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