# Pen 1: depth: 0.549996
# Pen 1: dir:   [0.999992 -0.003902 0.000000]
# Pen 1: pos:   [0.020284 0.000000 0.000000]
#
# Pen 2: depth: 0.050000
# Pen 2: dir:   [0.999992 -0.003902 0.000000]
# Pen 2: pos:   [0.253480 0.000000 0.025000]
#
# Pen 3: depth: 0.030994
# Pen 3: dir:   [0.950248 0.311493 0.000000]
# Pen 3: pos:   [0.246546 0.420744 0.000000]
#
# Pen 4: depth: 0.033436
# Pen 4: dir:   [0.976101 0.217308 0.001900]
# Pen 4: pos:   [0.243648 0.480401 0.450000]
#
# Pen 5: depth: 0.142160
# Pen 5: dir:   [0.968442 0.249235 0.001146]
# Pen 5: pos:   [0.190887 0.421462 0.605496]
#
# Pen 6: depth: 0.179282
# Pen 6: dir:   [0.999995 0.001057 0.002913]
# Pen 6: pos:   [0.176026 0.036944 0.488189]
#
# Pen 7: depth: 0.750000
# Pen 7: dir:   [-0.853795 -0.143509 -0.500438]
# Pen 7: pos:   [0.572744 0.014828 0.562324]
#
# Pen 8: depth: 0.142666
# Pen 8: dir:   [-0.475515 -0.841074 0.257839]
# Pen 8: pos:   [0.824886 0.230213 0.463136]
#