# Pen 1: depth: 0.550000
# Pen 1: dir:   [1.000000 0.000000 0.000000]
# Pen 1: pos:   [-0.025000 0.000000 0.000000]
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# Pen 2: depth: 0.050000
# Pen 2: dir:   [1.000000 0.000000 0.000000]
# Pen 2: pos:   [0.225000 0.000000 0.000000]
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# Pen 3: depth: 0.038532
# Pen 3: dir:   [0.788956 0.614450 0.000000]
# Pen 3: pos:   [0.238587 0.477175 0.000000]
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# Pen 4: depth: 0.038654
# Pen 4: dir:   [0.779134 0.626832 -0.005696]
# Pen 4: pos:   [0.238603 0.477206 0.340909]
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# Pen 5: depth: 0.166653
# Pen 5: dir:   [0.734126 0.679013 -0.000000]
# Pen 5: pos:   [0.208320 0.416640 0.595113]
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# Pen 6: depth: 0.180673
# Pen 6: dir:   [1.000000 0.000003 -0.000000]
# Pen 6: pos:   [0.192142 0.009404 0.479162]
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# Pen 7: depth: 1.321922
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# Pen 7: pos:   [0.531929 -0.046446 0.867546]
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# Pen 8: depth: 0.142813
# Pen 8: dir:   [-0.476782 -0.840534 0.257259]
# Pen 8: pos:   [0.776128 0.285646 0.436629]
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