0.344955 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 -0.317478 0.246509 -1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.366907 -0.530417 -0.212783 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 -0.489862 -0.282185 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.168069 0.463082 0.415676 0.000000 1.000000 0.000000 255 255 255 1.000000
+0.349593 0.146456 0.057510 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.189898 -0.119074 -0.120434 0.000000 -1.000000 -0.000000 244 207 148 1.000000
+-0.285247 0.543697 -0.087845 1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 -0.017968 -0.290823 1.000000 0.000000 0.000000 248 235 215 1.000000
+0.261983 -0.119074 0.065580 0.000000 -1.000000 -0.000000 245 208 149 1.000000
+-0.366907 -0.535910 -0.261412 -1.000000 0.000000 0.000000 248 235 215 1.000000
+-0.267990 0.613231 0.020334 0.000000 -1.000000 -0.000000 238 201 142 1.000000
+-0.272671 0.595239 -0.535284 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.133806 -0.119074 0.072773 0.000000 -1.000000 -0.000000 242 210 149 1.000000
+-0.021194 0.331801 -0.503673 0.000000 -0.000000 1.000000 255 255 255 1.000000
+-0.345833 0.334168 0.151358 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.370666 0.185921 0.373119 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.289007 0.517104 -0.170788 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.283762 0.613231 0.151897 0.000000 -1.000000 -0.000000 243 206 147 1.000000
+-0.345833 0.544895 0.383785 1.000000 0.000000 0.000000 242 205 146 1.000000
+-0.345833 0.316290 -0.365451 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.281407 0.568450 -0.054240 0.000000 1.000000 0.000000 245 209 147 1.000000
+-0.366907 0.308592 -0.437248 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.027737 0.140411 0.476245 0.000000 0.000000 -1.000000 248 235 215 1.000000
+-0.366907 0.392057 -0.071366 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.366907 0.559137 0.193933 -1.000000 0.000000 0.000000 248 235 215 1.000000
+0.349593 0.324919 -0.535279 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.039040 -0.312941 -0.487868 0.000000 0.000000 -1.000000 255 255 255 1.000000
+-0.298702 0.634305 -0.269477 0.000000 1.000000 0.000000 243 215 153 1.000000
+-0.345833 0.239751 0.274466 -1.000000 0.000000 0.000000 255 255 255 1.000000
+0.023655 0.339804 0.476245 0.000000 -0.000000 1.000000 248 235 215 1.000000
+-0.044692 -0.087464 0.371755 0.000000 -1.000000 -0.000000 255 255 255 1.000000
+-0.184265 0.024706 0.476245 0.000000 -0.000000 1.000000 255 255 255 1.000000
+0.349593 0.629927 -0.271102 1.000000 0.000000 0.000000 255 255 255 1.000000
+-0.345833 0.256467 0.207503 -1.000000 0.000000 0.000000 255 255 255 1.000000
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-11.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-11.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-12.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-12.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-13.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-13.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-15.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-15.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-16.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-16.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-17.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-17.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-18.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-18.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-19.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-19.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-2.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-2.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-20.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-20.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-21.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-21.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-22.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-22.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-25.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-25.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-26.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-26.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-28.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-28.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-29.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-29.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-3.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-3.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-30.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-30.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-31.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-31.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-32.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a55f67a0053b257df810abf3a2bf801ef79a8a1
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-32.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_2.png
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-34.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-34.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-35.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-35.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-36.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-36.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-37.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-37.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-39.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-39.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-4.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-4.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-40.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-40.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-41.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a438dc3d58421e10e84f9aa61930c4c2dd0e1c7
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-41.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_4.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.2 0.2
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-43.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-43.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-44.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-44.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-45.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-45.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-46.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-46.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-48.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-48.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-49.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-49.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-5.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-5.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-50.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a438dc3d58421e10e84f9aa61930c4c2dd0e1c7
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-50.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_4.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.2 0.2
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-51.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d7a05b6bfc4d0386a209babc7c45345e9f13fdf
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-51.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_5.png
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-6.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-6.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-7.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-7.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-8.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-8.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/45168/partnet_mobility/textured_objs/original-9.mtl b/StorageFurniture/45168/partnet_mobility/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/45168/partnet_mobility/textured_objs/original-9.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/45243/partnet_mobility/bounding_box.json b/StorageFurniture/45243/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad09f9fd8331af5eea973ec2da3321047dd7fd3e
--- /dev/null
+++ b/StorageFurniture/45243/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.569718, -0.86601, -0.457738], "max": [0.559709, 0.757541, 0.489397]}
\ No newline at end of file
diff --git a/StorageFurniture/45243/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/45243/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..308b723a95b8dc9a32c35344ecf09f1cdb46ca3b
--- /dev/null
+++ b/StorageFurniture/45243/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.26978430811074416, -0.5514417759779707, -0.17893974327111087], [-0.425526529598684, -0.551441775977971, -0.17893974327111073], [-0.4255265295986842, 0.5632237319200567, -0.17893974327111073], [0.26978430811074394, 0.5632237319200569, -0.17893974327111087], [0.26978430811074405, -0.5514417759779707, -0.6456521230668312], [-0.4255265295986841, -0.551441775977971, -0.645652123066831], [-0.4255265295986843, 0.5632237319200567, -0.645652123066831], [0.26978430811074383, 0.5632237319200569, -0.6456521230668312]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.26984727579993567, -0.5514408895000097, 0.11489459288516288], [-0.4253988756762159, -0.5514408894999999, 0.11489459288515315], [-0.42539887567620016, 0.5614498895000005, 0.11489459288515315], [0.2698472757999514, 0.5614498894999908, 0.11489459288516288], [0.26984727579993956, -0.5514408895000097, -0.1631989078425121], [-0.42539887567621193, -0.5514408894999999, -0.1631989078425218], [-0.4253988756761963, 0.5614498895000005, -0.1631989078425218], [0.26984727579995527, 0.5614498894999908, -0.1631989078425121]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.26984733335916267, -0.5514416353880468, 0.409039565443542], [-0.4254004502340236, -0.5514416768280428, 0.4090395240035386], [-0.4254005166611753, 0.5630210289194607, 0.4090395240035386], [0.26984726693201094, 0.5630210703594566, 0.409039565443542], [0.2698473499361971, -0.5514416353880458, 0.13092311998672793], [-0.4254004336569892, -0.5514416768280418, 0.13092307854672458], [-0.4254005000841409, 0.5630210289194617, 0.13092307854672458], [0.26984728350904535, 0.5630210703594576, 0.13092311998672793]]}, {"link_name": "link_3", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.269847241331984, -0.551441850825303, 0.7502280904279861], [-0.4253993219778825, -0.5514416850656079, 0.7502280075481397], [-0.4253990562642261, 0.5630421849215433, 0.7502280075481397], [0.2698475070456405, 0.5630420191618483, 0.7502280904279861], [0.2698472800997323, -0.5514418508253122, 0.4250206372950101], [-0.42539928321013415, -0.5514416850656171, 0.4250205544151637], [-0.42539901749647774, 0.5630421849215341, 0.4250205544151637], [0.26984754581338877, 0.563042019161839, 0.4250206372950101]]}, {"link_name": "link_4", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_5", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.48986505337526176, 0.20945394034073148, -0.4006502846852925], [-0.48986505337526176, -0.19887896248892586, -0.4006502846852925], [-0.48986505337526176, -0.19887896248892586, -0.42403768201664904], [-0.48986505337526176, 0.20945394034073148, -0.42403768201664904], [-0.42465742875893286, 0.20945394034073148, -0.4006502846852925], [-0.42465742875893286, -0.19887896248892586, -0.4006502846852925], [-0.42465742875893286, -0.19887896248892586, -0.42403768201664904], [-0.42465742875893286, 0.20945394034073148, -0.42403768201664904]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.48936580728360846, 0.21032347022430795, -0.013073580733147839], [-0.48936580728360846, -0.19887939703659382, -0.013073580733147839], [-0.48936580728360846, -0.19887939703659382, -0.03579635003461612], [-0.48936580728360846, 0.21032347022430795, -0.03579635003461612], [-0.4236856254993504, 0.21032347022430795, -0.013073580733147839], [-0.4236856254993504, -0.19887939703659382, -0.013073580733147839], [-0.4236856254993504, -0.19887939703659382, -0.03579635003461612], [-0.4236856254993504, 0.21032347022430795, -0.03579635003461612]]}, {"link_name": "link_7", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4897496710651873, 0.20888767949999998, 0.281555273975037], [-0.4897496710651873, -0.1988786795, 0.281555273975037], [-0.4897496710651873, -0.1988786795, 0.2583243961649301], [-0.4897496710651873, 0.20888767949999998, 0.2583243961649301], [-0.4245944549369989, 0.20888767949999998, 0.281555273975037], [-0.4245944549369989, -0.1988786795, 0.281555273975037], [-0.4245944549369989, -0.1988786795, 0.2583243961649301], [-0.4245944549369989, 0.20888767949999998, 0.2583243961649301]]}, {"link_name": "link_8", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.489744114056846, 0.20888767949999998, 0.5991909737669497], [-0.489744114056846, -0.1988786795, 0.5991909737669497], [-0.489744114056846, -0.1988786795, 0.5759754038112109], [-0.489744114056846, 0.20888767949999998, 0.5759754038112109], [-0.4245944577141146, 0.20888767949999998, 0.5991909737669497], [-0.4245944577141146, -0.1988786795, 0.5991909737669497], [-0.4245944577141146, -0.1988786795, 0.5759754038112109], [-0.4245944577141146, 0.20888767949999998, 0.5759754038112109]]}]
\ No newline at end of file
diff --git a/StorageFurniture/45243/partnet_mobility/meta.json b/StorageFurniture/45243/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df9f33a0732a7f9ffa52bd3f9ff0b2b87bb9412
--- /dev/null
+++ b/StorageFurniture/45243/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "1a9fa73ca819aa994da5feafe6f1c8fc", "anno_id": "45243", "user_id": "face++wwjing", "time_in_sec": "555", "version": "2", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/45243/partnet_mobility/mobility.urdf b/StorageFurniture/45243/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc7dc5a87f4d73990715dec2f8823475ded1e19b
--- /dev/null
+++ b/StorageFurniture/45243/partnet_mobility/mobility.urdf
@@ -0,0 +1,827 @@
+
+