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Added BA integration test

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matlabbe
2026-05-31 15:52:19 -07:00
parent b8347613e8
commit afc75f5cc4
5 changed files with 776 additions and 11 deletions
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corelib/src/Memory.cpp
+7 -1
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@@ -2494,10 +2494,16 @@ std::map<int, Transform> Memory::loadOptimizedPoses(Transform * lastlocalization
void Memory::save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const
{
if(_dbDriver)
if(_dbDriver && !this->isReadOnly())
{
_dbDriver->save2DMap(map, xMin, yMin, cellSize);
}
else
{
UERROR("Attempting to write back 2D map but the database "
"is opened in read-only mode (%s=true), skipping.",
Parameters::kMemLocalizationReadOnly().c_str());
}
}
cv::Mat Memory::load2DMap(float & xMin, float & yMin, float & cellSize) const
corelib/test/test_rtabmap_integration.cpp
+149
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@@ -15,9 +15,11 @@
#include <gtest/gtest.h>
#include <rtabmap/core/DBReader.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/LocalGrid.h>
#include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Version.h>
#ifdef RTABMAP_OCTOMAP
@@ -739,3 +741,150 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_RGBD_IcpReg)
EXPECT_LT(result.translationalRmseFinal, 0.05f)
<< "Final trajectory RMSE = " << result.translationalRmseFinal << " m";
}
// ---------------------------------------------------------------------------
// Two-loop workspace mapping session (Texture tutorial DB). Loads the
// pre-built session, runs global bundle adjustment, and asserts the
// resulting poses against a captured golden trajectory.
// ---------------------------------------------------------------------------
TEST_F(RtabmapIntegrationFixture, TwoLoopsWorkspaceGlobalBA)
{
const std::string srcPath = testDataPath("2loops_workspace_3IT.db");
SKIP_IF_MISSING(srcPath);
// Golden trajectory was captured from a known-good BA run, verified
// in rtabmap-databaseViewer, then exported to
// data/tests/2loops_workspace_3IT_gt.g2o. To regenerate after a
// deliberate BA-algorithm change: rerun BA on the source DB, eyeball
// it in the viewer, and re-export the graph from there.
const std::string goldenPath = testDataPath("2loops_workspace_3IT_gt.g2o");
std::map<int, Transform> goldenPoses;
std::multimap<int, Link> goldenLinks;
ASSERT_TRUE(graph::importPoses(goldenPath, /*format=*/4, goldenPoses, &goldenLinks))
<< "Failed to load golden poses from " << goldenPath;
// BA-capable optimizers (excluding cvsba — observed ~4× worse RMSE
// than the others on this dataset) × rematchFeatures on/off.
// rematchFeatures rebuilds visual-word correspondences via FLANN
// before BA, which is closer to what offline tools do but introduces
// ~3.5 cm run-to-run non-determinism; rematchFeatures=false reuses
// the correspondences already stored in the DB and is bit-exact
// across runs. Both modes should still produce comparable RMSE
// against the golden trajectory after Umeyama alignment.
struct Variant { Optimizer::Type type; const char * name; bool rematch; };
const std::vector<Variant> variants = {
{Optimizer::kTypeG2O, "g2o", false},
{Optimizer::kTypeG2O, "g2o-rematch", true },
{Optimizer::kTypeGTSAM, "gtsam", false},
{Optimizer::kTypeGTSAM, "gtsam-rematch", true },
{Optimizer::kTypeCeres, "ceres", false},
{Optimizer::kTypeCeres, "ceres-rematch", true },
};
// Pre-BA snapshot (pose-graph only) — same for every variant since
// they all start from the same source DB. Captured once below.
float preTRmse = -1.0f;
int variantsTested = 0;
for(const Variant & v : variants)
{
if(!Optimizer::isAvailable(v.type))
{
std::cerr << "[skip] optimizer " << v.name << " not available in this build\n";
continue;
}
SCOPED_TRACE(std::string("variant=") + v.name);
// Open the source DB read-only. BA runs entirely against
// _optimizedPoses in working memory, so no writes hit the DB; the
// readonly flag also prevents accidental persistence if a future
// change adds a write path.
ParametersMap params;
uInsert(params, ParametersPair(Parameters::kMemIncrementalMemory(), "false"));
uInsert(params, ParametersPair(Parameters::kMemLocalizationReadOnly(), "true"));
Rtabmap rtabmap;
rtabmap.init(params, srcPath, /*loadDatabaseParameters=*/true);
// Count links before and after running detectMoreLoopClosures so
// we can assert it actually expanded the graph. In read-only mode
// the new links live in working memory only; the source DB is
// untouched.
std::map<int, Transform> initPoses;
std::multimap<int, Link> initLinks;
rtabmap.getGraph(initPoses, initLinks, /*optimized=*/true, /*global=*/false);
const int linksBeforeDetect = static_cast<int>(initLinks.size());
const int added = rtabmap.detectMoreLoopClosures(
/*clusterRadiusMax=*/1.0f,
/*clusterAngle=*/static_cast<float>(CV_PI)/6.0f,
/*iterations=*/3,
/*intraSession=*/true);
ASSERT_GE(added, 0) << v.name << " detectMoreLoopClosures failed";
std::map<int, Transform> preBaPoses;
std::multimap<int, Link> preBaLinks;
rtabmap.getGraph(preBaPoses, preBaLinks, /*optimized=*/true, /*global=*/false);
const int linksAfterDetect = static_cast<int>(preBaLinks.size());
std::cerr << "[" << v.name << "] links: " << linksBeforeDetect
<< " -> " << linksAfterDetect
<< " (detectMoreLoopClosures added " << added << ")\n";
EXPECT_GT(linksAfterDetect, linksBeforeDetect)
<< v.name << " detectMoreLoopClosures did not increase link count";
if(preTRmse < 0.0f)
{
// Pre-BA RMSE captured once; same source DB and same
// detectMoreLoopClosures result for every variant.
float tMean=0, tMed=0, tStd=0, tMin=0, tMax=0;
float rRmse=0, rMean=0, rMed=0, rStd=0, rMin=0, rMax=0;
graph::calcRMSE(goldenPoses, preBaPoses,
preTRmse, tMean, tMed, tStd, tMin, tMax,
rRmse, rMean, rMed, rStd, rMin, rMax,
/*align2D=*/false);
std::cerr << "Pre-BA vs golden (aligned): "
<< "trans rmse=" << preTRmse << "m max=" << tMax << "m, "
<< "rot rmse=" << rRmse << "deg max=" << rMax << "deg\n";
}
const bool baOk = rtabmap.globalBundleAdjustment(
/*optimizerType=*/v.type,
/*rematchFeatures=*/v.rematch,
/*iterations=*/30,
/*pixelVariance=*/0.0f);
ASSERT_TRUE(baOk) << "globalBundleAdjustment failed for " << v.name;
std::map<int, Transform> poses;
std::multimap<int, Link> links;
// global=false reads BA poses straight from _optimizedPoses;
// global=true would re-run pose-graph optimization and clobber BA.
rtabmap.getGraph(poses, links, /*optimized=*/true, /*global=*/false);
// DB is read-only — close without attempting to write back.
rtabmap.close(false);
ASSERT_EQ(poses.size(), goldenPoses.size())
<< v.name << " BA result has " << poses.size()
<< " poses, golden has " << goldenPoses.size();
// SVD-aligned RMSE — golden was captured with different BA
// settings, so a Umeyama-style alignment is what's meaningful.
float tRmse=0, tMean=0, tMed=0, tStd=0, tMin=0, tMax=0;
float rRmse=0, rMean=0, rMed=0, rStd=0, rMin=0, rMax=0;
graph::calcRMSE(goldenPoses, poses,
tRmse, tMean, tMed, tStd, tMin, tMax,
rRmse, rMean, rMed, rStd, rMin, rMax,
/*align2D=*/false);
std::cerr << "[" << v.name << "] BA vs golden (aligned): "
<< "trans rmse=" << tRmse << "m max=" << tMax << "m, "
<< "rot rmse=" << rRmse << "deg max=" << rMax << "deg\n";
EXPECT_GT(preTRmse, tRmse)
<< v.name << " BA did not improve translational RMSE";
EXPECT_LT(tRmse, 0.05f)
<< v.name << " translational RMSE too large after alignment";
EXPECT_LT(rRmse, 1.5f)
<< v.name << " rotational RMSE too large after alignment";
++variantsTested;
}
ASSERT_GT(variantsTested, 0) << "no BA-capable optimizer was available";
}
data/tests/2loops_workspace_3IT_gt.g2o
+594
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@@ -0,0 +1,594 @@
PARAMS_SE3OFFSET 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
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VERTEX_SE3:QUAT 127 0.143078 -1.189936 -0.014035 -0.120732 0.046355 0.860219 0.493252
VERTEX_SE3:QUAT 128 0.185611 -1.372122 -0.024926 -0.130388 0.056311 0.852358 0.503304
VERTEX_SE3:QUAT 129 0.079227 -1.340898 -0.038682 -0.105021 0.058721 0.791250 0.599538
VERTEX_SE3:QUAT 130 0.043537 -1.339322 -0.047769 -0.092484 0.057458 0.745687 0.657340
VERTEX_SE3:QUAT 132 0.133201 -1.281988 -0.038862 -0.078668 0.059753 0.686710 0.720187
VERTEX_SE3:QUAT 133 0.006469 -1.217965 -0.041445 -0.058246 0.055189 0.611832 0.786907
VERTEX_SE3:QUAT 135 -0.119111 -1.036695 -0.045109 -0.029674 0.054773 0.478515 0.875867
VERTEX_SE3:QUAT 136 0.057540 -0.927276 -0.026278 -0.033364 0.053577 0.423378 0.903752
VERTEX_SE3:QUAT 137 0.082917 -0.738848 -0.023761 -0.005372 0.034584 0.292650 0.955579
VERTEX_SE3:QUAT 138 -0.019711 -0.555123 -0.028649 0.000672 0.039204 0.235133 0.971172
VERTEX_SE3:QUAT 139 0.078419 -0.362891 -0.016088 0.030469 0.013313 0.128378 0.991168
VERTEX_SE3:QUAT 141 -0.068709 -0.283791 -0.024820 0.014085 -0.009470 0.126978 0.991760
VERTEX_SE3:QUAT 142 0.055605 -0.213671 -0.004509 0.022133 0.007751 0.073465 0.997022
VERTEX_SE3:QUAT 145 0.057921 -0.145870 0.001833 0.000216 -0.014460 0.010103 0.999844
EDGE_SE3:QUAT 1 4 0.036422 -0.243131 -0.000282 0.026700 0.025795 -0.014785 0.999201 5377.520271 0.000000 0.000000 0.000000 0.000000 0.000000 5377.520271 0.000000 0.000000 0.000000 0.000000 5377.520271 0.000000 0.000000 0.000000 5377.520271 0.000000 0.000000 5377.520271 0.000000 5377.520271
EDGE_SE3:QUAT 4 5 -0.021619 -0.302302 0.007675 -0.006251 0.000899 0.039958 0.999181 4455.313471 0.000000 0.000000 0.000000 0.000000 0.000000 4455.313471 0.000000 0.000000 0.000000 0.000000 4455.313471 0.000000 0.000000 0.000000 4455.313471 0.000000 0.000000 4455.313471 0.000000 4455.313471
EDGE_SE3:QUAT 4 139 0.034385 -0.070115 -0.000900 -0.000235 -0.007161 0.131692 0.991265 1918.229368 0.000000 0.000000 0.000000 0.000000 0.000000 1918.229368 0.000000 0.000000 0.000000 0.000000 1918.229368 0.000000 0.000000 0.000000 216.619019 0.000000 0.000000 216.619019 0.000000 216.619019
EDGE_SE3:QUAT 4 141 -0.103552 0.029219 -0.022086 -0.016860 -0.030130 0.126630 0.991349 2045.316687 0.000000 0.000000 0.000000 0.000000 0.000000 2045.316687 0.000000 0.000000 0.000000 0.000000 2045.316687 0.000000 0.000000 0.000000 365.448165 0.000000 0.000000 365.448165 0.000000 365.448165
EDGE_SE3:QUAT 4 142 0.019044 0.104394 -0.009548 -0.008295 -0.016871 0.071894 0.997235 2815.181782 0.000000 0.000000 0.000000 0.000000 0.000000 2815.181782 0.000000 0.000000 0.000000 0.000000 2815.181782 0.000000 0.000000 0.000000 439.214046 0.000000 0.000000 439.214046 0.000000 439.214046
EDGE_SE3:QUAT 4 145 0.018338 0.173202 -0.004452 -0.028748 -0.040424 0.008213 0.998735 6469.736572 0.000000 0.000000 0.000000 0.000000 0.000000 6469.736572 0.000000 0.000000 0.000000 0.000000 6469.736572 0.000000 0.000000 0.000000 249.010936 0.000000 0.000000 249.010936 0.000000 249.010936
EDGE_SE3:QUAT 5 6 0.062244 -0.187549 0.010825 -0.005802 -0.007042 -0.032099 0.999443 4501.630690 0.000000 0.000000 0.000000 0.000000 0.000000 4501.630690 0.000000 0.000000 0.000000 0.000000 4501.630690 0.000000 0.000000 0.000000 4501.630690 0.000000 0.000000 4501.630690 0.000000 4501.630690
EDGE_SE3:QUAT 5 67 0.017189 -0.031365 -0.005516 -0.031733 -0.005988 0.154077 0.987531 721.671207 0.000000 0.000000 0.000000 0.000000 0.000000 721.671207 0.000000 0.000000 0.000000 0.000000 721.671207 0.000000 0.000000 0.000000 352.154676 0.000000 0.000000 352.154676 0.000000 352.154676
EDGE_SE3:QUAT 5 68 -0.054462 0.012629 -0.018471 -0.012642 0.015528 0.092882 0.995476 1359.309481 0.000000 0.000000 0.000000 0.000000 0.000000 1359.309481 0.000000 0.000000 0.000000 0.000000 1359.309481 0.000000 0.000000 0.000000 380.370533 0.000000 0.000000 380.370533 0.000000 380.370533
EDGE_SE3:QUAT 5 69 0.018499 -0.041943 -0.000833 0.011152 0.025077 0.001091 0.999623 7125.901535 0.000000 0.000000 0.000000 0.000000 0.000000 7125.901535 0.000000 0.000000 0.000000 0.000000 7125.901535 0.000000 0.000000 0.000000 380.370533 0.000000 0.000000 380.370533 0.000000 380.370533
EDGE_SE3:QUAT 5 136 0.033249 -0.342808 0.008144 -0.063457 0.042589 0.390883 0.917262 242.990478 0.000000 0.000000 0.000000 0.000000 0.000000 242.990478 0.000000 0.000000 0.000000 0.000000 242.990478 0.000000 0.000000 0.000000 196.422454 0.000000 0.000000 196.422454 0.000000 196.422454
EDGE_SE3:QUAT 5 137 0.061634 -0.145058 0.013567 -0.034247 0.020592 0.255901 0.965877 1654.137664 0.000000 0.000000 0.000000 0.000000 0.000000 1654.137664 0.000000 0.000000 0.000000 0.000000 1654.137664 0.000000 0.000000 0.000000 397.284071 0.000000 0.000000 397.284071 0.000000 397.284071
EDGE_SE3:QUAT 5 138 -0.027246 0.056743 -0.008364 -0.027374 0.022380 0.195294 0.980107 2031.485907 0.000000 0.000000 0.000000 0.000000 0.000000 2031.485907 0.000000 0.000000 0.000000 0.000000 2031.485907 0.000000 0.000000 0.000000 203.316563 0.000000 0.000000 203.316563 0.000000 203.316563
EDGE_SE3:QUAT 6 7 0.004049 -0.296839 0.003467 0.010979 -0.001076 0.010112 0.999888 3809.961914 0.000000 0.000000 0.000000 0.000000 0.000000 3809.961914 0.000000 0.000000 0.000000 0.000000 3809.961914 0.000000 0.000000 0.000000 3809.961914 0.000000 0.000000 3809.961914 0.000000 3809.961914
EDGE_SE3:QUAT 6 65 -0.140426 0.013953 -0.023933 -0.056679 0.011779 0.343078 0.937521 1615.504114 0.000000 0.000000 0.000000 0.000000 0.000000 1615.504114 0.000000 0.000000 0.000000 0.000000 1615.504114 0.000000 0.000000 0.000000 156.375302 0.000000 0.000000 156.375302 0.000000 156.375302
EDGE_SE3:QUAT 6 66 -0.035797 0.115210 0.001710 -0.035843 -0.001645 0.233270 0.971750 873.366910 0.000000 0.000000 0.000000 0.000000 0.000000 873.366910 0.000000 0.000000 0.000000 0.000000 873.366910 0.000000 0.000000 0.000000 263.528410 0.000000 0.000000 263.528410 0.000000 263.528410
EDGE_SE3:QUAT 6 71 -0.116570 -0.084366 -0.027569 0.032048 0.013103 0.019951 0.999201 6838.979414 0.000000 0.000000 0.000000 0.000000 0.000000 6838.979414 0.000000 0.000000 0.000000 0.000000 6838.979414 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 7 8 0.046728 -0.240407 -0.006620 0.005789 0.012951 -0.017855 0.999740 4171.823730 0.000000 0.000000 0.000000 0.000000 0.000000 4171.823730 0.000000 0.000000 0.000000 0.000000 4171.823730 0.000000 0.000000 0.000000 4171.823730 0.000000 0.000000 4171.823730 0.000000 4171.823730
EDGE_SE3:QUAT 7 72 -0.004896 0.108140 -0.015093 0.032335 0.001761 -0.035176 0.998856 4530.575904 0.000000 0.000000 0.000000 0.000000 0.000000 4530.575904 0.000000 0.000000 0.000000 0.000000 4530.575904 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 7 73 -0.000958 0.012403 -0.010348 0.035921 -0.000669 -0.019930 0.999156 2165.511803 0.000000 0.000000 0.000000 0.000000 0.000000 2165.511803 0.000000 0.000000 0.000000 0.000000 2165.511803 0.000000 0.000000 0.000000 310.571226 0.000000 0.000000 310.571226 0.000000 310.571226
EDGE_SE3:QUAT 7 74 -0.061440 -0.116567 -0.012927 0.016676 -0.008750 0.004799 0.999811 3984.142222 0.000000 0.000000 0.000000 0.000000 0.000000 3984.142222 0.000000 0.000000 0.000000 0.000000 3984.142222 0.000000 0.000000 0.000000 268.962561 0.000000 0.000000 268.962561 0.000000 268.962561
EDGE_SE3:QUAT 8 9 -0.026825 -0.234401 0.031218 0.004935 -0.013613 -0.005641 0.999879 3570.251347 0.000000 0.000000 0.000000 0.000000 0.000000 3570.251347 0.000000 0.000000 0.000000 0.000000 3570.251347 0.000000 0.000000 0.000000 3570.251347 0.000000 0.000000 3570.251347 0.000000 3570.251347
EDGE_SE3:QUAT 8 74 -0.111801 0.157122 -0.027792 0.010353 -0.025102 0.015881 0.999505 2333.416487 0.000000 0.000000 0.000000 0.000000 0.000000 2333.416487 0.000000 0.000000 0.000000 0.000000 2333.416487 0.000000 0.000000 0.000000 216.619019 0.000000 0.000000 216.619019 0.000000 216.619019
EDGE_SE3:QUAT 8 76 -0.101244 -0.067819 -0.024281 0.019321 0.013008 -0.006411 0.999708 4772.865865 0.000000 0.000000 0.000000 0.000000 0.000000 4772.865865 0.000000 0.000000 0.000000 0.000000 4772.865865 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 9 10 -0.013523 -0.275331 -0.015540 0.002254 0.018312 0.011147 0.999768 3624.299315 0.000000 0.000000 0.000000 0.000000 0.000000 3624.299315 0.000000 0.000000 0.000000 0.000000 3624.299315 0.000000 0.000000 0.000000 3624.299315 0.000000 0.000000 3624.299315 0.000000 3624.299315
EDGE_SE3:QUAT 9 77 -0.064157 0.004681 -0.033559 0.016762 0.024147 -0.009161 0.999526 6598.834314 0.000000 0.000000 0.000000 0.000000 0.000000 6598.834314 0.000000 0.000000 0.000000 0.000000 6598.834314 0.000000 0.000000 0.000000 365.448165 0.000000 0.000000 365.448165 0.000000 365.448165
EDGE_SE3:QUAT 9 7 -0.040823 0.518741 -0.033144 -0.012788 0.000167 0.012358 0.999842 429.867752 0.000000 0.000000 0.000000 0.000000 0.000000 429.867752 0.000000 0.000000 0.000000 0.000000 429.867752 0.000000 0.000000 0.000000 112.152504 0.000000 0.000000 112.152504 0.000000 112.152504
EDGE_SE3:QUAT 10 11 -0.000594 -0.201831 0.018036 -0.004103 -0.005664 -0.013304 0.999887 5750.148356 0.000000 0.000000 0.000000 0.000000 0.000000 5750.148356 0.000000 0.000000 0.000000 0.000000 5750.148356 0.000000 0.000000 0.000000 5750.148356 0.000000 0.000000 5750.148356 0.000000 5750.148356
EDGE_SE3:QUAT 10 78 -0.116758 0.086628 -0.042147 0.008731 0.018710 0.002336 0.999784 3860.876108 0.000000 0.000000 0.000000 0.000000 0.000000 3860.876108 0.000000 0.000000 0.000000 0.000000 3860.876108 0.000000 0.000000 0.000000 416.675051 0.000000 0.000000 416.675051 0.000000 416.675051
EDGE_SE3:QUAT 10 8 0.072730 0.606346 -0.013614 -0.006496 -0.002842 -0.026433 0.999626 1318.590063 0.000000 0.000000 0.000000 0.000000 0.000000 1318.590063 0.000000 0.000000 0.000000 0.000000 1318.590063 0.000000 0.000000 0.000000 182.690667 0.000000 0.000000 182.690667 0.000000 182.690667
EDGE_SE3:QUAT 11 12 -0.105835 -0.272200 -0.009707 -0.007036 0.021380 0.025011 0.999434 4136.636998 0.000000 0.000000 0.000000 0.000000 0.000000 4136.636998 0.000000 0.000000 0.000000 0.000000 4136.636998 0.000000 0.000000 0.000000 4136.636998 0.000000 0.000000 4136.636998 0.000000 4136.636998
EDGE_SE3:QUAT 11 79 -0.095807 0.084713 -0.039835 0.010179 0.018307 -0.022674 0.999523 3287.335818 0.000000 0.000000 0.000000 0.000000 0.000000 3287.335818 0.000000 0.000000 0.000000 0.000000 3287.335818 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 12 13 -0.017025 -0.232939 -0.017366 0.010135 -0.001889 -0.043932 0.998981 4876.682617 0.000000 0.000000 0.000000 0.000000 0.000000 4876.682617 0.000000 0.000000 0.000000 0.000000 4876.682617 0.000000 0.000000 0.000000 4876.682617 0.000000 0.000000 4876.682617 0.000000 4876.682617
EDGE_SE3:QUAT 12 80 -0.031080 0.085011 -0.007357 0.010517 -0.011836 -0.014639 0.999767 2279.419047 0.000000 0.000000 0.000000 0.000000 0.000000 2279.419047 0.000000 0.000000 0.000000 0.000000 2279.419047 0.000000 0.000000 0.000000 232.928410 0.000000 0.000000 232.928410 0.000000 232.928410
EDGE_SE3:QUAT 13 14 -0.080271 -0.265499 0.006512 -0.006197 0.004326 0.037334 0.999274 6134.621941 0.000000 0.000000 0.000000 0.000000 0.000000 6134.621941 0.000000 0.000000 0.000000 0.000000 6134.621941 0.000000 0.000000 0.000000 6134.621941 0.000000 0.000000 6134.621941 0.000000 6134.621941
EDGE_SE3:QUAT 13 81 -0.013195 0.114703 -0.010890 0.002068 -0.002874 -0.001713 0.999992 12564.120749 0.000000 0.000000 0.000000 0.000000 0.000000 12564.120749 0.000000 0.000000 0.000000 0.000000 12564.120749 0.000000 0.000000 0.000000 465.856876 0.000000 0.000000 465.856876 0.000000 465.856876
EDGE_SE3:QUAT 13 11 0.111809 0.582839 -0.003292 -0.002695 -0.026272 0.001513 0.999650 1636.459946 0.000000 0.000000 0.000000 0.000000 0.000000 1636.459946 0.000000 0.000000 0.000000 0.000000 1636.459946 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 14 15 0.053061 -0.205553 0.029294 0.001473 -0.012843 -0.041028 0.999074 4431.664062 0.000000 0.000000 0.000000 0.000000 0.000000 4431.664062 0.000000 0.000000 0.000000 0.000000 4431.664062 0.000000 0.000000 0.000000 4431.664062 0.000000 0.000000 4431.664062 0.000000 4431.664062
EDGE_SE3:QUAT 14 82 0.075561 0.168553 0.003312 0.009997 -0.023056 -0.030536 0.999218 7555.567689 0.000000 0.000000 0.000000 0.000000 0.000000 7555.567689 0.000000 0.000000 0.000000 0.000000 7555.567689 0.000000 0.000000 0.000000 380.370533 0.000000 0.000000 380.370533 0.000000 380.370533
EDGE_SE3:QUAT 14 83 0.027329 -0.073596 0.002855 0.000872 -0.017815 -0.020039 0.999640 4618.090389 0.000000 0.000000 0.000000 0.000000 0.000000 4618.090389 0.000000 0.000000 0.000000 0.000000 4618.090389 0.000000 0.000000 0.000000 397.284071 0.000000 0.000000 397.284071 0.000000 397.284071
EDGE_SE3:QUAT 14 12 0.123969 0.588959 -0.020835 -0.002460 -0.009735 -0.016317 0.999816 647.198411 0.000000 0.000000 0.000000 0.000000 0.000000 647.198411 0.000000 0.000000 0.000000 0.000000 647.198411 0.000000 0.000000 0.000000 114.240945 0.000000 0.000000 114.240945 0.000000 114.240945
EDGE_SE3:QUAT 15 16 0.051890 -0.258153 0.030921 -0.025097 -0.007833 0.012244 0.999579 3974.229980 0.000000 0.000000 0.000000 0.000000 0.000000 3974.229980 0.000000 0.000000 0.000000 0.000000 3974.229980 0.000000 0.000000 0.000000 3974.229980 0.000000 0.000000 3974.229980 0.000000 3974.229980
EDGE_SE3:QUAT 15 84 -0.001890 -0.056842 -0.003767 0.003682 -0.010233 -0.000009 0.999941 3455.532567 0.000000 0.000000 0.000000 0.000000 0.000000 3455.532567 0.000000 0.000000 0.000000 0.000000 3455.532567 0.000000 0.000000 0.000000 244.679985 0.000000 0.000000 244.679985 0.000000 244.679985
EDGE_SE3:QUAT 16 17 0.155833 -0.129865 0.054201 0.030423 -0.024895 -0.113355 0.992777 5801.006348 0.000000 0.000000 0.000000 0.000000 0.000000 5801.006348 0.000000 0.000000 0.000000 0.000000 5801.006348 0.000000 0.000000 0.000000 5801.006348 0.000000 0.000000 5801.006348 0.000000 5801.006348
EDGE_SE3:QUAT 16 85 -0.064563 -0.063888 -0.025412 0.019000 0.002633 0.025870 0.999481 8286.196040 0.000000 0.000000 0.000000 0.000000 0.000000 8286.196040 0.000000 0.000000 0.000000 0.000000 8286.196040 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 17 18 0.062501 -0.196231 0.005920 0.000628 -0.007022 -0.035289 0.999352 5606.367188 0.000000 0.000000 0.000000 0.000000 0.000000 5606.367188 0.000000 0.000000 0.000000 0.000000 5606.367188 0.000000 0.000000 0.000000 5606.367188 0.000000 0.000000 5606.367188 0.000000 5606.367188
EDGE_SE3:QUAT 17 86 -0.113726 -0.129624 -0.032801 -0.001693 0.035913 0.087370 0.995527 3276.812305 0.000000 0.000000 0.000000 0.000000 0.000000 3276.812305 0.000000 0.000000 0.000000 0.000000 3276.812305 0.000000 0.000000 0.000000 329.410534 0.000000 0.000000 329.410534 0.000000 329.410534
EDGE_SE3:QUAT 17 87 -0.113396 -0.287770 -0.017799 -0.003387 0.024241 0.097536 0.994931 4894.322826 0.000000 0.000000 0.000000 0.000000 0.000000 4894.322826 0.000000 0.000000 0.000000 0.000000 4894.322826 0.000000 0.000000 0.000000 244.679985 0.000000 0.000000 244.679985 0.000000 244.679985
EDGE_SE3:QUAT 18 19 0.171515 -0.103055 0.036359 0.025599 -0.001000 -0.117949 0.992689 4967.830566 0.000000 0.000000 0.000000 0.000000 0.000000 4967.830566 0.000000 0.000000 0.000000 0.000000 4967.830566 0.000000 0.000000 0.000000 4967.830566 0.000000 0.000000 4967.830566 0.000000 4967.830566
EDGE_SE3:QUAT 18 88 -0.186106 -0.226780 -0.031940 -0.008652 0.022161 0.155623 0.987530 1307.374922 0.000000 0.000000 0.000000 0.000000 0.000000 1307.374922 0.000000 0.000000 0.000000 0.000000 1307.374922 0.000000 0.000000 0.000000 153.172745 0.000000 0.000000 153.172745 0.000000 153.172745
EDGE_SE3:QUAT 18 91 -0.056625 -0.419623 -0.004397 0.006251 0.022384 0.089369 0.995727 6645.645292 0.000000 0.000000 0.000000 0.000000 0.000000 6645.645292 0.000000 0.000000 0.000000 0.000000 6645.645292 0.000000 0.000000 0.000000 244.679985 0.000000 0.000000 244.679985 0.000000 244.679985
EDGE_SE3:QUAT 18 92 -0.071449 -0.669876 0.000628 0.007571 0.015897 0.084478 0.996270 440.114559 0.000000 0.000000 0.000000 0.000000 0.000000 440.114559 0.000000 0.000000 0.000000 0.000000 440.114559 0.000000 0.000000 0.000000 68.874137 0.000000 0.000000 68.874137 0.000000 68.874137
EDGE_SE3:QUAT 19 20 0.077038 -0.094766 -0.001715 0.027693 0.005043 -0.057608 0.997942 9146.630859 0.000000 0.000000 0.000000 0.000000 0.000000 9146.630859 0.000000 0.000000 0.000000 0.000000 9146.630859 0.000000 0.000000 0.000000 9146.630859 0.000000 0.000000 9146.630859 0.000000 9146.630859
EDGE_SE3:QUAT 19 17 -0.317768 0.305990 -0.097378 -0.039293 0.001005 0.132437 0.990412 2207.610870 0.000000 0.000000 0.000000 0.000000 0.000000 2207.610870 0.000000 0.000000 0.000000 0.000000 2207.610870 0.000000 0.000000 0.000000 154.194517 0.000000 0.000000 154.194517 0.000000 154.194517
EDGE_SE3:QUAT 20 21 0.111467 -0.116571 0.039309 0.012526 -0.004401 -0.089275 0.995919 3861.124512 0.000000 0.000000 0.000000 0.000000 0.000000 3861.124512 0.000000 0.000000 0.000000 0.000000 3861.124512 0.000000 0.000000 0.000000 3861.124512 0.000000 0.000000 3861.124512 0.000000 3861.124512
EDGE_SE3:QUAT 20 93 -0.013126 -0.412863 0.050759 -0.015682 -0.006275 0.109529 0.993840 1591.172540 0.000000 0.000000 0.000000 0.000000 0.000000 1591.172540 0.000000 0.000000 0.000000 0.000000 1591.172540 0.000000 0.000000 0.000000 140.461069 0.000000 0.000000 140.461069 0.000000 140.461069
EDGE_SE3:QUAT 20 94 -0.075221 -0.337288 0.026330 -0.011249 0.006727 0.040194 0.999106 745.631119 0.000000 0.000000 0.000000 0.000000 0.000000 745.631119 0.000000 0.000000 0.000000 0.000000 745.631119 0.000000 0.000000 0.000000 194.275702 0.000000 0.000000 194.275702 0.000000 194.275702
EDGE_SE3:QUAT 20 18 -0.286118 0.165458 -0.076734 -0.060851 -0.007859 0.162508 0.984798 2223.862323 0.000000 0.000000 0.000000 0.000000 0.000000 2223.862323 0.000000 0.000000 0.000000 0.000000 2223.862323 0.000000 0.000000 0.000000 190.149066 0.000000 0.000000 190.149066 0.000000 190.149066
EDGE_SE3:QUAT 21 22 0.148883 -0.003157 0.038739 0.030050 -0.027560 -0.139556 0.989374 4548.236710 0.000000 0.000000 0.000000 0.000000 0.000000 4548.236710 0.000000 0.000000 0.000000 0.000000 4548.236710 0.000000 0.000000 0.000000 4548.236710 0.000000 0.000000 4548.236710 0.000000 4548.236710
EDGE_SE3:QUAT 21 95 -0.114847 -0.136561 -0.004519 0.000875 -0.008781 0.018911 0.999782 3330.674433 0.000000 0.000000 0.000000 0.000000 0.000000 3330.674433 0.000000 0.000000 0.000000 0.000000 3330.674433 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 21 19 -0.222741 0.205511 -0.057551 -0.039931 -0.004620 0.136492 0.989825 1064.059314 0.000000 0.000000 0.000000 0.000000 0.000000 1064.059314 0.000000 0.000000 0.000000 0.000000 1064.059314 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 22 23 -0.070562 -0.060010 -0.017456 0.017394 -0.003574 -0.057709 0.998176 5230.141028 0.000000 0.000000 0.000000 0.000000 0.000000 5230.141028 0.000000 0.000000 0.000000 0.000000 5230.141028 0.000000 0.000000 0.000000 5230.141028 0.000000 0.000000 5230.141028 0.000000 5230.141028
EDGE_SE3:QUAT 22 96 -0.129215 -0.002701 -0.028045 -0.001307 -0.004728 0.058340 0.998285 5407.061799 0.000000 0.000000 0.000000 0.000000 0.000000 5407.061799 0.000000 0.000000 0.000000 0.000000 5407.061799 0.000000 0.000000 0.000000 365.448165 0.000000 0.000000 365.448165 0.000000 365.448165
EDGE_SE3:QUAT 22 20 -0.265091 0.093217 -0.051991 -0.039521 0.034775 0.213032 0.975626 706.207462 0.000000 0.000000 0.000000 0.000000 0.000000 706.207462 0.000000 0.000000 0.000000 0.000000 706.207462 0.000000 0.000000 0.000000 165.979712 0.000000 0.000000 165.979712 0.000000 165.979712
EDGE_SE3:QUAT 23 24 0.034167 -0.037548 -0.018252 0.023282 -0.006642 -0.099418 0.994751 4156.487674 0.000000 0.000000 0.000000 0.000000 0.000000 4156.487674 0.000000 0.000000 0.000000 0.000000 4156.487674 0.000000 0.000000 0.000000 4156.487674 0.000000 0.000000 4156.487674 0.000000 4156.487674
EDGE_SE3:QUAT 23 98 -0.031920 0.355412 -0.002773 0.023335 -0.032863 -0.048966 0.997987 2266.381652 0.000000 0.000000 0.000000 0.000000 0.000000 2266.381652 0.000000 0.000000 0.000000 0.000000 2266.381652 0.000000 0.000000 0.000000 294.633733 0.000000 0.000000 294.633733 0.000000 294.633733
EDGE_SE3:QUAT 23 21 -0.083494 0.187874 -0.045308 -0.048559 0.026597 0.163536 0.984983 403.934645 0.000000 0.000000 0.000000 0.000000 0.000000 403.934645 0.000000 0.000000 0.000000 0.000000 403.934645 0.000000 0.000000 0.000000 225.922678 0.000000 0.000000 225.922678 0.000000 225.922678
EDGE_SE3:QUAT 24 25 0.099678 0.039861 -0.009387 0.024122 -0.021153 -0.098203 0.994649 4894.120867 0.000000 0.000000 0.000000 0.000000 0.000000 4894.120867 0.000000 0.000000 0.000000 0.000000 4894.120867 0.000000 0.000000 0.000000 4894.120867 0.000000 0.000000 4894.120867 0.000000 4894.120867
EDGE_SE3:QUAT 24 100 -0.123199 0.419835 -0.058730 0.031012 -0.035130 -0.117148 0.992008 1208.133837 0.000000 0.000000 0.000000 0.000000 0.000000 1208.133837 0.000000 0.000000 0.000000 0.000000 1208.133837 0.000000 0.000000 0.000000 190.185229 0.000000 0.000000 190.185229 0.000000 190.185229
EDGE_SE3:QUAT 24 22 -0.008937 0.201743 -0.024745 -0.042607 -0.000258 0.138861 0.989395 1711.251115 0.000000 0.000000 0.000000 0.000000 0.000000 1711.251115 0.000000 0.000000 0.000000 0.000000 1711.251115 0.000000 0.000000 0.000000 225.922678 0.000000 0.000000 225.922678 0.000000 225.922678
EDGE_SE3:QUAT 25 26 -0.007368 -0.113020 -0.017911 0.000415 -0.019449 -0.043213 0.998877 4354.259277 0.000000 0.000000 0.000000 0.000000 0.000000 4354.259277 0.000000 0.000000 0.000000 0.000000 4354.259277 0.000000 0.000000 0.000000 4354.259277 0.000000 0.000000 4354.259277 0.000000 4354.259277
EDGE_SE3:QUAT 25 101 -0.202696 0.458373 -0.104730 0.023936 -0.041706 -0.129141 0.990460 3001.954221 0.000000 0.000000 0.000000 0.000000 0.000000 3001.954221 0.000000 0.000000 0.000000 0.000000 3001.954221 0.000000 0.000000 0.000000 170.106829 0.000000 0.000000 170.106829 0.000000 170.106829
EDGE_SE3:QUAT 26 27 0.044997 0.054322 -0.009380 0.026320 -0.006470 -0.112854 0.993242 4846.470498 0.000000 0.000000 0.000000 0.000000 0.000000 4846.470498 0.000000 0.000000 0.000000 0.000000 4846.470498 0.000000 0.000000 0.000000 4846.470498 0.000000 0.000000 4846.470498 0.000000 4846.470498
EDGE_SE3:QUAT 26 24 -0.090624 0.215809 -0.043936 -0.023922 0.024478 0.107160 0.993653 798.844221 0.000000 0.000000 0.000000 0.000000 0.000000 798.844221 0.000000 0.000000 0.000000 0.000000 798.844221 0.000000 0.000000 0.000000 133.768335 0.000000 0.000000 133.768335 0.000000 133.768335
EDGE_SE3:QUAT 27 28 0.071369 0.058342 -0.005782 0.021724 -0.017464 -0.132348 0.990811 4454.252767 0.000000 0.000000 0.000000 0.000000 0.000000 4454.252767 0.000000 0.000000 0.000000 0.000000 4454.252767 0.000000 0.000000 0.000000 4454.252767 0.000000 0.000000 4454.252767 0.000000 4454.252767
EDGE_SE3:QUAT 27 102 -0.316251 0.431043 -0.057203 0.001988 -0.001677 -0.055904 0.998433 3032.026262 0.000000 0.000000 0.000000 0.000000 0.000000 3032.026262 0.000000 0.000000 0.000000 0.000000 3032.026262 0.000000 0.000000 0.000000 166.007266 0.000000 0.000000 166.007266 0.000000 166.007266
EDGE_SE3:QUAT 27 24 -0.146626 0.092254 -0.037207 -0.053210 0.031019 0.224312 0.972569 1088.528741 0.000000 0.000000 0.000000 0.000000 0.000000 1088.528741 0.000000 0.000000 0.000000 0.000000 1088.528741 0.000000 0.000000 0.000000 182.690667 0.000000 0.000000 182.690667 0.000000 182.690667
EDGE_SE3:QUAT 28 29 0.011115 0.044158 -0.002409 0.026130 -0.015393 -0.114467 0.992964 4485.774414 0.000000 0.000000 0.000000 0.000000 0.000000 4485.774414 0.000000 0.000000 0.000000 0.000000 4485.774414 0.000000 0.000000 0.000000 4485.774414 0.000000 0.000000 4485.774414 0.000000 4485.774414
EDGE_SE3:QUAT 29 30 -0.157212 -0.018725 -0.035380 0.011246 -0.006710 -0.014484 0.999809 5503.265137 0.000000 0.000000 0.000000 0.000000 0.000000 5503.265137 0.000000 0.000000 0.000000 0.000000 5503.265137 0.000000 0.000000 0.000000 5503.265137 0.000000 0.000000 5503.265137 0.000000 5503.265137
EDGE_SE3:QUAT 29 27 -0.060620 -0.001851 0.027688 -0.046298 0.036039 0.215025 0.974845 462.581603 0.000000 0.000000 0.000000 0.000000 0.000000 462.581603 0.000000 0.000000 0.000000 0.000000 462.581603 0.000000 0.000000 0.000000 216.572105 0.000000 0.000000 216.572105 0.000000 216.572105
EDGE_SE3:QUAT 30 31 -0.107550 0.032014 -0.024225 0.010482 0.001752 -0.041152 0.999096 4757.822754 0.000000 0.000000 0.000000 0.000000 0.000000 4757.822754 0.000000 0.000000 0.000000 0.000000 4757.822754 0.000000 0.000000 0.000000 4757.822754 0.000000 0.000000 4757.822754 0.000000 4757.822754
EDGE_SE3:QUAT 30 103 -0.268377 0.358268 -0.059328 -0.012835 -0.001074 0.064525 0.997833 571.516885 0.000000 0.000000 0.000000 0.000000 0.000000 571.516885 0.000000 0.000000 0.000000 0.000000 571.516885 0.000000 0.000000 0.000000 173.014857 0.000000 0.000000 173.014857 0.000000 173.014857
EDGE_SE3:QUAT 30 27 0.119303 0.005066 0.115310 -0.061202 0.056687 0.235032 0.968401 408.913043 0.000000 0.000000 0.000000 0.000000 0.000000 408.913043 0.000000 0.000000 0.000000 0.000000 408.913043 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 30 28 0.153496 0.013255 -0.007822 -0.036892 0.012867 0.119919 0.992015 1195.203957 0.000000 0.000000 0.000000 0.000000 0.000000 1195.203957 0.000000 0.000000 0.000000 0.000000 1195.203957 0.000000 0.000000 0.000000 172.984928 0.000000 0.000000 172.984928 0.000000 172.984928
EDGE_SE3:QUAT 31 32 0.046207 0.011000 -0.002919 0.017831 -0.024783 -0.111963 0.993243 4730.257734 0.000000 0.000000 0.000000 0.000000 0.000000 4730.257734 0.000000 0.000000 0.000000 0.000000 4730.257734 0.000000 0.000000 0.000000 4730.257734 0.000000 0.000000 4730.257734 0.000000 4730.257734
EDGE_SE3:QUAT 32 34 -0.209439 0.225381 -0.059105 0.007896 0.002101 -0.039886 0.999171 4488.771404 0.000000 0.000000 0.000000 0.000000 0.000000 4488.771404 0.000000 0.000000 0.000000 0.000000 4488.771404 0.000000 0.000000 0.000000 4488.771404 0.000000 0.000000 4488.771404 0.000000 4488.771404
EDGE_SE3:QUAT 34 35 0.017988 0.170480 -0.009617 0.027071 -0.013051 -0.108969 0.993591 4247.935059 0.000000 0.000000 0.000000 0.000000 0.000000 4247.935059 0.000000 0.000000 0.000000 0.000000 4247.935059 0.000000 0.000000 0.000000 4247.935059 0.000000 0.000000 4247.935059 0.000000 4247.935059
EDGE_SE3:QUAT 34 105 0.080602 0.065192 0.018737 -0.015922 -0.001826 0.091644 0.995663 1726.690831 0.000000 0.000000 0.000000 0.000000 0.000000 1726.690831 0.000000 0.000000 0.000000 0.000000 1726.690831 0.000000 0.000000 0.000000 380.370533 0.000000 0.000000 380.370533 0.000000 380.370533
EDGE_SE3:QUAT 34 106 0.019528 0.099448 -0.012129 -0.008075 -0.007602 0.010652 0.999882 4970.313970 0.000000 0.000000 0.000000 0.000000 0.000000 4970.313970 0.000000 0.000000 0.000000 0.000000 4970.313970 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 34 31 0.178526 -0.224915 0.059130 -0.029282 0.020792 0.149669 0.988084 1135.810070 0.000000 0.000000 0.000000 0.000000 0.000000 1135.810070 0.000000 0.000000 0.000000 0.000000 1135.810070 0.000000 0.000000 0.000000 180.959271 0.000000 0.000000 180.959271 0.000000 180.959271
EDGE_SE3:QUAT 34 30 0.289529 -0.183978 0.083770 -0.040080 0.019110 0.183663 0.981986 935.100428 0.000000 0.000000 0.000000 0.000000 0.000000 935.100428 0.000000 0.000000 0.000000 0.000000 935.100428 0.000000 0.000000 0.000000 253.516044 0.000000 0.000000 253.516044 0.000000 253.516044
EDGE_SE3:QUAT 35 36 -0.124723 -0.029121 -0.031953 -0.001603 -0.008922 -0.027623 0.999577 4882.095215 0.000000 0.000000 0.000000 0.000000 0.000000 4882.095215 0.000000 0.000000 0.000000 0.000000 4882.095215 0.000000 0.000000 0.000000 4882.095215 0.000000 0.000000 4882.095215 0.000000 4882.095215
EDGE_SE3:QUAT 35 108 -0.030897 0.074519 -0.027918 0.010285 -0.010163 -0.034571 0.999298 2970.918110 0.000000 0.000000 0.000000 0.000000 0.000000 2970.918110 0.000000 0.000000 0.000000 0.000000 2970.918110 0.000000 0.000000 0.000000 465.856876 0.000000 0.000000 465.856876 0.000000 465.856876
EDGE_SE3:QUAT 35 31 0.238276 -0.412608 0.105596 -0.057035 0.038881 0.267932 0.960962 1568.818537 0.000000 0.000000 0.000000 0.000000 0.000000 1568.818537 0.000000 0.000000 0.000000 0.000000 1568.818537 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 35 32 0.278939 -0.328203 0.110200 -0.036214 0.016474 0.150460 0.987815 2447.287055 0.000000 0.000000 0.000000 0.000000 0.000000 2447.287055 0.000000 0.000000 0.000000 0.000000 2447.287055 0.000000 0.000000 0.000000 248.948945 0.000000 0.000000 248.948945 0.000000 248.948945
EDGE_SE3:QUAT 36 37 -0.078968 -0.132023 -0.015885 0.010140 -0.010797 -0.064756 0.997791 3351.091036 0.000000 0.000000 0.000000 0.000000 0.000000 3351.091036 0.000000 0.000000 0.000000 0.000000 3351.091036 0.000000 0.000000 0.000000 3351.091036 0.000000 0.000000 3351.091036 0.000000 3351.091036
EDGE_SE3:QUAT 36 107 0.036325 0.019757 -0.012116 -0.014894 0.013019 0.109775 0.993760 1008.829368 0.000000 0.000000 0.000000 0.000000 0.000000 1008.829368 0.000000 0.000000 0.000000 0.000000 1008.829368 0.000000 0.000000 0.000000 274.747356 0.000000 0.000000 274.747356 0.000000 274.747356
EDGE_SE3:QUAT 36 109 0.023345 -0.006662 -0.000922 0.022646 -0.015279 -0.057860 0.997951 2455.146482 0.000000 0.000000 0.000000 0.000000 0.000000 2455.146482 0.000000 0.000000 0.000000 0.000000 2455.146482 0.000000 0.000000 0.000000 365.448165 0.000000 0.000000 365.448165 0.000000 365.448165
EDGE_SE3:QUAT 36 32 0.442973 -0.290666 0.105851 -0.033877 0.017683 0.180867 0.982765 1857.252486 0.000000 0.000000 0.000000 0.000000 0.000000 1857.252486 0.000000 0.000000 0.000000 0.000000 1857.252486 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 36 34 0.156908 -0.110329 0.042809 -0.027334 0.019926 0.131981 0.990675 964.421246 0.000000 0.000000 0.000000 0.000000 0.000000 964.421246 0.000000 0.000000 0.000000 0.000000 964.421246 0.000000 0.000000 0.000000 416.501505 0.000000 0.000000 416.501505 0.000000 416.501505
EDGE_SE3:QUAT 37 38 0.040037 -0.129846 0.005285 0.016332 -0.008288 -0.079342 0.996679 4883.099036 0.000000 0.000000 0.000000 0.000000 0.000000 4883.099036 0.000000 0.000000 0.000000 0.000000 4883.099036 0.000000 0.000000 0.000000 4883.099036 0.000000 0.000000 4883.099036 0.000000 4883.099036
EDGE_SE3:QUAT 37 32 0.510279 0.015862 0.088590 -0.046543 0.022529 0.219684 0.974200 631.577289 0.000000 0.000000 0.000000 0.000000 0.000000 631.577289 0.000000 0.000000 0.000000 0.000000 631.577289 0.000000 0.000000 0.000000 302.196488 0.000000 0.000000 302.196488 0.000000 302.196488
EDGE_SE3:QUAT 38 39 -0.095504 -0.263507 0.003845 -0.003162 0.015207 0.031016 0.999398 3901.454346 0.000000 0.000000 0.000000 0.000000 0.000000 3901.454346 0.000000 0.000000 0.000000 0.000000 3901.454346 0.000000 0.000000 0.000000 3901.454346 0.000000 0.000000 3901.454346 0.000000 3901.454346
EDGE_SE3:QUAT 38 110 -0.043909 0.171694 -0.029379 0.001744 0.001417 -0.007035 0.999973 5502.919505 0.000000 0.000000 0.000000 0.000000 0.000000 5502.919505 0.000000 0.000000 0.000000 0.000000 5502.919505 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 38 111 -0.061544 -0.066431 -0.009594 0.008843 0.002727 -0.024995 0.999645 3244.317824 0.000000 0.000000 0.000000 0.000000 0.000000 3244.317824 0.000000 0.000000 0.000000 0.000000 3244.317824 0.000000 0.000000 0.000000 319.575166 0.000000 0.000000 319.575166 0.000000 319.575166
EDGE_SE3:QUAT 38 36 -0.028190 0.390125 -0.053852 -0.033328 0.009636 0.117843 0.992426 1232.969560 0.000000 0.000000 0.000000 0.000000 0.000000 1232.969560 0.000000 0.000000 0.000000 0.000000 1232.969560 0.000000 0.000000 0.000000 216.572105 0.000000 0.000000 216.572105 0.000000 216.572105
EDGE_SE3:QUAT 39 40 0.025579 -0.186752 0.011196 -0.008698 -0.005679 -0.075923 0.997060 4491.699524 0.000000 0.000000 0.000000 0.000000 0.000000 4491.699524 0.000000 0.000000 0.000000 0.000000 4491.699524 0.000000 0.000000 0.000000 4491.699524 0.000000 0.000000 4491.699524 0.000000 4491.699524
EDGE_SE3:QUAT 39 112 -0.022670 -0.105381 0.012126 -0.011843 -0.005242 -0.025582 0.999589 2588.093226 0.000000 0.000000 0.000000 0.000000 0.000000 2588.093226 0.000000 0.000000 0.000000 0.000000 2588.093226 0.000000 0.000000 0.000000 280.922239 0.000000 0.000000 280.922239 0.000000 280.922239
EDGE_SE3:QUAT 39 37 0.075693 0.419169 -0.058028 -0.017818 -0.016421 0.039972 0.998907 1497.111002 0.000000 0.000000 0.000000 0.000000 0.000000 1497.111002 0.000000 0.000000 0.000000 0.000000 1497.111002 0.000000 0.000000 0.000000 115.551446 0.000000 0.000000 115.551446 0.000000 115.551446
EDGE_SE3:QUAT 40 41 -0.058820 -0.277522 0.010818 -0.032851 0.005907 0.070265 0.996970 6478.219013 0.000000 0.000000 0.000000 0.000000 0.000000 6478.219013 0.000000 0.000000 0.000000 0.000000 6478.219013 0.000000 0.000000 0.000000 6478.219013 0.000000 0.000000 6478.219013 0.000000 6478.219013
EDGE_SE3:QUAT 40 113 -0.000218 -0.021634 0.005503 -0.000454 -0.009097 0.002549 0.999955 11846.152867 0.000000 0.000000 0.000000 0.000000 0.000000 11846.152867 0.000000 0.000000 0.000000 0.000000 11846.152867 0.000000 0.000000 0.000000 537.925159 0.000000 0.000000 537.925159 0.000000 537.925159
EDGE_SE3:QUAT 40 38 0.030606 0.509859 -0.017939 0.008362 -0.012235 0.032235 0.999370 3586.896186 0.000000 0.000000 0.000000 0.000000 0.000000 3586.896186 0.000000 0.000000 0.000000 0.000000 3586.896186 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 41 42 0.000044 -0.137646 -0.024233 0.022226 0.016936 -0.037888 0.998891 5065.863116 0.000000 0.000000 0.000000 0.000000 0.000000 5065.863116 0.000000 0.000000 0.000000 0.000000 5065.863116 0.000000 0.000000 0.000000 5065.863116 0.000000 0.000000 5065.863116 0.000000 5065.863116
EDGE_SE3:QUAT 41 39 0.090870 0.506437 -0.019311 0.039805 -0.010496 -0.005139 0.999139 1434.775376 0.000000 0.000000 0.000000 0.000000 0.000000 1434.775376 0.000000 0.000000 0.000000 0.000000 1434.775376 0.000000 0.000000 0.000000 137.354770 0.000000 0.000000 137.354770 0.000000 137.354770
EDGE_SE3:QUAT 42 43 -0.013441 -0.191512 0.036265 0.005168 -0.023276 -0.028714 0.999303 6243.762140 0.000000 0.000000 0.000000 0.000000 0.000000 6243.762140 0.000000 0.000000 0.000000 0.000000 6243.762140 0.000000 0.000000 0.000000 6243.762140 0.000000 0.000000 6243.762140 0.000000 6243.762140
EDGE_SE3:QUAT 42 114 -0.013255 0.095588 0.011272 0.011488 -0.030191 -0.000492 0.999478 6180.570211 0.000000 0.000000 0.000000 0.000000 0.000000 6180.570211 0.000000 0.000000 0.000000 0.000000 6180.570211 0.000000 0.000000 0.000000 210.991582 0.000000 0.000000 210.991582 0.000000 210.991582
EDGE_SE3:QUAT 42 40 0.075348 0.420293 0.001614 0.010110 -0.026404 -0.034392 0.999008 1859.757574 0.000000 0.000000 0.000000 0.000000 0.000000 1859.757574 0.000000 0.000000 0.000000 0.000000 1859.757574 0.000000 0.000000 0.000000 179.276208 0.000000 0.000000 179.276208 0.000000 179.276208
EDGE_SE3:QUAT 43 44 -0.039401 -0.272808 -0.002181 -0.012841 -0.001614 0.012749 0.999835 4966.145020 0.000000 0.000000 0.000000 0.000000 0.000000 4966.145020 0.000000 0.000000 0.000000 0.000000 4966.145020 0.000000 0.000000 0.000000 4966.145020 0.000000 0.000000 4966.145020 0.000000 4966.145020
EDGE_SE3:QUAT 43 115 0.017844 0.048409 0.001193 0.007991 -0.008757 0.004757 0.999918 7439.676057 0.000000 0.000000 0.000000 0.000000 0.000000 7439.676057 0.000000 0.000000 0.000000 0.000000 7439.676057 0.000000 0.000000 0.000000 439.214046 0.000000 0.000000 439.214046 0.000000 439.214046
EDGE_SE3:QUAT 43 41 -0.019684 0.372576 -0.031433 -0.029901 0.003736 0.056628 0.997941 949.681934 0.000000 0.000000 0.000000 0.000000 0.000000 949.681934 0.000000 0.000000 0.000000 0.000000 949.681934 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 44 45 0.055590 -0.273834 0.023648 0.010973 0.002198 -0.035565 0.999305 7881.029126 0.000000 0.000000 0.000000 0.000000 0.000000 7881.029126 0.000000 0.000000 0.000000 0.000000 7881.029126 0.000000 0.000000 0.000000 7881.029126 0.000000 0.000000 7881.029126 0.000000 7881.029126
EDGE_SE3:QUAT 44 116 0.035055 0.080470 0.005245 0.018397 -0.003209 0.020132 0.999623 4992.605385 0.000000 0.000000 0.000000 0.000000 0.000000 4992.605385 0.000000 0.000000 0.000000 0.000000 4992.605385 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 45 46 -0.056683 -0.271144 -0.001002 -0.011962 0.013808 0.042231 0.998941 4844.039062 0.000000 0.000000 0.000000 0.000000 0.000000 4844.039062 0.000000 0.000000 0.000000 0.000000 4844.039062 0.000000 0.000000 0.000000 4844.039062 0.000000 0.000000 4844.039062 0.000000 4844.039062
EDGE_SE3:QUAT 45 117 0.012679 0.121037 -0.003663 0.000475 -0.003305 0.029015 0.999573 2597.650231 0.000000 0.000000 0.000000 0.000000 0.000000 2597.650231 0.000000 0.000000 0.000000 0.000000 2597.650231 0.000000 0.000000 0.000000 268.962561 0.000000 0.000000 268.962561 0.000000 268.962561
EDGE_SE3:QUAT 46 47 0.048087 -0.236473 0.020161 0.003580 -0.010357 -0.047604 0.998806 4956.357910 0.000000 0.000000 0.000000 0.000000 0.000000 4956.357910 0.000000 0.000000 0.000000 0.000000 4956.357910 0.000000 0.000000 0.000000 4956.357910 0.000000 0.000000 4956.357910 0.000000 4956.357910
EDGE_SE3:QUAT 46 118 0.083300 0.160380 0.020946 0.004571 -0.025976 0.003462 0.999646 4256.299710 0.000000 0.000000 0.000000 0.000000 0.000000 4256.299710 0.000000 0.000000 0.000000 0.000000 4256.299710 0.000000 0.000000 0.000000 263.528410 0.000000 0.000000 263.528410 0.000000 263.528410
EDGE_SE3:QUAT 46 119 0.076273 -0.085340 0.015531 0.014920 -0.011793 -0.009541 0.999774 9168.861910 0.000000 0.000000 0.000000 0.000000 0.000000 9168.861910 0.000000 0.000000 0.000000 0.000000 9168.861910 0.000000 0.000000 0.000000 329.410534 0.000000 0.000000 329.410534 0.000000 329.410534
EDGE_SE3:QUAT 47 48 -0.037642 -0.279508 0.023790 -0.010751 -0.005500 0.021015 0.999706 5465.635742 0.000000 0.000000 0.000000 0.000000 0.000000 5465.635742 0.000000 0.000000 0.000000 0.000000 5465.635742 0.000000 0.000000 0.000000 5465.635742 0.000000 0.000000 5465.635742 0.000000 5465.635742
EDGE_SE3:QUAT 47 120 0.104591 0.018431 0.031982 0.023588 -0.006106 -0.018502 0.999532 8006.429027 0.000000 0.000000 0.000000 0.000000 0.000000 8006.429027 0.000000 0.000000 0.000000 0.000000 8006.429027 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 47 45 -0.018315 0.558618 -0.041045 0.004039 -0.009151 -0.006528 0.999929 1044.025926 0.000000 0.000000 0.000000 0.000000 0.000000 1044.025926 0.000000 0.000000 0.000000 0.000000 1044.025926 0.000000 0.000000 0.000000 138.107298 0.000000 0.000000 138.107298 0.000000 138.107298
EDGE_SE3:QUAT 48 49 0.113381 -0.068170 0.029977 0.023210 -0.018260 -0.126527 0.991524 4295.284610 0.000000 0.000000 0.000000 0.000000 0.000000 4295.284610 0.000000 0.000000 0.000000 0.000000 4295.284610 0.000000 0.000000 0.000000 4295.284610 0.000000 0.000000 4295.284610 0.000000 4295.284610
EDGE_SE3:QUAT 48 121 0.152536 0.049607 0.026665 0.027249 0.002360 -0.040715 0.998796 4637.413893 0.000000 0.000000 0.000000 0.000000 0.000000 4637.413893 0.000000 0.000000 0.000000 0.000000 4637.413893 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 48 46 0.006462 0.579319 -0.052869 0.004840 0.012036 0.011930 0.999845 449.178200 0.000000 0.000000 0.000000 0.000000 0.000000 449.178200 0.000000 0.000000 0.000000 0.000000 449.178200 0.000000 0.000000 0.000000 132.410430 0.000000 0.000000 132.410430 0.000000 132.410430
EDGE_SE3:QUAT 49 50 0.117531 -0.082592 0.016502 0.018007 -0.026434 -0.081054 0.996196 5391.428516 0.000000 0.000000 0.000000 0.000000 0.000000 5391.428516 0.000000 0.000000 0.000000 0.000000 5391.428516 0.000000 0.000000 0.000000 5391.428516 0.000000 0.000000 5391.428516 0.000000 5391.428516
EDGE_SE3:QUAT 49 47 -0.145320 0.404908 -0.088256 -0.021280 0.019441 0.085884 0.995888 2645.972040 0.000000 0.000000 0.000000 0.000000 0.000000 2645.972040 0.000000 0.000000 0.000000 0.000000 2645.972040 0.000000 0.000000 0.000000 140.441342 0.000000 0.000000 140.441342 0.000000 140.441342
EDGE_SE3:QUAT 50 51 0.138251 0.001569 0.025339 0.005139 -0.010138 -0.097482 0.995172 3290.238525 0.000000 0.000000 0.000000 0.000000 0.000000 3290.238525 0.000000 0.000000 0.000000 0.000000 3290.238525 0.000000 0.000000 0.000000 3290.238525 0.000000 0.000000 3290.238525 0.000000 3290.238525
EDGE_SE3:QUAT 50 122 0.012353 0.179732 -0.018624 0.015062 0.016848 0.052989 0.998339 4812.323637 0.000000 0.000000 0.000000 0.000000 0.000000 4812.323637 0.000000 0.000000 0.000000 0.000000 4812.323637 0.000000 0.000000 0.000000 340.213747 0.000000 0.000000 340.213747 0.000000 340.213747
EDGE_SE3:QUAT 50 123 0.108348 -0.014447 0.023327 0.002294 0.003960 0.021638 0.999755 4816.938546 0.000000 0.000000 0.000000 0.000000 0.000000 4816.938546 0.000000 0.000000 0.000000 0.000000 4816.938546 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 50 48 -0.254781 0.186396 -0.042184 -0.042416 0.043526 0.182182 0.981385 5285.534476 0.000000 0.000000 0.000000 0.000000 0.000000 5285.534476 0.000000 0.000000 0.000000 0.000000 5285.534476 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 51 52 0.111734 0.131790 -0.004484 0.022281 -0.023999 -0.113734 0.992971 3696.235778 0.000000 0.000000 0.000000 0.000000 0.000000 3696.235778 0.000000 0.000000 0.000000 0.000000 3696.235778 0.000000 0.000000 0.000000 3696.235778 0.000000 0.000000 3696.235778 0.000000 3696.235778
EDGE_SE3:QUAT 51 49 -0.270920 0.095753 -0.052508 -0.023394 0.032223 0.159510 0.986393 439.461108 0.000000 0.000000 0.000000 0.000000 0.000000 439.461108 0.000000 0.000000 0.000000 0.000000 439.461108 0.000000 0.000000 0.000000 190.149066 0.000000 0.000000 190.149066 0.000000 190.149066
EDGE_SE3:QUAT 52 53 -0.126321 0.081104 -0.014154 0.005553 -0.000389 -0.044241 0.999005 4355.715332 0.000000 0.000000 0.000000 0.000000 0.000000 4355.715332 0.000000 0.000000 0.000000 0.000000 4355.715332 0.000000 0.000000 0.000000 4355.715332 0.000000 0.000000 4355.715332 0.000000 4355.715332
EDGE_SE3:QUAT 52 124 0.076876 -0.057552 0.014434 0.005916 0.022070 0.100832 0.994641 1853.682676 0.000000 0.000000 0.000000 0.000000 0.000000 1853.682676 0.000000 0.000000 0.000000 0.000000 1853.682676 0.000000 0.000000 0.000000 352.154676 0.000000 0.000000 352.154676 0.000000 352.154676
EDGE_SE3:QUAT 52 125 0.224320 -0.146067 0.024630 0.013337 -0.003796 0.049187 0.998693 3791.469847 0.000000 0.000000 0.000000 0.000000 0.000000 3791.469847 0.000000 0.000000 0.000000 0.000000 3791.469847 0.000000 0.000000 0.000000 249.010936 0.000000 0.000000 249.010936 0.000000 249.010936
EDGE_SE3:QUAT 52 50 -0.224053 -0.030372 -0.078157 -0.031711 0.021444 0.174718 0.983874 191.474142 0.000000 0.000000 0.000000 0.000000 0.000000 191.474142 0.000000 0.000000 0.000000 0.000000 191.474142 0.000000 0.000000 0.000000 142.064771 0.000000 0.000000 142.064771 0.000000 142.064771
EDGE_SE3:QUAT 53 54 -0.027753 0.097283 -0.006248 0.010314 0.001649 -0.061052 0.998080 3721.742920 0.000000 0.000000 0.000000 0.000000 0.000000 3721.742920 0.000000 0.000000 0.000000 0.000000 3721.742920 0.000000 0.000000 0.000000 3721.742920 0.000000 0.000000 3721.742920 0.000000 3721.742920
EDGE_SE3:QUAT 53 51 0.049198 -0.123739 0.009888 -0.033162 0.019681 0.136413 0.989901 953.175779 0.000000 0.000000 0.000000 0.000000 0.000000 953.175779 0.000000 0.000000 0.000000 0.000000 953.175779 0.000000 0.000000 0.000000 302.196488 0.000000 0.000000 302.196488 0.000000 302.196488
EDGE_SE3:QUAT 54 55 0.196462 0.103308 0.029440 0.015805 -0.019208 -0.086456 0.995945 4734.390137 0.000000 0.000000 0.000000 0.000000 0.000000 4734.390137 0.000000 0.000000 0.000000 0.000000 4734.390137 0.000000 0.000000 0.000000 4734.390137 0.000000 0.000000 4734.390137 0.000000 4734.390137
EDGE_SE3:QUAT 54 51 0.108744 -0.181182 0.017323 -0.046790 0.017465 0.191261 0.980268 831.474002 0.000000 0.000000 0.000000 0.000000 0.000000 831.474002 0.000000 0.000000 0.000000 0.000000 831.474002 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 54 52 0.171205 -0.062691 0.041539 -0.018847 0.002013 0.088244 0.995919 1773.994151 0.000000 0.000000 0.000000 0.000000 0.000000 1773.994151 0.000000 0.000000 0.000000 0.000000 1773.994151 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 55 57 0.218174 -0.111917 0.000009 -0.006794 0.000390 -0.066418 0.997769 4931.823532 0.000000 0.000000 0.000000 0.000000 0.000000 4931.823532 0.000000 0.000000 0.000000 0.000000 4931.823532 0.000000 0.000000 0.000000 4931.823532 0.000000 0.000000 4931.823532 0.000000 4931.823532
EDGE_SE3:QUAT 55 128 0.205571 -0.033004 0.006414 0.015849 0.037680 0.039472 0.998384 2481.915879 0.000000 0.000000 0.000000 0.000000 0.000000 2481.915879 0.000000 0.000000 0.000000 0.000000 2481.915879 0.000000 0.000000 0.000000 294.633733 0.000000 0.000000 294.633733 0.000000 294.633733
EDGE_SE3:QUAT 55 52 0.007321 -0.179534 0.003988 -0.033547 0.018941 0.177949 0.983285 784.799685 0.000000 0.000000 0.000000 0.000000 0.000000 784.799685 0.000000 0.000000 0.000000 0.000000 784.799685 0.000000 0.000000 0.000000 172.984928 0.000000 0.000000 172.984928 0.000000 172.984928
EDGE_SE3:QUAT 55 53 -0.147908 -0.159842 -0.005784 -0.028905 0.018356 0.135712 0.990156 1371.638088 0.000000 0.000000 0.000000 0.000000 0.000000 1371.638088 0.000000 0.000000 0.000000 0.000000 1371.638088 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142
EDGE_SE3:QUAT 57 58 0.188349 0.115829 0.014659 0.034314 -0.006588 -0.103246 0.994042 4663.377310 0.000000 0.000000 0.000000 0.000000 0.000000 4663.377310 0.000000 0.000000 0.000000 0.000000 4663.377310 0.000000 0.000000 0.000000 4663.377310 0.000000 0.000000 4663.377310 0.000000 4663.377310
EDGE_SE3:QUAT 57 126 0.194071 0.016270 0.027104 0.009484 0.009488 0.170242 0.985311 191.535329 0.000000 0.000000 0.000000 0.000000 0.000000 191.535329 0.000000 0.000000 0.000000 0.000000 191.535329 0.000000 0.000000 0.000000 294.633733 0.000000 0.000000 294.633733 0.000000 294.633733
EDGE_SE3:QUAT 57 127 0.164616 0.091040 0.042760 0.014305 0.021988 0.111912 0.993372 1620.826091 0.000000 0.000000 0.000000 0.000000 0.000000 1620.826091 0.000000 0.000000 0.000000 0.000000 1620.826091 0.000000 0.000000 0.000000 268.962561 0.000000 0.000000 268.962561 0.000000 268.962561
EDGE_SE3:QUAT 58 60 -0.029534 0.152100 -0.019769 0.013592 0.004966 -0.087536 0.996056 3751.354731 0.000000 0.000000 0.000000 0.000000 0.000000 3751.354731 0.000000 0.000000 0.000000 0.000000 3751.354731 0.000000 0.000000 0.000000 3751.354731 0.000000 0.000000 3751.354731 0.000000 3751.354731
EDGE_SE3:QUAT 58 130 -0.151226 0.082185 -0.021477 0.022926 0.025755 0.019087 0.999223 2612.660842 0.000000 0.000000 0.000000 0.000000 0.000000 2612.660842 0.000000 0.000000 0.000000 0.000000 2612.660842 0.000000 0.000000 0.000000 287.533071 0.000000 0.000000 287.533071 0.000000 287.533071
EDGE_SE3:QUAT 58 54 -0.528180 -0.249127 -0.059758 -0.045149 0.019507 0.243588 0.968631 32.273740 0.000000 0.000000 0.000000 0.000000 0.000000 32.273740 0.000000 0.000000 0.000000 0.000000 32.273740 0.000000 0.000000 0.000000 138.872331 0.000000 0.000000 138.872331 0.000000 138.872331
EDGE_SE3:QUAT 60 61 0.142495 0.108996 0.008270 0.029592 -0.022992 -0.118296 0.992271 4185.062838 0.000000 0.000000 0.000000 0.000000 0.000000 4185.062838 0.000000 0.000000 0.000000 0.000000 4185.062838 0.000000 0.000000 0.000000 4185.062838 0.000000 0.000000 4185.062838 0.000000 4185.062838
EDGE_SE3:QUAT 60 132 -0.034839 -0.154109 -0.026236 0.028206 0.013046 0.017805 0.999358 4276.759050 0.000000 0.000000 0.000000 0.000000 0.000000 4276.759050 0.000000 0.000000 0.000000 0.000000 4276.759050 0.000000 0.000000 0.000000 244.679985 0.000000 0.000000 244.679985 0.000000 244.679985
EDGE_SE3:QUAT 60 57 -0.086448 -0.293841 -0.006342 -0.049046 -0.004196 0.184452 0.981608 567.430713 0.000000 0.000000 0.000000 0.000000 0.000000 567.430713 0.000000 0.000000 0.000000 0.000000 567.430713 0.000000 0.000000 0.000000 182.690667 0.000000 0.000000 182.690667 0.000000 182.690667
EDGE_SE3:QUAT 60 55 -0.381945 -0.296561 0.011217 -0.048453 0.003344 0.246232 0.967993 30.514171 0.000000 0.000000 0.000000 0.000000 0.000000 30.514171 0.000000 0.000000 0.000000 0.000000 30.514171 0.000000 0.000000 0.000000 89.646065 0.000000 0.000000 89.646065 0.000000 89.646065
EDGE_SE3:QUAT 61 63 0.018193 0.043939 0.022253 0.023505 0.018270 -0.123406 0.991910 4937.628906 0.000000 0.000000 0.000000 0.000000 0.000000 4937.628906 0.000000 0.000000 0.000000 0.000000 4937.628906 0.000000 0.000000 0.000000 4937.628906 0.000000 0.000000 4937.628906 0.000000 4937.628906
EDGE_SE3:QUAT 61 130 -0.168079 -0.262916 -0.053595 -0.025701 0.038686 0.222626 0.973797 155.658265 0.000000 0.000000 0.000000 0.000000 0.000000 155.658265 0.000000 0.000000 0.000000 0.000000 155.658265 0.000000 0.000000 0.000000 244.679985 0.000000 0.000000 244.679985 0.000000 244.679985
EDGE_SE3:QUAT 61 132 -0.132200 -0.253012 -0.017000 -0.006488 0.038060 0.125992 0.991280 698.676040 0.000000 0.000000 0.000000 0.000000 0.000000 698.676040 0.000000 0.000000 0.000000 0.000000 698.676040 0.000000 0.000000 0.000000 210.991582 0.000000 0.000000 210.991582 0.000000 210.991582
EDGE_SE3:QUAT 61 133 -0.091184 -0.142380 -0.017204 0.014534 0.023668 0.032362 0.999090 1933.050414 0.000000 0.000000 0.000000 0.000000 0.000000 1933.050414 0.000000 0.000000 0.000000 0.000000 1933.050414 0.000000 0.000000 0.000000 249.010936 0.000000 0.000000 249.010936 0.000000 249.010936
EDGE_SE3:QUAT 63 64 0.135063 0.075915 -0.015471 0.015471 -0.023936 -0.076628 0.996652 5350.534441 0.000000 0.000000 0.000000 0.000000 0.000000 5350.534441 0.000000 0.000000 0.000000 0.000000 5350.534441 0.000000 0.000000 0.000000 5350.534441 0.000000 0.000000 5350.534441 0.000000 5350.534441
EDGE_SE3:QUAT 63 135 0.048826 -0.029766 0.003950 0.023608 0.000722 0.002325 0.999718 3539.771718 0.000000 0.000000 0.000000 0.000000 0.000000 3539.771718 0.000000 0.000000 0.000000 0.000000 3539.771718 0.000000 0.000000 0.000000 416.675051 0.000000 0.000000 416.675051 0.000000 416.675051
EDGE_SE3:QUAT 64 65 0.097845 -0.030756 0.003577 -0.001201 -0.012342 -0.051757 0.998583 4335.493593 0.000000 0.000000 0.000000 0.000000 0.000000 4335.493593 0.000000 0.000000 0.000000 0.000000 4335.493593 0.000000 0.000000 0.000000 4335.493593 0.000000 0.000000 4335.493593 0.000000 4335.493593
EDGE_SE3:QUAT 64 61 -0.158155 -0.091269 0.013470 -0.037472 0.006334 0.189395 0.981165 239.891274 0.000000 0.000000 0.000000 0.000000 0.000000 239.891274 0.000000 0.000000 0.000000 0.000000 239.891274 0.000000 0.000000 0.000000 177.639230 0.000000 0.000000 177.639230 0.000000 177.639230
EDGE_SE3:QUAT 65 66 0.126388 0.059606 0.010324 0.013303 -0.017923 -0.125100 0.991893 4284.705078 0.000000 0.000000 0.000000 0.000000 0.000000 4284.705078 0.000000 0.000000 0.000000 0.000000 4284.705078 0.000000 0.000000 0.000000 4284.705078 0.000000 0.000000 4284.705078 0.000000 4284.705078
EDGE_SE3:QUAT 65 136 0.025904 -0.059731 -0.009799 0.002494 0.027817 0.051644 0.998275 3451.400317 0.000000 0.000000 0.000000 0.000000 0.000000 3451.400317 0.000000 0.000000 0.000000 0.000000 3451.400317 0.000000 0.000000 0.000000 352.154676 0.000000 0.000000 352.154676 0.000000 352.154676
EDGE_SE3:QUAT 65 63 -0.229718 -0.002470 -0.028927 -0.018402 0.026024 0.112897 0.993095 512.642443 0.000000 0.000000 0.000000 0.000000 0.000000 512.642443 0.000000 0.000000 0.000000 0.000000 512.642443 0.000000 0.000000 0.000000 179.276208 0.000000 0.000000 179.276208 0.000000 179.276208
EDGE_SE3:QUAT 65 61 -0.256485 -0.020107 -0.022122 -0.037649 0.011161 0.229184 0.972591 422.080340 0.000000 0.000000 0.000000 0.000000 0.000000 422.080340 0.000000 0.000000 0.000000 0.000000 422.080340 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892
EDGE_SE3:QUAT 66 67 0.013299 0.100606 -0.007757 0.012762 0.000600 -0.060718 0.998073 4376.162109 0.000000 0.000000 0.000000 0.000000 0.000000 4376.162109 0.000000 0.000000 0.000000 0.000000 4376.162109 0.000000 0.000000 0.000000 4376.162109 0.000000 0.000000 4376.162109 0.000000 4376.162109
EDGE_SE3:QUAT 66 137 0.017052 0.018579 -0.021593 0.012104 0.018405 0.035033 0.999143 2860.123721 0.000000 0.000000 0.000000 0.000000 0.000000 2860.123721 0.000000 0.000000 0.000000 0.000000 2860.123721 0.000000 0.000000 0.000000 537.925159 0.000000 0.000000 537.925159 0.000000 537.925159
EDGE_SE3:QUAT 66 5 0.025207 0.155377 -0.015498 0.044081 0.003020 -0.218217 0.974900 1111.155423 0.000000 0.000000 0.000000 0.000000 0.000000 1111.155423 0.000000 0.000000 0.000000 0.000000 1111.155423 0.000000 0.000000 0.000000 190.149066 0.000000 0.000000 190.149066 0.000000 190.149066
EDGE_SE3:QUAT 66 63 -0.362303 -0.128082 -0.057835 -0.030805 0.035781 0.232440 0.971464 634.074179 0.000000 0.000000 0.000000 0.000000 0.000000 634.074179 0.000000 0.000000 0.000000 0.000000 634.074179 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 66 4 0.185419 0.395546 -0.012171 0.049669 -0.000814 -0.254673 0.965751 589.383987 0.000000 0.000000 0.000000 0.000000 0.000000 589.383987 0.000000 0.000000 0.000000 0.000000 589.383987 0.000000 0.000000 0.000000 167.312677 0.000000 0.000000 167.312677 0.000000 167.312677
EDGE_SE3:QUAT 66 64 -0.267589 -0.043928 -0.049143 -0.014763 0.022192 0.166837 0.985624 202.897294 0.000000 0.000000 0.000000 0.000000 0.000000 202.897294 0.000000 0.000000 0.000000 0.000000 202.897294 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 67 68 -0.037778 0.080512 -0.023986 0.021284 0.017168 -0.065143 0.997501 4061.643555 0.000000 0.000000 0.000000 0.000000 0.000000 4061.643555 0.000000 0.000000 0.000000 0.000000 4061.643555 0.000000 0.000000 0.000000 4061.643555 0.000000 0.000000 4061.643555 0.000000 4061.643555
EDGE_SE3:QUAT 67 4 0.132231 0.330449 -0.009985 0.037924 -0.001434 -0.198626 0.979340 528.883350 0.000000 0.000000 0.000000 0.000000 0.000000 528.883350 0.000000 0.000000 0.000000 0.000000 528.883350 0.000000 0.000000 0.000000 121.284013 0.000000 0.000000 121.284013 0.000000 121.284013
EDGE_SE3:QUAT 67 6 -0.024943 -0.248928 0.013666 0.026118 0.003703 -0.167396 0.985537 415.172886 0.000000 0.000000 0.000000 0.000000 0.000000 415.172886 0.000000 0.000000 0.000000 0.000000 415.172886 0.000000 0.000000 0.000000 194.237967 0.000000 0.000000 194.237967 0.000000 194.237967
EDGE_SE3:QUAT 67 65 -0.125553 -0.133729 0.010057 -0.033944 0.019568 0.170768 0.984532 3969.626034 0.000000 0.000000 0.000000 0.000000 0.000000 3969.626034 0.000000 0.000000 0.000000 0.000000 3969.626034 0.000000 0.000000 0.000000 302.196488 0.000000 0.000000 302.196488 0.000000 302.196488
EDGE_SE3:QUAT 68 69 0.063699 0.005863 0.033211 0.025469 0.011021 -0.106365 0.993940 4471.042249 0.000000 0.000000 0.000000 0.000000 0.000000 4471.042249 0.000000 0.000000 0.000000 0.000000 4471.042249 0.000000 0.000000 0.000000 4471.042249 0.000000 0.000000 4471.042249 0.000000 4471.042249
EDGE_SE3:QUAT 68 138 0.042255 0.045361 0.005686 -0.016186 0.005989 0.102179 0.994616 2084.144748 0.000000 0.000000 0.000000 0.000000 0.000000 2084.144748 0.000000 0.000000 0.000000 0.000000 2084.144748 0.000000 0.000000 0.000000 140.461069 0.000000 0.000000 140.461069 0.000000 140.461069
EDGE_SE3:QUAT 68 139 0.183543 0.223909 0.029412 0.012660 -0.024022 -0.009135 0.999590 4816.656533 0.000000 0.000000 0.000000 0.000000 0.000000 4816.656533 0.000000 0.000000 0.000000 0.000000 4816.656533 0.000000 0.000000 0.000000 352.154676 0.000000 0.000000 352.154676 0.000000 352.154676
EDGE_SE3:QUAT 68 141 0.052361 0.325503 -0.003746 -0.006904 -0.046767 -0.007987 0.998850 737.236397 0.000000 0.000000 0.000000 0.000000 0.000000 737.236397 0.000000 0.000000 0.000000 0.000000 737.236397 0.000000 0.000000 0.000000 182.724048 0.000000 0.000000 182.724048 0.000000 182.724048
EDGE_SE3:QUAT 68 6 0.071402 -0.263773 0.040439 0.005715 -0.018572 -0.115470 0.993121 744.786738 0.000000 0.000000 0.000000 0.000000 0.000000 744.786738 0.000000 0.000000 0.000000 0.000000 744.786738 0.000000 0.000000 0.000000 174.495476 0.000000 0.000000 174.495476 0.000000 174.495476
EDGE_SE3:QUAT 68 7 0.006645 -0.626128 0.042803 0.016777 -0.020086 -0.087859 0.995789 268.039942 0.000000 0.000000 0.000000 0.000000 0.000000 268.039942 0.000000 0.000000 0.000000 0.000000 268.039942 0.000000 0.000000 0.000000 107.573387 0.000000 0.000000 107.573387 0.000000 107.573387
EDGE_SE3:QUAT 68 4 0.162409 0.294374 0.028573 0.017425 -0.015700 -0.139659 0.989922 974.073377 0.000000 0.000000 0.000000 0.000000 0.000000 974.073377 0.000000 0.000000 0.000000 0.000000 974.073377 0.000000 0.000000 0.000000 194.237967 0.000000 0.000000 194.237967 0.000000 194.237967
EDGE_SE3:QUAT 69 71 -0.063893 -0.227621 -0.012098 0.014763 -0.019238 -0.011425 0.999641 3997.136182 0.000000 0.000000 0.000000 0.000000 0.000000 3997.136182 0.000000 0.000000 0.000000 0.000000 3997.136182 0.000000 0.000000 0.000000 3997.136182 0.000000 0.000000 3997.136182 0.000000 3997.136182
EDGE_SE3:QUAT 69 142 0.062908 0.439832 -0.007886 -0.015251 -0.040075 0.032074 0.998565 1743.353294 0.000000 0.000000 0.000000 0.000000 0.000000 1743.353294 0.000000 0.000000 0.000000 0.000000 1743.353294 0.000000 0.000000 0.000000 184.506773 0.000000 0.000000 184.506773 0.000000 184.506773
EDGE_SE3:QUAT 69 145 0.046460 0.514759 -0.014856 -0.036082 -0.065009 -0.034608 0.996632 5310.231171 0.000000 0.000000 0.000000 0.000000 0.000000 5310.231171 0.000000 0.000000 0.000000 0.000000 5310.231171 0.000000 0.000000 0.000000 249.010936 0.000000 0.000000 249.010936 0.000000 249.010936
EDGE_SE3:QUAT 69 66 0.027296 -0.119289 0.036473 -0.060057 -0.024238 0.218838 0.973610 1336.950247 0.000000 0.000000 0.000000 0.000000 0.000000 1336.950247 0.000000 0.000000 0.000000 0.000000 1336.950247 0.000000 0.000000 0.000000 310.474802 0.000000 0.000000 310.474802 0.000000 310.474802
EDGE_SE3:QUAT 69 6 0.042545 -0.213174 0.041549 -0.016743 -0.027111 -0.019140 0.999309 2344.009291 0.000000 0.000000 0.000000 0.000000 0.000000 2344.009291 0.000000 0.000000 0.000000 0.000000 2344.009291 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 69 67 0.003384 0.003070 -0.006936 -0.046464 -0.029478 0.153783 0.986571 1040.957434 0.000000 0.000000 0.000000 0.000000 0.000000 1040.957434 0.000000 0.000000 0.000000 0.000000 1040.957434 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 71 72 0.099294 -0.056010 -0.002400 0.012778 -0.019967 -0.055647 0.998169 3936.921875 0.000000 0.000000 0.000000 0.000000 0.000000 3936.921875 0.000000 0.000000 0.000000 0.000000 3936.921875 0.000000 0.000000 0.000000 3936.921875 0.000000 0.000000 3936.921875 0.000000 3936.921875
EDGE_SE3:QUAT 71 7 0.103332 -0.234534 0.065070 -0.021774 -0.010462 -0.005763 0.999692 2869.411806 0.000000 0.000000 0.000000 0.000000 0.000000 2869.411806 0.000000 0.000000 0.000000 0.000000 2869.411806 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 71 5 0.054136 0.339617 -0.009865 -0.025767 -0.007750 -0.003292 0.999633 1225.383248 0.000000 0.000000 0.000000 0.000000 0.000000 1225.383248 0.000000 0.000000 0.000000 0.000000 1225.383248 0.000000 0.000000 0.000000 198.602544 0.000000 0.000000 198.602544 0.000000 198.602544
EDGE_SE3:QUAT 71 4 0.103867 0.643360 -0.033978 -0.019729 -0.011036 -0.045326 0.998716 1142.343830 0.000000 0.000000 0.000000 0.000000 0.000000 1142.343830 0.000000 0.000000 0.000000 0.000000 1142.343830 0.000000 0.000000 0.000000 138.872331 0.000000 0.000000 138.872331 0.000000 138.872331
EDGE_SE3:QUAT 72 73 0.023736 -0.125679 0.035407 0.003323 0.003353 0.022205 0.999742 4240.436345 0.000000 0.000000 0.000000 0.000000 0.000000 4240.436345 0.000000 0.000000 0.000000 0.000000 4240.436345 0.000000 0.000000 0.000000 4240.436345 0.000000 0.000000 4240.436345 0.000000 4240.436345
EDGE_SE3:QUAT 72 5 -0.085785 0.459357 -0.063678 -0.036680 0.001223 0.037893 0.998608 1111.805142 0.000000 0.000000 0.000000 0.000000 0.000000 1111.805142 0.000000 0.000000 0.000000 0.000000 1111.805142 0.000000 0.000000 0.000000 198.602544 0.000000 0.000000 198.602544 0.000000 198.602544
EDGE_SE3:QUAT 72 8 0.090956 -0.388978 0.058216 -0.026265 0.016858 0.028706 0.999101 2438.379014 0.000000 0.000000 0.000000 0.000000 0.000000 2438.379014 0.000000 0.000000 0.000000 0.000000 2438.379014 0.000000 0.000000 0.000000 225.922678 0.000000 0.000000 225.922678 0.000000 225.922678
EDGE_SE3:QUAT 72 6 0.000703 0.231951 -0.012942 -0.042968 -0.001897 0.016441 0.998939 2321.866234 0.000000 0.000000 0.000000 0.000000 0.000000 2321.866234 0.000000 0.000000 0.000000 0.000000 2321.866234 0.000000 0.000000 0.000000 210.947074 0.000000 0.000000 210.947074 0.000000 210.947074
EDGE_SE3:QUAT 73 74 -0.058718 -0.112827 -0.002651 -0.019293 -0.009374 0.021475 0.999539 5470.835938 0.000000 0.000000 0.000000 0.000000 0.000000 5470.835938 0.000000 0.000000 0.000000 0.000000 5470.835938 0.000000 0.000000 0.000000 5470.835938 0.000000 0.000000 5470.835938 0.000000 5470.835938
EDGE_SE3:QUAT 73 69 -0.064386 0.520907 -0.092560 -0.031403 0.025276 0.020773 0.998971 1331.141226 0.000000 0.000000 0.000000 0.000000 0.000000 1331.141226 0.000000 0.000000 0.000000 0.000000 1331.141226 0.000000 0.000000 0.000000 122.855609 0.000000 0.000000 122.855609 0.000000 122.855609
EDGE_SE3:QUAT 73 5 -0.081554 0.550466 -0.076255 -0.039126 0.003623 0.022973 0.998964 787.501829 0.000000 0.000000 0.000000 0.000000 0.000000 787.501829 0.000000 0.000000 0.000000 0.000000 787.501829 0.000000 0.000000 0.000000 160.949653 0.000000 0.000000 160.949653 0.000000 160.949653
EDGE_SE3:QUAT 73 71 -0.112389 0.217552 -0.052735 -0.013539 0.012904 0.024501 0.999525 1149.489369 0.000000 0.000000 0.000000 0.000000 0.000000 1149.489369 0.000000 0.000000 0.000000 0.000000 1149.489369 0.000000 0.000000 0.000000 302.196488 0.000000 0.000000 302.196488 0.000000 302.196488
EDGE_SE3:QUAT 73 6 0.007707 0.308768 -0.026533 -0.045529 0.000435 0.004709 0.998952 489.698289 0.000000 0.000000 0.000000 0.000000 0.000000 489.698289 0.000000 0.000000 0.000000 0.000000 489.698289 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 74 76 0.004800 -0.181988 0.000300 0.007565 0.035705 -0.030929 0.998855 4698.744508 0.000000 0.000000 0.000000 0.000000 0.000000 4698.744508 0.000000 0.000000 0.000000 0.000000 4698.744508 0.000000 0.000000 0.000000 4698.744508 0.000000 0.000000 4698.744508 0.000000 4698.744508
EDGE_SE3:QUAT 74 72 0.060758 0.221691 -0.019334 0.015687 0.007886 -0.040266 0.999035 6603.572507 0.000000 0.000000 0.000000 0.000000 0.000000 6603.572507 0.000000 0.000000 0.000000 0.000000 6603.572507 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 74 9 0.077613 -0.432801 0.050013 -0.006971 0.008582 -0.012050 0.999866 2395.147168 0.000000 0.000000 0.000000 0.000000 0.000000 2395.147168 0.000000 0.000000 0.000000 0.000000 2395.147168 0.000000 0.000000 0.000000 219.558781 0.000000 0.000000 219.558781 0.000000 219.558781
EDGE_SE3:QUAT 76 77 0.015709 -0.178181 0.022122 0.003158 -0.003665 -0.004536 0.999978 5074.102001 0.000000 0.000000 0.000000 0.000000 0.000000 5074.102001 0.000000 0.000000 0.000000 0.000000 5074.102001 0.000000 0.000000 0.000000 5074.102001 0.000000 0.000000 5074.102001 0.000000 5074.102001
EDGE_SE3:QUAT 76 9 0.079967 -0.201696 0.049635 -0.013767 -0.029948 0.008338 0.999422 2478.898402 0.000000 0.000000 0.000000 0.000000 0.000000 2478.898402 0.000000 0.000000 0.000000 0.000000 2478.898402 0.000000 0.000000 0.000000 186.307980 0.000000 0.000000 186.307980 0.000000 186.307980
EDGE_SE3:QUAT 76 10 0.070594 -0.494413 0.079036 -0.010217 -0.002593 0.022120 0.999700 2287.452316 0.000000 0.000000 0.000000 0.000000 0.000000 2287.452316 0.000000 0.000000 0.000000 0.000000 2287.452316 0.000000 0.000000 0.000000 248.948945 0.000000 0.000000 248.948945 0.000000 248.948945
EDGE_SE3:QUAT 76 7 0.037000 0.335445 -0.004937 -0.026408 -0.029680 0.018731 0.999035 2209.760786 0.000000 0.000000 0.000000 0.000000 0.000000 2209.760786 0.000000 0.000000 0.000000 0.000000 2209.760786 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 77 78 -0.070234 -0.215032 0.015668 -0.006839 0.020260 0.026009 0.999433 4689.793457 0.000000 0.000000 0.000000 0.000000 0.000000 4689.793457 0.000000 0.000000 0.000000 0.000000 4689.793457 0.000000 0.000000 0.000000 4689.793457 0.000000 0.000000 4689.793457 0.000000 4689.793457
EDGE_SE3:QUAT 77 8 0.086446 0.273691 0.006264 -0.020991 -0.007706 0.005123 0.999737 5404.358524 0.000000 0.000000 0.000000 0.000000 0.000000 5404.358524 0.000000 0.000000 0.000000 0.000000 5404.358524 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 77 72 0.028786 0.668022 -0.027201 0.007441 -0.019484 -0.021563 0.999550 586.766732 0.000000 0.000000 0.000000 0.000000 0.000000 586.766732 0.000000 0.000000 0.000000 0.000000 586.766732 0.000000 0.000000 0.000000 79.887304 0.000000 0.000000 79.887304 0.000000 79.887304
EDGE_SE3:QUAT 77 11 0.047605 -0.549591 0.065698 -0.019194 -0.010108 0.022653 0.999508 1249.374950 0.000000 0.000000 0.000000 0.000000 0.000000 1249.374950 0.000000 0.000000 0.000000 0.000000 1249.374950 0.000000 0.000000 0.000000 130.448940 0.000000 0.000000 130.448940 0.000000 130.448940
EDGE_SE3:QUAT 77 7 0.033917 0.483303 -0.012153 -0.027525 -0.022636 0.030054 0.998913 3339.573703 0.000000 0.000000 0.000000 0.000000 0.000000 3339.573703 0.000000 0.000000 0.000000 0.000000 3339.573703 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 77 10 0.060681 -0.300199 0.040240 -0.013378 -0.003106 0.023296 0.999634 1444.260895 0.000000 0.000000 0.000000 0.000000 0.000000 1444.260895 0.000000 0.000000 0.000000 0.000000 1444.260895 0.000000 0.000000 0.000000 198.602544 0.000000 0.000000 198.602544 0.000000 198.602544
EDGE_SE3:QUAT 78 79 0.024756 -0.201441 0.025590 0.000432 -0.006176 -0.038033 0.999257 4775.479492 0.000000 0.000000 0.000000 0.000000 0.000000 4775.479492 0.000000 0.000000 0.000000 0.000000 4775.479492 0.000000 0.000000 0.000000 4775.479492 0.000000 0.000000 4775.479492 0.000000 4775.479492
EDGE_SE3:QUAT 78 11 0.119009 -0.331895 0.084223 -0.011986 -0.021319 -0.005667 0.999685 2067.824442 0.000000 0.000000 0.000000 0.000000 0.000000 2067.824442 0.000000 0.000000 0.000000 0.000000 2067.824442 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 78 76 0.086993 0.441694 -0.013356 0.003928 -0.012712 -0.031804 0.999406 1358.477291 0.000000 0.000000 0.000000 0.000000 0.000000 1358.477291 0.000000 0.000000 0.000000 0.000000 1358.477291 0.000000 0.000000 0.000000 165.979712 0.000000 0.000000 165.979712 0.000000 165.979712
EDGE_SE3:QUAT 78 8 0.194597 0.517367 0.029861 -0.014368 -0.021327 -0.026982 0.999305 581.097273 0.000000 0.000000 0.000000 0.000000 0.000000 581.097273 0.000000 0.000000 0.000000 0.000000 581.097273 0.000000 0.000000 0.000000 151.121031 0.000000 0.000000 151.121031 0.000000 151.121031
EDGE_SE3:QUAT 78 9 0.143582 0.230935 0.058732 -0.011415 -0.037007 -0.021497 0.999019 3102.501459 0.000000 0.000000 0.000000 0.000000 0.000000 3102.501459 0.000000 0.000000 0.000000 0.000000 3102.501459 0.000000 0.000000 0.000000 240.509561 0.000000 0.000000 240.509561 0.000000 240.509561
EDGE_SE3:QUAT 78 12 0.001352 -0.572106 0.052244 -0.021744 -0.005012 0.011228 0.999688 2010.019228 0.000000 0.000000 0.000000 0.000000 0.000000 2010.019228 0.000000 0.000000 0.000000 0.000000 2010.019228 0.000000 0.000000 0.000000 119.771240 0.000000 0.000000 119.771240 0.000000 119.771240
EDGE_SE3:QUAT 79 80 -0.036075 -0.287464 0.009522 -0.009095 -0.012035 0.035123 0.999269 4916.471191 0.000000 0.000000 0.000000 0.000000 0.000000 4916.471191 0.000000 0.000000 0.000000 0.000000 4916.471191 0.000000 0.000000 0.000000 4916.471191 0.000000 0.000000 4916.471191 0.000000 4916.471191
EDGE_SE3:QUAT 79 10 0.080624 0.165551 0.019028 -0.008247 -0.013103 0.026663 0.999525 2315.451074 0.000000 0.000000 0.000000 0.000000 0.000000 2315.451074 0.000000 0.000000 0.000000 0.000000 2315.451074 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 79 12 -0.001665 -0.368183 0.038929 -0.017158 0.003750 0.049949 0.998597 2500.890179 0.000000 0.000000 0.000000 0.000000 0.000000 2500.890179 0.000000 0.000000 0.000000 0.000000 2500.890179 0.000000 0.000000 0.000000 157.463513 0.000000 0.000000 157.463513 0.000000 157.463513
EDGE_SE3:QUAT 79 9 0.067406 0.513682 0.031397 -0.010104 -0.030849 0.000412 0.999473 332.576343 0.000000 0.000000 0.000000 0.000000 0.000000 332.576343 0.000000 0.000000 0.000000 0.000000 332.576343 0.000000 0.000000 0.000000 146.383201 0.000000 0.000000 146.383201 0.000000 146.383201
EDGE_SE3:QUAT 80 81 0.012948 -0.209835 0.007435 0.002324 0.011480 -0.028541 0.999524 4718.892090 0.000000 0.000000 0.000000 0.000000 0.000000 4718.892090 0.000000 0.000000 0.000000 0.000000 4718.892090 0.000000 0.000000 0.000000 4718.892090 0.000000 0.000000 4718.892090 0.000000 4718.892090
EDGE_SE3:QUAT 80 10 0.160264 0.434511 -0.004007 -0.001062 -0.005026 -0.006174 0.999968 1430.181376 0.000000 0.000000 0.000000 0.000000 0.000000 1430.181376 0.000000 0.000000 0.000000 0.000000 1430.181376 0.000000 0.000000 0.000000 240.509561 0.000000 0.000000 240.509561 0.000000 240.509561
EDGE_SE3:QUAT 80 11 0.148917 0.180002 0.027830 -0.004108 -0.007606 -0.008598 0.999926 6710.012301 0.000000 0.000000 0.000000 0.000000 0.000000 6710.012301 0.000000 0.000000 0.000000 0.000000 6710.012301 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 80 13 0.027953 -0.336364 0.024526 -0.000485 0.015916 -0.025168 0.999556 3705.295743 0.000000 0.000000 0.000000 0.000000 0.000000 3705.295743 0.000000 0.000000 0.000000 0.000000 3705.295743 0.000000 0.000000 0.000000 219.558781 0.000000 0.000000 219.558781 0.000000 219.558781
EDGE_SE3:QUAT 80 14 -0.054600 -0.655379 0.035927 -0.006532 0.020886 0.025822 0.999427 4759.049650 0.000000 0.000000 0.000000 0.000000 0.000000 4759.049650 0.000000 0.000000 0.000000 0.000000 4759.049650 0.000000 0.000000 0.000000 263.458981 0.000000 0.000000 263.458981 0.000000 263.458981
EDGE_SE3:QUAT 81 82 0.005056 -0.205439 0.015659 0.002656 -0.016226 0.008268 0.999831 5471.275879 0.000000 0.000000 0.000000 0.000000 0.000000 5471.275879 0.000000 0.000000 0.000000 0.000000 5471.275879 0.000000 0.000000 0.000000 5471.275879 0.000000 0.000000 5471.275879 0.000000 5471.275879
EDGE_SE3:QUAT 81 12 0.006533 0.191697 -0.009798 -0.012691 -0.002207 0.028784 0.999503 1490.729556 0.000000 0.000000 0.000000 0.000000 0.000000 1490.729556 0.000000 0.000000 0.000000 0.000000 1490.729556 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 81 14 -0.054086 -0.424942 0.027946 -0.007626 0.009242 0.048927 0.998730 3540.544161 0.000000 0.000000 0.000000 0.000000 0.000000 3540.544161 0.000000 0.000000 0.000000 0.000000 3540.544161 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 82 83 -0.040900 -0.239624 0.005387 -0.009604 0.004874 0.009676 0.999895 3393.492402 0.000000 0.000000 0.000000 0.000000 0.000000 3393.492402 0.000000 0.000000 0.000000 0.000000 3393.492402 0.000000 0.000000 0.000000 3393.492402 0.000000 0.000000 3393.492402 0.000000 3393.492402
EDGE_SE3:QUAT 82 13 0.010219 0.112649 -0.001555 -0.004538 0.019999 -0.011693 0.999721 4826.665410 0.000000 0.000000 0.000000 0.000000 0.000000 4826.665410 0.000000 0.000000 0.000000 0.000000 4826.665410 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 82 12 0.017379 0.408069 -0.026666 -0.013832 0.014382 0.017804 0.999642 1781.323011 0.000000 0.000000 0.000000 0.000000 0.000000 1781.323011 0.000000 0.000000 0.000000 0.000000 1781.323011 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142
EDGE_SE3:QUAT 82 15 0.008749 -0.420776 0.036596 -0.009315 0.010238 -0.000199 0.999904 2736.610695 0.000000 0.000000 0.000000 0.000000 0.000000 2736.610695 0.000000 0.000000 0.000000 0.000000 2736.610695 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142
EDGE_SE3:QUAT 82 80 -0.022275 0.523614 -0.052376 -0.003465 -0.001174 -0.003794 0.999986 1708.835438 0.000000 0.000000 0.000000 0.000000 0.000000 1708.835438 0.000000 0.000000 0.000000 0.000000 1708.835438 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 83 84 0.044804 -0.190585 0.028027 0.002678 -0.003873 -0.019944 0.999790 5326.698531 0.000000 0.000000 0.000000 0.000000 0.000000 5326.698531 0.000000 0.000000 0.000000 0.000000 5326.698531 0.000000 0.000000 0.000000 5326.698531 0.000000 0.000000 5326.698531 0.000000 5326.698531
EDGE_SE3:QUAT 83 15 0.040876 -0.169437 0.027021 -0.000656 0.004964 -0.012817 0.999905 5764.608260 0.000000 0.000000 0.000000 0.000000 0.000000 5764.608260 0.000000 0.000000 0.000000 0.000000 5764.608260 0.000000 0.000000 0.000000 340.098041 0.000000 0.000000 340.098041 0.000000 340.098041
EDGE_SE3:QUAT 83 13 0.054786 0.394879 -0.010678 0.004848 0.012789 -0.031246 0.999418 3498.424559 0.000000 0.000000 0.000000 0.000000 0.000000 3498.424559 0.000000 0.000000 0.000000 0.000000 3498.424559 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 83 16 0.082901 -0.430539 0.064414 -0.023339 -0.000907 -0.000419 0.999727 1907.012225 0.000000 0.000000 0.000000 0.000000 0.000000 1907.012225 0.000000 0.000000 0.000000 0.000000 1907.012225 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 83 81 0.055304 0.472866 -0.026508 0.007550 0.008558 -0.023885 0.999650 3991.803609 0.000000 0.000000 0.000000 0.000000 0.000000 3991.803609 0.000000 0.000000 0.000000 0.000000 3991.803609 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 84 85 -0.016509 -0.265620 0.022129 -0.008778 0.007328 0.037350 0.999237 4287.886230 0.000000 0.000000 0.000000 0.000000 0.000000 4287.886230 0.000000 0.000000 0.000000 0.000000 4287.886230 0.000000 0.000000 0.000000 4287.886230 0.000000 0.000000 4287.886230 0.000000 4287.886230
EDGE_SE3:QUAT 84 14 -0.075545 0.339227 -0.059717 -0.004815 0.015290 0.022329 0.999622 2009.462911 0.000000 0.000000 0.000000 0.000000 0.000000 2009.462911 0.000000 0.000000 0.000000 0.000000 2009.462911 0.000000 0.000000 0.000000 240.509561 0.000000 0.000000 240.509561 0.000000 240.509561
EDGE_SE3:QUAT 84 16 0.044403 -0.215035 0.053407 -0.025435 0.006227 0.015195 0.999542 3254.893523 0.000000 0.000000 0.000000 0.000000 0.000000 3254.893523 0.000000 0.000000 0.000000 0.000000 3254.893523 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 84 82 0.017059 0.508502 -0.088629 0.005805 -0.013563 -0.007625 0.999862 1390.494602 0.000000 0.000000 0.000000 0.000000 0.000000 1390.494602 0.000000 0.000000 0.000000 0.000000 1390.494602 0.000000 0.000000 0.000000 112.152504 0.000000 0.000000 112.152504 0.000000 112.152504
EDGE_SE3:QUAT 85 86 0.060126 -0.165898 0.015472 0.010880 -0.001105 -0.051605 0.998608 6317.525879 0.000000 0.000000 0.000000 0.000000 0.000000 6317.525879 0.000000 0.000000 0.000000 0.000000 6317.525879 0.000000 0.000000 0.000000 6317.525879 0.000000 0.000000 6317.525879 0.000000 6317.525879
EDGE_SE3:QUAT 85 15 0.045428 0.326723 -0.015209 0.005917 0.002339 -0.038982 0.999220 3296.937629 0.000000 0.000000 0.000000 0.000000 0.000000 3296.937629 0.000000 0.000000 0.000000 0.000000 3296.937629 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 86 87 -0.027436 -0.158524 0.002447 -0.003724 -0.013907 0.010488 0.999841 6582.125488 0.000000 0.000000 0.000000 0.000000 0.000000 6582.125488 0.000000 0.000000 0.000000 0.000000 6582.125488 0.000000 0.000000 0.000000 6582.125488 0.000000 0.000000 6582.125488 0.000000 6582.125488
EDGE_SE3:QUAT 86 18 0.161537 -0.135248 0.058562 0.007547 -0.041108 -0.112606 0.992760 841.757965 0.000000 0.000000 0.000000 0.000000 0.000000 841.757965 0.000000 0.000000 0.000000 0.000000 841.757965 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 86 84 -0.071447 0.483826 -0.047777 -0.007659 -0.006894 0.002832 0.999943 4170.233530 0.000000 0.000000 0.000000 0.000000 0.000000 4170.233530 0.000000 0.000000 0.000000 0.000000 4170.233530 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 87 88 -0.047387 -0.127836 -0.004457 -0.002254 -0.007282 0.026600 0.999617 9260.592488 0.000000 0.000000 0.000000 0.000000 0.000000 9260.592488 0.000000 0.000000 0.000000 0.000000 9260.592488 0.000000 0.000000 0.000000 9260.592488 0.000000 0.000000 9260.592488 0.000000 9260.592488
EDGE_SE3:QUAT 87 85 -0.042115 0.331402 -0.046322 -0.007179 0.008371 0.037383 0.999240 2510.679597 0.000000 0.000000 0.000000 0.000000 0.000000 2510.679597 0.000000 0.000000 0.000000 0.000000 2510.679597 0.000000 0.000000 0.000000 165.979712 0.000000 0.000000 165.979712 0.000000 165.979712
EDGE_SE3:QUAT 87 18 0.179856 0.025149 0.043743 0.008098 -0.028902 -0.123372 0.991907 10926.996933 0.000000 0.000000 0.000000 0.000000 0.000000 10926.996933 0.000000 0.000000 0.000000 0.000000 10926.996933 0.000000 0.000000 0.000000 537.635951 0.000000 0.000000 537.635951 0.000000 537.635951
EDGE_SE3:QUAT 87 16 0.022449 0.440464 -0.030397 -0.027404 0.003850 0.001365 0.999616 675.169139 0.000000 0.000000 0.000000 0.000000 0.000000 675.169139 0.000000 0.000000 0.000000 0.000000 675.169139 0.000000 0.000000 0.000000 107.216625 0.000000 0.000000 107.216625 0.000000 107.216625
EDGE_SE3:QUAT 88 91 0.048321 -0.210063 0.023660 0.015679 -0.003488 -0.067990 0.997557 7784.635254 0.000000 0.000000 0.000000 0.000000 0.000000 7784.635254 0.000000 0.000000 0.000000 0.000000 7784.635254 0.000000 0.000000 0.000000 7784.635254 0.000000 0.000000 7784.635254 0.000000 7784.635254
EDGE_SE3:QUAT 88 16 0.095005 0.538640 -0.020284 -0.024466 0.012577 -0.018988 0.999441 2664.589537 0.000000 0.000000 0.000000 0.000000 0.000000 2664.589537 0.000000 0.000000 0.000000 0.000000 2664.589537 0.000000 0.000000 0.000000 179.276208 0.000000 0.000000 179.276208 0.000000 179.276208
EDGE_SE3:QUAT 88 17 0.232068 0.386336 0.027858 0.003675 -0.017063 -0.125950 0.991883 3038.325960 0.000000 0.000000 0.000000 0.000000 0.000000 3038.325960 0.000000 0.000000 0.000000 0.000000 3038.325960 0.000000 0.000000 0.000000 184.472736 0.000000 0.000000 184.472736 0.000000 184.472736
EDGE_SE3:QUAT 88 85 0.031279 0.486868 -0.036957 -0.005829 0.016535 0.004515 0.999836 2827.215734 0.000000 0.000000 0.000000 0.000000 0.000000 2827.215734 0.000000 0.000000 0.000000 0.000000 2827.215734 0.000000 0.000000 0.000000 329.302059 0.000000 0.000000 329.302059 0.000000 329.302059
EDGE_SE3:QUAT 88 86 0.102795 0.290137 -0.011723 0.005450 0.017561 -0.039160 0.999064 5252.587510 0.000000 0.000000 0.000000 0.000000 0.000000 5252.587510 0.000000 0.000000 0.000000 0.000000 5252.587510 0.000000 0.000000 0.000000 263.458981 0.000000 0.000000 263.458981 0.000000 263.458981
EDGE_SE3:QUAT 91 92 -0.054656 -0.176493 -0.005668 -0.003656 -0.009409 -0.023164 0.999681 6880.469727 0.000000 0.000000 0.000000 0.000000 0.000000 6880.469727 0.000000 0.000000 0.000000 0.000000 6880.469727 0.000000 0.000000 0.000000 6880.469727 0.000000 0.000000 6880.469727 0.000000 6880.469727
EDGE_SE3:QUAT 91 86 -0.020742 0.521012 -0.055129 -0.015255 0.020652 0.023462 0.999395 2859.617728 0.000000 0.000000 0.000000 0.000000 0.000000 2859.617728 0.000000 0.000000 0.000000 0.000000 2859.617728 0.000000 0.000000 0.000000 397.126299 0.000000 0.000000 397.126299 0.000000 397.126299
EDGE_SE3:QUAT 91 17 0.122311 0.677833 -0.032590 -0.013570 -0.019636 -0.076031 0.996820 9153.511342 0.000000 0.000000 0.000000 0.000000 0.000000 9153.511342 0.000000 0.000000 0.000000 0.000000 9153.511342 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 91 19 0.269308 0.252716 0.061863 0.026285 -0.023108 -0.200631 0.979041 2408.808474 0.000000 0.000000 0.000000 0.000000 0.000000 2408.808474 0.000000 0.000000 0.000000 0.000000 2408.808474 0.000000 0.000000 0.000000 176.046308 0.000000 0.000000 176.046308 0.000000 176.046308
EDGE_SE3:QUAT 91 87 -0.031533 0.365356 -0.042714 -0.017014 0.007837 0.033338 0.999269 2872.494080 0.000000 0.000000 0.000000 0.000000 0.000000 2872.494080 0.000000 0.000000 0.000000 0.000000 2872.494080 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142
EDGE_SE3:QUAT 92 93 0.149690 0.028613 0.021382 0.033925 -0.031591 -0.143768 0.988525 6694.068848 0.000000 0.000000 0.000000 0.000000 0.000000 6694.068848 0.000000 0.000000 0.000000 0.000000 6694.068848 0.000000 0.000000 0.000000 6694.068848 0.000000 0.000000 6694.068848 0.000000 6694.068848
EDGE_SE3:QUAT 92 19 0.312615 0.467357 0.053225 0.025120 -0.015932 -0.185243 0.982242 2775.826673 0.000000 0.000000 0.000000 0.000000 0.000000 2775.826673 0.000000 0.000000 0.000000 0.000000 2775.826673 0.000000 0.000000 0.000000 186.307980 0.000000 0.000000 186.307980 0.000000 186.307980
EDGE_SE3:QUAT 92 17 0.135897 0.841843 -0.020509 -0.008652 -0.009397 -0.046738 0.998825 2565.867755 0.000000 0.000000 0.000000 0.000000 0.000000 2565.867755 0.000000 0.000000 0.000000 0.000000 2565.867755 0.000000 0.000000 0.000000 95.582589 0.000000 0.000000 95.582589 0.000000 95.582589
EDGE_SE3:QUAT 92 20 0.335142 0.337322 0.049067 0.055905 -0.013503 -0.235491 0.970173 2264.537076 0.000000 0.000000 0.000000 0.000000 0.000000 2264.537076 0.000000 0.000000 0.000000 0.000000 2264.537076 0.000000 0.000000 0.000000 205.738774 0.000000 0.000000 205.738774 0.000000 205.738774
EDGE_SE3:QUAT 93 94 -0.028771 0.095700 -0.024665 0.005261 0.012730 -0.071451 0.997349 10729.380859 0.000000 0.000000 0.000000 0.000000 0.000000 10729.380859 0.000000 0.000000 0.000000 0.000000 10729.380859 0.000000 0.000000 0.000000 10729.380859 0.000000 0.000000 10729.380859 0.000000 10729.380859
EDGE_SE3:QUAT 93 21 0.177136 0.231938 -0.002929 0.027903 0.001909 -0.189706 0.981443 1171.316525 0.000000 0.000000 0.000000 0.000000 0.000000 1171.316525 0.000000 0.000000 0.000000 0.000000 1171.316525 0.000000 0.000000 0.000000 152.125011 0.000000 0.000000 152.125011 0.000000 152.125011
EDGE_SE3:QUAT 93 18 -0.118907 0.595166 -0.119223 -0.042670 -0.001919 0.062123 0.997154 320.557809 0.000000 0.000000 0.000000 0.000000 0.000000 320.557809 0.000000 0.000000 0.000000 0.000000 320.557809 0.000000 0.000000 0.000000 80.783197 0.000000 0.000000 80.783197 0.000000 80.783197
EDGE_SE3:QUAT 94 95 0.047554 0.079516 0.019044 0.019747 -0.017566 -0.104670 0.994156 6189.503906 0.000000 0.000000 0.000000 0.000000 0.000000 6189.503906 0.000000 0.000000 0.000000 0.000000 6189.503906 0.000000 0.000000 0.000000 6189.503906 0.000000 0.000000 6189.503906 0.000000 6189.503906
EDGE_SE3:QUAT 94 92 -0.109424 -0.103148 0.003301 -0.052679 0.013864 0.192796 0.979726 2307.278002 0.000000 0.000000 0.000000 0.000000 0.000000 2307.278002 0.000000 0.000000 0.000000 0.000000 2307.278002 0.000000 0.000000 0.000000 165.979712 0.000000 0.000000 165.979712 0.000000 165.979712
EDGE_SE3:QUAT 94 91 -0.123429 0.074804 -0.041813 -0.047940 0.016625 0.217264 0.974793 2884.767496 0.000000 0.000000 0.000000 0.000000 0.000000 2884.767496 0.000000 0.000000 0.000000 0.000000 2884.767496 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 94 21 0.175197 0.180518 0.031683 0.022162 -0.007473 -0.122701 0.992168 818.844170 0.000000 0.000000 0.000000 0.000000 0.000000 818.844170 0.000000 0.000000 0.000000 0.000000 818.844170 0.000000 0.000000 0.000000 225.922678 0.000000 0.000000 225.922678 0.000000 225.922678
EDGE_SE3:QUAT 94 18 -0.178754 0.512008 -0.081906 -0.055451 -0.010555 0.124046 0.990670 424.832429 0.000000 0.000000 0.000000 0.000000 0.000000 424.832429 0.000000 0.000000 0.000000 0.000000 424.832429 0.000000 0.000000 0.000000 92.244807 0.000000 0.000000 92.244807 0.000000 92.244807
EDGE_SE3:QUAT 95 96 0.133465 0.136395 0.009746 0.023549 -0.024776 -0.095860 0.994808 5070.129883 0.000000 0.000000 0.000000 0.000000 0.000000 5070.129883 0.000000 0.000000 0.000000 0.000000 5070.129883 0.000000 0.000000 0.000000 5070.129883 0.000000 0.000000 5070.129883 0.000000 5070.129883
EDGE_SE3:QUAT 95 93 0.027277 -0.137064 0.029141 -0.027914 0.008905 0.168683 0.985235 1683.570002 0.000000 0.000000 0.000000 0.000000 0.000000 1683.570002 0.000000 0.000000 0.000000 0.000000 1683.570002 0.000000 0.000000 0.000000 352.030706 0.000000 0.000000 352.030706 0.000000 352.030706
EDGE_SE3:QUAT 95 20 -0.009698 0.251254 -0.033379 -0.012797 0.014702 0.065295 0.997676 3621.439758 0.000000 0.000000 0.000000 0.000000 0.000000 3621.439758 0.000000 0.000000 0.000000 0.000000 3621.439758 0.000000 0.000000 0.000000 216.572105 0.000000 0.000000 216.572105 0.000000 216.572105
EDGE_SE3:QUAT 95 22 0.248877 0.066157 0.040156 0.027628 -0.018053 -0.146007 0.988733 1322.689648 0.000000 0.000000 0.000000 0.000000 0.000000 1322.689648 0.000000 0.000000 0.000000 0.000000 1322.689648 0.000000 0.000000 0.000000 248.948945 0.000000 0.000000 248.948945 0.000000 248.948945
EDGE_SE3:QUAT 96 98 0.101848 0.257753 0.016624 0.037479 -0.034131 -0.159888 0.985833 3767.528804 0.000000 0.000000 0.000000 0.000000 0.000000 3767.528804 0.000000 0.000000 0.000000 0.000000 3767.528804 0.000000 0.000000 0.000000 3767.528804 0.000000 0.000000 3767.528804 0.000000 3767.528804
EDGE_SE3:QUAT 96 23 0.042122 -0.126986 0.008564 0.019990 0.000446 -0.104598 0.994314 1351.661354 0.000000 0.000000 0.000000 0.000000 0.000000 1351.661354 0.000000 0.000000 0.000000 0.000000 1351.661354 0.000000 0.000000 0.000000 263.458981 0.000000 0.000000 263.458981 0.000000 263.458981
EDGE_SE3:QUAT 96 94 -0.102138 -0.205645 -0.000812 -0.045075 0.042667 0.191307 0.979566 273.929704 0.000000 0.000000 0.000000 0.000000 0.000000 273.929704 0.000000 0.000000 0.000000 0.000000 273.929704 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 96 20 -0.141904 0.136911 -0.069738 -0.032105 0.033696 0.152719 0.987173 223.704472 0.000000 0.000000 0.000000 0.000000 0.000000 223.704472 0.000000 0.000000 0.000000 0.000000 223.704472 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892
EDGE_SE3:QUAT 96 93 -0.049765 -0.253223 0.034186 -0.047997 0.034233 0.257468 0.964487 360.260062 0.000000 0.000000 0.000000 0.000000 0.000000 360.260062 0.000000 0.000000 0.000000 0.000000 360.260062 0.000000 0.000000 0.000000 122.855609 0.000000 0.000000 122.855609 0.000000 122.855609
EDGE_SE3:QUAT 98 100 0.035853 0.136571 -0.064584 0.021326 -0.013280 -0.184570 0.982498 4070.978497 0.000000 0.000000 0.000000 0.000000 0.000000 4070.978497 0.000000 0.000000 0.000000 0.000000 4070.978497 0.000000 0.000000 0.000000 4070.978497 0.000000 0.000000 4070.978497 0.000000 4070.978497
EDGE_SE3:QUAT 98 95 -0.176377 -0.211590 0.042967 -0.068941 0.061192 0.207179 0.973951 164.579856 0.000000 0.000000 0.000000 0.000000 0.000000 164.579856 0.000000 0.000000 0.000000 0.000000 164.579856 0.000000 0.000000 0.000000 205.738774 0.000000 0.000000 205.738774 0.000000 205.738774
EDGE_SE3:QUAT 98 22 0.084156 -0.152582 0.018785 -0.040325 0.035859 0.081840 0.995184 1533.471566 0.000000 0.000000 0.000000 0.000000 0.000000 1533.471566 0.000000 0.000000 0.000000 0.000000 1533.471566 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 100 101 0.095659 0.048149 -0.040459 0.014868 -0.026009 -0.093082 0.995208 4090.312012 0.000000 0.000000 0.000000 0.000000 0.000000 4090.312012 0.000000 0.000000 0.000000 0.000000 4090.312012 0.000000 0.000000 0.000000 4090.312012 0.000000 0.000000 4090.312012 0.000000 4090.312012
EDGE_SE3:QUAT 100 25 0.335735 -0.458779 0.113977 -0.009108 0.026288 0.050171 0.998353 1495.117732 0.000000 0.000000 0.000000 0.000000 0.000000 1495.117732 0.000000 0.000000 0.000000 0.000000 1495.117732 0.000000 0.000000 0.000000 198.602544 0.000000 0.000000 198.602544 0.000000 198.602544
EDGE_SE3:QUAT 100 23 0.122729 -0.243089 -0.015106 -0.044815 0.023244 0.191612 0.980172 170.797360 0.000000 0.000000 0.000000 0.000000 0.000000 170.797360 0.000000 0.000000 0.000000 0.000000 170.797360 0.000000 0.000000 0.000000 153.149286 0.000000 0.000000 153.149286 0.000000 153.149286
EDGE_SE3:QUAT 101 102 0.087495 0.032357 -0.016714 0.000556 0.003316 -0.086875 0.996214 3174.535886 0.000000 0.000000 0.000000 0.000000 0.000000 3174.535886 0.000000 0.000000 0.000000 0.000000 3174.535886 0.000000 0.000000 0.000000 3174.535886 0.000000 0.000000 3174.535886 0.000000 3174.535886
EDGE_SE3:QUAT 101 26 0.354012 -0.495745 0.150972 -0.023584 0.034576 0.085809 0.995432 950.140674 0.000000 0.000000 0.000000 0.000000 0.000000 950.140674 0.000000 0.000000 0.000000 0.000000 950.140674 0.000000 0.000000 0.000000 174.495476 0.000000 0.000000 174.495476 0.000000 174.495476
EDGE_SE3:QUAT 101 24 0.219518 -0.403780 0.029266 -0.045530 0.041827 0.212805 0.975137 588.603322 0.000000 0.000000 0.000000 0.000000 0.000000 588.603322 0.000000 0.000000 0.000000 0.000000 588.603322 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 101 27 0.371214 -0.467831 0.079539 0.002213 0.016027 -0.018800 0.999692 6388.764451 0.000000 0.000000 0.000000 0.000000 0.000000 6388.764451 0.000000 0.000000 0.000000 0.000000 6388.764451 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 102 103 0.163956 0.133392 0.025144 0.040002 -0.028278 -0.127024 0.990689 3791.993069 0.000000 0.000000 0.000000 0.000000 0.000000 3791.993069 0.000000 0.000000 0.000000 0.000000 3791.993069 0.000000 0.000000 0.000000 3791.993069 0.000000 0.000000 3791.993069 0.000000 3791.993069
EDGE_SE3:QUAT 102 25 0.310207 -0.333731 0.155991 -0.031303 0.043384 0.206188 0.977049 1724.517957 0.000000 0.000000 0.000000 0.000000 0.000000 1724.517957 0.000000 0.000000 0.000000 0.000000 1724.517957 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 102 30 0.259257 -0.380030 0.044863 0.051438 -0.027299 -0.172661 0.983258 549.393676 0.000000 0.000000 0.000000 0.000000 0.000000 549.393676 0.000000 0.000000 0.000000 0.000000 549.393676 0.000000 0.000000 0.000000 210.947074 0.000000 0.000000 210.947074 0.000000 210.947074
EDGE_SE3:QUAT 102 28 0.431962 -0.404546 0.143340 0.015353 0.007255 -0.058331 0.998153 439.208374 0.000000 0.000000 0.000000 0.000000 0.000000 439.208374 0.000000 0.000000 0.000000 0.000000 439.208374 0.000000 0.000000 0.000000 155.261454 0.000000 0.000000 155.261454 0.000000 155.261454
EDGE_SE3:QUAT 103 105 0.206279 0.045689 0.006294 0.029723 -0.022634 -0.183130 0.982379 5329.245605 0.000000 0.000000 0.000000 0.000000 0.000000 5329.245605 0.000000 0.000000 0.000000 0.000000 5329.245605 0.000000 0.000000 0.000000 5329.245605 0.000000 0.000000 5329.245605 0.000000 5329.245605
EDGE_SE3:QUAT 103 101 -0.197121 -0.156421 0.022810 -0.036106 0.028976 0.198472 0.979013 736.596287 0.000000 0.000000 0.000000 0.000000 0.000000 736.596287 0.000000 0.000000 0.000000 0.000000 736.596287 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892
EDGE_SE3:QUAT 103 28 0.379753 -0.349354 0.095534 -0.020616 0.027393 0.045892 0.998358 3845.463880 0.000000 0.000000 0.000000 0.000000 0.000000 3845.463880 0.000000 0.000000 0.000000 0.000000 3845.463880 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 103 27 0.342924 -0.421969 0.123319 -0.038342 0.048974 0.177022 0.982240 3154.308602 0.000000 0.000000 0.000000 0.000000 0.000000 3154.308602 0.000000 0.000000 0.000000 0.000000 3154.308602 0.000000 0.000000 0.000000 210.947074 0.000000 0.000000 210.947074 0.000000 210.947074
EDGE_SE3:QUAT 105 106 -0.046479 0.127620 -0.041952 0.006642 -0.007238 -0.097122 0.995224 3803.176514 0.000000 0.000000 0.000000 0.000000 0.000000 3803.176514 0.000000 0.000000 0.000000 0.000000 3803.176514 0.000000 0.000000 0.000000 3803.176514 0.000000 0.000000 3803.176514 0.000000 3803.176514
EDGE_SE3:QUAT 105 28 0.291352 -0.191638 0.125726 -0.055883 0.053885 0.202540 0.976192 234.852294 0.000000 0.000000 0.000000 0.000000 0.000000 234.852294 0.000000 0.000000 0.000000 0.000000 234.852294 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 105 29 0.295838 -0.198990 0.095739 -0.034415 0.031450 0.101095 0.993784 1568.831290 0.000000 0.000000 0.000000 0.000000 0.000000 1568.831290 0.000000 0.000000 0.000000 0.000000 1568.831290 0.000000 0.000000 0.000000 329.302059 0.000000 0.000000 329.302059 0.000000 329.302059
EDGE_SE3:QUAT 105 30 0.148123 -0.296356 0.057862 -0.021998 0.021944 0.095832 0.994913 2306.877569 0.000000 0.000000 0.000000 0.000000 0.000000 2306.877569 0.000000 0.000000 0.000000 0.000000 2306.877569 0.000000 0.000000 0.000000 253.516044 0.000000 0.000000 253.516044 0.000000 253.516044
EDGE_SE3:QUAT 106 107 -0.104750 0.040608 -0.044247 0.020364 -0.001790 -0.029498 0.999356 3725.274561 0.000000 0.000000 0.000000 0.000000 0.000000 3725.274561 0.000000 0.000000 0.000000 0.000000 3725.274561 0.000000 0.000000 0.000000 3725.274561 0.000000 0.000000 3725.274561 0.000000 3725.274561
EDGE_SE3:QUAT 106 31 0.149126 -0.298631 0.065625 -0.019949 0.027845 0.133402 0.990470 927.949042 0.000000 0.000000 0.000000 0.000000 0.000000 927.949042 0.000000 0.000000 0.000000 0.000000 927.949042 0.000000 0.000000 0.000000 225.922678 0.000000 0.000000 225.922678 0.000000 225.922678
EDGE_SE3:QUAT 106 36 -0.132611 0.042985 -0.034281 0.035267 -0.013002 -0.140951 0.989303 658.010554 0.000000 0.000000 0.000000 0.000000 0.000000 658.010554 0.000000 0.000000 0.000000 0.000000 658.010554 0.000000 0.000000 0.000000 240.509561 0.000000 0.000000 240.509561 0.000000 240.509561
EDGE_SE3:QUAT 107 108 0.083288 0.135010 0.005693 0.023330 -0.018187 -0.128599 0.991255 4322.082964 0.000000 0.000000 0.000000 0.000000 0.000000 4322.082964 0.000000 0.000000 0.000000 0.000000 4322.082964 0.000000 0.000000 0.000000 4322.082964 0.000000 0.000000 4322.082964 0.000000 4322.082964
EDGE_SE3:QUAT 107 29 0.492314 -0.211896 0.130265 -0.062905 0.029074 0.212834 0.974628 663.278240 0.000000 0.000000 0.000000 0.000000 0.000000 663.278240 0.000000 0.000000 0.000000 0.000000 663.278240 0.000000 0.000000 0.000000 179.276208 0.000000 0.000000 179.276208 0.000000 179.276208
EDGE_SE3:QUAT 107 31 0.272687 -0.369348 0.116337 -0.042113 0.029593 0.171301 0.983873 1700.320725 0.000000 0.000000 0.000000 0.000000 0.000000 1700.320725 0.000000 0.000000 0.000000 0.000000 1700.320725 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 107 35 0.107978 0.022326 0.019586 0.014370 -0.010532 -0.087558 0.996000 2568.516118 0.000000 0.000000 0.000000 0.000000 0.000000 2568.516118 0.000000 0.000000 0.000000 0.000000 2568.516118 0.000000 0.000000 0.000000 465.639955 0.000000 0.000000 465.639955 0.000000 465.639955
EDGE_SE3:QUAT 108 109 -0.059761 -0.089956 -0.007818 0.010252 -0.016609 -0.056214 0.998228 3680.520020 0.000000 0.000000 0.000000 0.000000 0.000000 3680.520020 0.000000 0.000000 0.000000 0.000000 3680.520020 0.000000 0.000000 0.000000 3680.520020 0.000000 0.000000 3680.520020 0.000000 3680.520020
EDGE_SE3:QUAT 108 32 0.313743 -0.345957 0.117270 -0.042200 0.023694 0.177386 0.982951 1196.234862 0.000000 0.000000 0.000000 0.000000 0.000000 1196.234862 0.000000 0.000000 0.000000 0.000000 1196.234862 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 108 34 0.065402 -0.235331 0.046490 -0.037118 0.023063 0.142860 0.988778 1059.312472 0.000000 0.000000 0.000000 0.000000 0.000000 1059.312472 0.000000 0.000000 0.000000 0.000000 1059.312472 0.000000 0.000000 0.000000 205.738774 0.000000 0.000000 205.738774 0.000000 205.738774
EDGE_SE3:QUAT 108 36 -0.094851 -0.133659 0.014044 -0.011028 0.004238 0.011736 0.999861 4069.597645 0.000000 0.000000 0.000000 0.000000 0.000000 4069.597645 0.000000 0.000000 0.000000 0.000000 4069.597645 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 108 105 0.114299 -0.174696 0.078899 -0.049509 0.027070 0.236925 0.969888 331.370276 0.000000 0.000000 0.000000 0.000000 0.000000 331.370276 0.000000 0.000000 0.000000 0.000000 331.370276 0.000000 0.000000 0.000000 232.874167 0.000000 0.000000 232.874167 0.000000 232.874167
EDGE_SE3:QUAT 108 106 0.048984 -0.147249 0.029917 -0.042030 0.015634 0.155411 0.986832 598.637477 0.000000 0.000000 0.000000 0.000000 0.000000 598.637477 0.000000 0.000000 0.000000 0.000000 598.637477 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 109 110 -0.045475 -0.169935 -0.020685 0.005508 -0.003394 -0.077227 0.996993 3636.538330 0.000000 0.000000 0.000000 0.000000 0.000000 3636.538330 0.000000 0.000000 0.000000 0.000000 3636.538330 0.000000 0.000000 0.000000 3636.538330 0.000000 0.000000 3636.538330 0.000000 3636.538330
EDGE_SE3:QUAT 109 35 0.092761 0.082916 0.006996 -0.023332 0.020769 0.079951 0.996309 1303.260414 0.000000 0.000000 0.000000 0.000000 0.000000 1303.260414 0.000000 0.000000 0.000000 0.000000 1303.260414 0.000000 0.000000 0.000000 184.472736 0.000000 0.000000 184.472736 0.000000 184.472736
EDGE_SE3:QUAT 109 32 0.411860 -0.201375 0.131162 -0.052854 0.041436 0.229949 0.970882 1445.051698 0.000000 0.000000 0.000000 0.000000 0.000000 1445.051698 0.000000 0.000000 0.000000 0.000000 1445.051698 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 109 38 -0.030261 -0.391304 0.037742 0.004953 0.002296 -0.060177 0.998173 954.539419 0.000000 0.000000 0.000000 0.000000 0.000000 954.539419 0.000000 0.000000 0.000000 0.000000 954.539419 0.000000 0.000000 0.000000 176.046308 0.000000 0.000000 176.046308 0.000000 176.046308
EDGE_SE3:QUAT 109 106 0.121327 0.015518 0.013634 -0.054219 0.026685 0.199147 0.978105 586.771269 0.000000 0.000000 0.000000 0.000000 0.000000 586.771269 0.000000 0.000000 0.000000 0.000000 586.771269 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 110 111 -0.015868 -0.199278 0.010375 0.004156 -0.001106 -0.025905 0.999655 5223.953613 0.000000 0.000000 0.000000 0.000000 0.000000 5223.953613 0.000000 0.000000 0.000000 0.000000 5223.953613 0.000000 0.000000 0.000000 5223.953613 0.000000 0.000000 5223.953613 0.000000 5223.953613
EDGE_SE3:QUAT 110 34 0.186817 0.227370 -0.010096 -0.059525 0.023076 0.240396 0.968573 143.583432 0.000000 0.000000 0.000000 0.000000 0.000000 143.583432 0.000000 0.000000 0.000000 0.000000 143.583432 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 110 35 0.131243 0.352309 -0.041382 -0.034358 0.009291 0.138984 0.989655 281.245075 0.000000 0.000000 0.000000 0.000000 0.000000 281.245075 0.000000 0.000000 0.000000 0.000000 281.245075 0.000000 0.000000 0.000000 165.979712 0.000000 0.000000 165.979712 0.000000 165.979712
EDGE_SE3:QUAT 110 40 0.011261 -0.725914 0.080149 -0.010346 0.016032 -0.013196 0.999731 576.599042 0.000000 0.000000 0.000000 0.000000 0.000000 576.599042 0.000000 0.000000 0.000000 0.000000 576.599042 0.000000 0.000000 0.000000 110.953102 0.000000 0.000000 110.953102 0.000000 110.953102
EDGE_SE3:QUAT 110 37 -0.026379 0.024457 -0.001868 -0.019777 0.002832 0.070340 0.997323 1920.635759 0.000000 0.000000 0.000000 0.000000 0.000000 1920.635759 0.000000 0.000000 0.000000 0.000000 1920.635759 0.000000 0.000000 0.000000 280.843343 0.000000 0.000000 280.843343 0.000000 280.843343
EDGE_SE3:QUAT 110 107 0.058153 0.272912 -0.051962 -0.040250 0.021061 0.229439 0.972262 180.178781 0.000000 0.000000 0.000000 0.000000 0.000000 180.178781 0.000000 0.000000 0.000000 0.000000 180.178781 0.000000 0.000000 0.000000 127.964283 0.000000 0.000000 127.964283 0.000000 127.964283
EDGE_SE3:QUAT 111 112 -0.047894 -0.270263 0.025880 -0.025028 0.005445 0.022918 0.999409 4166.094627 0.000000 0.000000 0.000000 0.000000 0.000000 4166.094627 0.000000 0.000000 0.000000 0.000000 4166.094627 0.000000 0.000000 0.000000 4166.094627 0.000000 0.000000 4166.094627 0.000000 4166.094627
EDGE_SE3:QUAT 111 39 -0.027773 -0.188880 0.021195 -0.011358 0.014017 0.053869 0.998385 4399.587134 0.000000 0.000000 0.000000 0.000000 0.000000 4399.587134 0.000000 0.000000 0.000000 0.000000 4399.587134 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 111 41 -0.055496 -0.689338 0.082558 -0.047969 0.020626 0.057159 0.996999 1890.353728 0.000000 0.000000 0.000000 0.000000 0.000000 1890.353728 0.000000 0.000000 0.000000 0.000000 1890.353728 0.000000 0.000000 0.000000 164.678102 0.000000 0.000000 164.678102 0.000000 164.678102
EDGE_SE3:QUAT 112 113 0.060387 -0.158011 0.009373 0.004322 -0.006764 -0.035539 0.999336 3873.360262 0.000000 0.000000 0.000000 0.000000 0.000000 3873.360262 0.000000 0.000000 0.000000 0.000000 3873.360262 0.000000 0.000000 0.000000 3873.360262 0.000000 0.000000 3873.360262 0.000000 3873.360262
EDGE_SE3:QUAT 112 40 0.056566 -0.188592 0.016640 0.007143 0.005163 -0.026694 0.999605 1735.158457 0.000000 0.000000 0.000000 0.000000 0.000000 1735.158457 0.000000 0.000000 0.000000 0.000000 1735.158457 0.000000 0.000000 0.000000 219.558781 0.000000 0.000000 219.558781 0.000000 219.558781
EDGE_SE3:QUAT 112 37 0.066594 0.594036 -0.030856 -0.005061 -0.006228 0.051389 0.998646 1256.868843 0.000000 0.000000 0.000000 0.000000 0.000000 1256.868843 0.000000 0.000000 0.000000 0.000000 1256.868843 0.000000 0.000000 0.000000 118.793612 0.000000 0.000000 118.793612 0.000000 118.793612
EDGE_SE3:QUAT 112 38 0.118538 0.336278 -0.004733 0.014026 -0.009877 0.000849 0.999852 2644.100750 0.000000 0.000000 0.000000 0.000000 0.000000 2644.100750 0.000000 0.000000 0.000000 0.000000 2644.100750 0.000000 0.000000 0.000000 216.572105 0.000000 0.000000 216.572105 0.000000 216.572105
EDGE_SE3:QUAT 113 114 -0.066009 -0.286804 0.007098 0.001207 0.003564 0.025850 0.999659 5819.807392 0.000000 0.000000 0.000000 0.000000 0.000000 5819.807392 0.000000 0.000000 0.000000 0.000000 5819.807392 0.000000 0.000000 0.000000 5819.807392 0.000000 0.000000 5819.807392 0.000000 5819.807392
EDGE_SE3:QUAT 113 111 -0.019000 0.452043 -0.040382 0.015611 -0.001131 0.007782 0.999847 886.811670 0.000000 0.000000 0.000000 0.000000 0.000000 886.811670 0.000000 0.000000 0.000000 0.000000 886.811670 0.000000 0.000000 0.000000 177.639230 0.000000 0.000000 177.639230 0.000000 177.639230
EDGE_SE3:QUAT 113 39 -0.050063 0.280332 -0.038358 0.005247 0.008882 0.056241 0.998364 1769.814208 0.000000 0.000000 0.000000 0.000000 0.000000 1769.814208 0.000000 0.000000 0.000000 0.000000 1769.814208 0.000000 0.000000 0.000000 164.678102 0.000000 0.000000 164.678102 0.000000 164.678102
EDGE_SE3:QUAT 113 42 -0.042307 -0.414939 -0.005283 -0.010535 0.032766 0.034585 0.998809 2136.803651 0.000000 0.000000 0.000000 0.000000 0.000000 2136.803651 0.000000 0.000000 0.000000 0.000000 2136.803651 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892
EDGE_SE3:QUAT 113 43 -0.040344 -0.586037 0.054788 -0.006721 0.014238 0.002454 0.999873 878.703156 0.000000 0.000000 0.000000 0.000000 0.000000 878.703156 0.000000 0.000000 0.000000 0.000000 878.703156 0.000000 0.000000 0.000000 109.412184 0.000000 0.000000 109.412184 0.000000 109.412184
EDGE_SE3:QUAT 114 115 0.023278 -0.240942 0.034295 0.001626 -0.001367 -0.022660 0.999741 5404.572257 0.000000 0.000000 0.000000 0.000000 0.000000 5404.572257 0.000000 0.000000 0.000000 0.000000 5404.572257 0.000000 0.000000 0.000000 5404.572257 0.000000 0.000000 5404.572257 0.000000 5404.572257
EDGE_SE3:QUAT 114 41 0.006943 0.066110 -0.008575 -0.035330 0.010769 0.034678 0.998716 2567.553154 0.000000 0.000000 0.000000 0.000000 0.000000 2567.553154 0.000000 0.000000 0.000000 0.000000 2567.553154 0.000000 0.000000 0.000000 302.196488 0.000000 0.000000 302.196488 0.000000 302.196488
EDGE_SE3:QUAT 114 43 0.014252 -0.310508 0.022664 -0.007025 0.004925 -0.021834 0.999725 2592.957733 0.000000 0.000000 0.000000 0.000000 0.000000 2592.957733 0.000000 0.000000 0.000000 0.000000 2592.957733 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892
EDGE_SE3:QUAT 114 112 0.030647 0.477005 -0.059918 -0.009686 -0.005161 0.001976 0.999938 1007.893429 0.000000 0.000000 0.000000 0.000000 0.000000 1007.893429 0.000000 0.000000 0.000000 0.000000 1007.893429 0.000000 0.000000 0.000000 156.350852 0.000000 0.000000 156.350852 0.000000 156.350852
EDGE_SE3:QUAT 114 40 0.088460 0.326736 -0.037266 -0.004280 -0.000254 -0.033989 0.999413 1796.249565 0.000000 0.000000 0.000000 0.000000 0.000000 1796.249565 0.000000 0.000000 0.000000 0.000000 1796.249565 0.000000 0.000000 0.000000 198.602544 0.000000 0.000000 198.602544 0.000000 198.602544
EDGE_SE3:QUAT 115 116 -0.025295 -0.261964 0.005151 -0.001065 0.004547 0.033101 0.999441 6712.526367 0.000000 0.000000 0.000000 0.000000 0.000000 6712.526367 0.000000 0.000000 0.000000 0.000000 6712.526367 0.000000 0.000000 0.000000 6712.526367 0.000000 0.000000 6712.526367 0.000000 6712.526367
EDGE_SE3:QUAT 115 42 -0.020728 0.154317 -0.041622 -0.012624 0.032257 0.020835 0.999183 5379.151880 0.000000 0.000000 0.000000 0.000000 0.000000 5379.151880 0.000000 0.000000 0.000000 0.000000 5379.151880 0.000000 0.000000 0.000000 248.948945 0.000000 0.000000 248.948945 0.000000 248.948945
EDGE_SE3:QUAT 115 41 -0.039783 0.322447 -0.044589 -0.038427 0.011291 0.052454 0.997820 1660.175348 0.000000 0.000000 0.000000 0.000000 0.000000 1660.175348 0.000000 0.000000 0.000000 0.000000 1660.175348 0.000000 0.000000 0.000000 147.295123 0.000000 0.000000 147.295123 0.000000 147.295123
EDGE_SE3:QUAT 115 44 -0.057733 -0.353308 0.013373 -0.019542 0.009363 0.016293 0.999632 2693.756875 0.000000 0.000000 0.000000 0.000000 0.000000 2693.756875 0.000000 0.000000 0.000000 0.000000 2693.756875 0.000000 0.000000 0.000000 274.671890 0.000000 0.000000 274.671890 0.000000 274.671890
EDGE_SE3:QUAT 115 113 0.035613 0.597266 -0.060151 -0.006993 -0.006318 -0.021105 0.999733 983.908648 0.000000 0.000000 0.000000 0.000000 0.000000 983.908648 0.000000 0.000000 0.000000 0.000000 983.908648 0.000000 0.000000 0.000000 131.093044 0.000000 0.000000 131.093044 0.000000 131.093044
EDGE_SE3:QUAT 116 117 0.019178 -0.241238 0.024442 -0.006394 0.000261 -0.024740 0.999673 5337.004395 0.000000 0.000000 0.000000 0.000000 0.000000 5337.004395 0.000000 0.000000 0.000000 0.000000 5337.004395 0.000000 0.000000 0.000000 5337.004395 0.000000 0.000000 5337.004395 0.000000 5337.004395
EDGE_SE3:QUAT 116 43 0.025560 0.223198 -0.015386 -0.008485 0.001509 -0.041189 0.999114 5166.432668 0.000000 0.000000 0.000000 0.000000 0.000000 5166.432668 0.000000 0.000000 0.000000 0.000000 5166.432668 0.000000 0.000000 0.000000 179.276208 0.000000 0.000000 179.276208 0.000000 179.276208
EDGE_SE3:QUAT 116 42 0.048193 0.437653 -0.060074 -0.010604 0.024592 -0.018995 0.999461 594.666099 0.000000 0.000000 0.000000 0.000000 0.000000 594.666099 0.000000 0.000000 0.000000 0.000000 594.666099 0.000000 0.000000 0.000000 102.879905 0.000000 0.000000 102.879905 0.000000 102.879905
EDGE_SE3:QUAT 116 45 -0.011038 -0.363579 0.052974 -0.004230 0.009012 -0.052735 0.998559 2610.259099 0.000000 0.000000 0.000000 0.000000 0.000000 2610.259099 0.000000 0.000000 0.000000 0.000000 2610.259099 0.000000 0.000000 0.000000 128.572113 0.000000 0.000000 128.572113 0.000000 128.572113
EDGE_SE3:QUAT 116 114 0.048994 0.515382 -0.063912 -0.000755 -0.008521 -0.013234 0.999876 127.016351 0.000000 0.000000 0.000000 0.000000 0.000000 127.016351 0.000000 0.000000 0.000000 0.000000 127.016351 0.000000 0.000000 0.000000 174.495476 0.000000 0.000000 174.495476 0.000000 174.495476
EDGE_SE3:QUAT 117 118 -0.008520 -0.219771 0.026836 -0.006252 -0.005609 0.016027 0.999836 6407.028685 0.000000 0.000000 0.000000 0.000000 0.000000 6407.028685 0.000000 0.000000 0.000000 0.000000 6407.028685 0.000000 0.000000 0.000000 6407.028685 0.000000 0.000000 6407.028685 0.000000 6407.028685
EDGE_SE3:QUAT 117 44 -0.069550 0.190507 -0.035035 -0.014151 0.000035 -0.002657 0.999896 4328.506808 0.000000 0.000000 0.000000 0.000000 0.000000 4328.506808 0.000000 0.000000 0.000000 0.000000 4328.506808 0.000000 0.000000 0.000000 236.599499 0.000000 0.000000 236.599499 0.000000 236.599499
EDGE_SE3:QUAT 117 43 -0.008282 0.493957 -0.055462 -0.004300 -0.003068 -0.023208 0.999717 1931.599038 0.000000 0.000000 0.000000 0.000000 0.000000 1931.599038 0.000000 0.000000 0.000000 0.000000 1931.599038 0.000000 0.000000 0.000000 184.472736 0.000000 0.000000 184.472736 0.000000 184.472736
EDGE_SE3:QUAT 118 119 -0.007848 -0.201984 -0.000109 0.008460 0.014673 -0.023377 0.999583 4750.359631 0.000000 0.000000 0.000000 0.000000 0.000000 4750.359631 0.000000 0.000000 0.000000 0.000000 4750.359631 0.000000 0.000000 0.000000 4750.359631 0.000000 0.000000 4750.359631 0.000000 4750.359631
EDGE_SE3:QUAT 118 45 -0.002142 0.114709 -0.018640 0.005455 0.009818 -0.048481 0.998761 5824.318052 0.000000 0.000000 0.000000 0.000000 0.000000 5824.318052 0.000000 0.000000 0.000000 0.000000 5824.318052 0.000000 0.000000 0.000000 310.474802 0.000000 0.000000 310.474802 0.000000 310.474802
EDGE_SE3:QUAT 119 120 0.080270 -0.145169 0.030864 0.010690 -0.009392 -0.055866 0.998337 5664.621420 0.000000 0.000000 0.000000 0.000000 0.000000 5664.621420 0.000000 0.000000 0.000000 0.000000 5664.621420 0.000000 0.000000 0.000000 5664.621420 0.000000 0.000000 5664.621420 0.000000 5664.621420
EDGE_SE3:QUAT 119 47 -0.025499 -0.205499 0.026015 -0.008029 0.004118 -0.026155 0.999617 4241.327664 0.000000 0.000000 0.000000 0.000000 0.000000 4241.327664 0.000000 0.000000 0.000000 0.000000 4241.327664 0.000000 0.000000 0.000000 258.344110 0.000000 0.000000 258.344110 0.000000 258.344110
EDGE_SE3:QUAT 119 48 -0.076234 -0.502408 0.042798 -0.020075 -0.004390 -0.000572 0.999789 1806.414670 0.000000 0.000000 0.000000 0.000000 0.000000 1806.414670 0.000000 0.000000 0.000000 0.000000 1806.414670 0.000000 0.000000 0.000000 141.246064 0.000000 0.000000 141.246064 0.000000 141.246064
EDGE_SE3:QUAT 119 45 -0.015790 0.345133 -0.064189 -0.002920 -0.015449 -0.031631 0.999376 864.689430 0.000000 0.000000 0.000000 0.000000 0.000000 864.689430 0.000000 0.000000 0.000000 0.000000 864.689430 0.000000 0.000000 0.000000 141.246064 0.000000 0.000000 141.246064 0.000000 141.246064
EDGE_SE3:QUAT 120 121 0.012287 -0.223292 0.036570 -0.006738 0.004536 -0.005331 0.999953 5453.998047 0.000000 0.000000 0.000000 0.000000 0.000000 5453.998047 0.000000 0.000000 0.000000 0.000000 5453.998047 0.000000 0.000000 0.000000 5453.998047 0.000000 0.000000 5453.998047 0.000000 5453.998047
EDGE_SE3:QUAT 120 46 -0.183034 0.279238 -0.077987 -0.028436 0.014372 0.048984 0.998291 1922.802317 0.000000 0.000000 0.000000 0.000000 0.000000 1922.802317 0.000000 0.000000 0.000000 0.000000 1922.802317 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 120 48 -0.135482 -0.318432 0.003346 -0.033620 -0.000464 0.042933 0.998512 2014.761551 0.000000 0.000000 0.000000 0.000000 0.000000 2014.761551 0.000000 0.000000 0.000000 0.000000 2014.761551 0.000000 0.000000 0.000000 131.746801 0.000000 0.000000 131.746801 0.000000 131.746801
EDGE_SE3:QUAT 121 122 0.133371 -0.133287 0.044162 0.029940 -0.031016 -0.091411 0.994880 4859.253418 0.000000 0.000000 0.000000 0.000000 0.000000 4859.253418 0.000000 0.000000 0.000000 0.000000 4859.253418 0.000000 0.000000 0.000000 4859.253418 0.000000 0.000000 4859.253418 0.000000 4859.253418
EDGE_SE3:QUAT 121 119 -0.094335 0.423916 -0.091474 -0.007944 -0.000668 0.046572 0.998883 725.613142 0.000000 0.000000 0.000000 0.000000 0.000000 725.613142 0.000000 0.000000 0.000000 0.000000 725.613142 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 121 47 -0.114496 0.238220 -0.064186 -0.017329 0.001699 0.014810 0.999739 2124.391371 0.000000 0.000000 0.000000 0.000000 0.000000 2124.391371 0.000000 0.000000 0.000000 0.000000 2124.391371 0.000000 0.000000 0.000000 190.149066 0.000000 0.000000 190.149066 0.000000 190.149066
EDGE_SE3:QUAT 121 50 0.069554 -0.318622 0.056347 0.019235 -0.043634 -0.141433 0.988799 2360.599824 0.000000 0.000000 0.000000 0.000000 0.000000 2360.599824 0.000000 0.000000 0.000000 0.000000 2360.599824 0.000000 0.000000 0.000000 310.474802 0.000000 0.000000 310.474802 0.000000 310.474802
EDGE_SE3:QUAT 122 123 0.069778 -0.168852 0.039147 -0.013137 -0.015660 -0.039390 0.999015 3918.616455 0.000000 0.000000 0.000000 0.000000 0.000000 3918.616455 0.000000 0.000000 0.000000 0.000000 3918.616455 0.000000 0.000000 0.000000 3918.616455 0.000000 0.000000 3918.616455 0.000000 3918.616455
EDGE_SE3:QUAT 122 49 -0.154988 -0.057431 -0.017968 -0.031140 0.007365 0.016643 0.999349 6743.615488 0.000000 0.000000 0.000000 0.000000 0.000000 6743.615488 0.000000 0.000000 0.000000 0.000000 6743.615488 0.000000 0.000000 0.000000 253.516044 0.000000 0.000000 253.516044 0.000000 253.516044
EDGE_SE3:QUAT 122 120 -0.250562 0.371819 -0.126702 -0.020653 0.016583 0.085886 0.995953 81.640500 0.000000 0.000000 0.000000 0.000000 0.000000 81.640500 0.000000 0.000000 0.000000 0.000000 81.640500 0.000000 0.000000 0.000000 55.042107 0.000000 0.000000 55.042107 0.000000 55.042107
EDGE_SE3:QUAT 122 51 0.086828 -0.236124 0.065113 -0.008984 -0.026602 -0.140276 0.989714 2182.287495 0.000000 0.000000 0.000000 0.000000 0.000000 2182.287495 0.000000 0.000000 0.000000 0.000000 2182.287495 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 122 47 -0.325118 0.332407 -0.141156 -0.050918 0.025739 0.103581 0.992983 741.250360 0.000000 0.000000 0.000000 0.000000 0.000000 741.250360 0.000000 0.000000 0.000000 0.000000 741.250360 0.000000 0.000000 0.000000 105.484595 0.000000 0.000000 105.484595 0.000000 105.484595
EDGE_SE3:QUAT 123 124 0.195963 -0.005525 0.041720 0.033888 -0.017805 -0.122392 0.991743 4304.285156 0.000000 0.000000 0.000000 0.000000 0.000000 4304.285156 0.000000 0.000000 0.000000 0.000000 4304.285156 0.000000 0.000000 0.000000 4304.285156 0.000000 0.000000 4304.285156 0.000000 4304.285156
EDGE_SE3:QUAT 123 52 0.125655 -0.012447 0.057483 0.026954 -0.028041 -0.202841 0.978439 244.479951 0.000000 0.000000 0.000000 0.000000 0.000000 244.479951 0.000000 0.000000 0.000000 0.000000 244.479951 0.000000 0.000000 0.000000 416.501505 0.000000 0.000000 416.501505 0.000000 416.501505
EDGE_SE3:QUAT 123 49 -0.203722 0.127981 -0.034777 -0.020976 0.024846 0.049943 0.998223 1521.438807 0.000000 0.000000 0.000000 0.000000 0.000000 1521.438807 0.000000 0.000000 0.000000 0.000000 1521.438807 0.000000 0.000000 0.000000 176.046308 0.000000 0.000000 176.046308 0.000000 176.046308
EDGE_SE3:QUAT 123 53 0.046655 0.092776 0.026874 0.035197 -0.031328 -0.242621 0.968976 374.984888 0.000000 0.000000 0.000000 0.000000 0.000000 374.984888 0.000000 0.000000 0.000000 0.000000 374.984888 0.000000 0.000000 0.000000 219.558781 0.000000 0.000000 219.558781 0.000000 219.558781
EDGE_SE3:QUAT 124 125 0.105833 -0.086893 0.003124 0.002981 -0.030446 -0.056304 0.997945 4332.025336 0.000000 0.000000 0.000000 0.000000 0.000000 4332.025336 0.000000 0.000000 0.000000 0.000000 4332.025336 0.000000 0.000000 0.000000 4332.025336 0.000000 0.000000 4332.025336 0.000000 4332.025336
EDGE_SE3:QUAT 124 53 -0.176540 0.115501 -0.051732 0.002214 -0.025456 -0.133382 0.990735 685.415526 0.000000 0.000000 0.000000 0.000000 0.000000 685.415526 0.000000 0.000000 0.000000 0.000000 685.415526 0.000000 0.000000 0.000000 177.639230 0.000000 0.000000 177.639230 0.000000 177.639230
EDGE_SE3:QUAT 124 54 -0.206978 0.195307 -0.063378 0.013641 -0.026115 -0.187575 0.981808 1544.089628 0.000000 0.000000 0.000000 0.000000 0.000000 1544.089628 0.000000 0.000000 0.000000 0.000000 1544.089628 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 124 50 -0.304969 0.024312 -0.065087 -0.038418 0.011144 0.085816 0.995508 2002.739463 0.000000 0.000000 0.000000 0.000000 0.000000 2002.739463 0.000000 0.000000 0.000000 0.000000 2002.739463 0.000000 0.000000 0.000000 122.324974 0.000000 0.000000 122.324974 0.000000 122.324974
EDGE_SE3:QUAT 124 49 -0.429953 0.091188 -0.104760 -0.056837 0.035172 0.157862 0.985196 875.319743 0.000000 0.000000 0.000000 0.000000 0.000000 875.319743 0.000000 0.000000 0.000000 0.000000 875.319743 0.000000 0.000000 0.000000 121.801157 0.000000 0.000000 121.801157 0.000000 121.801157
EDGE_SE3:QUAT 125 126 0.158106 0.042984 0.009143 0.021698 -0.012968 -0.122284 0.992173 3541.807289 0.000000 0.000000 0.000000 0.000000 0.000000 3541.807289 0.000000 0.000000 0.000000 0.000000 3541.807289 0.000000 0.000000 0.000000 3541.807289 0.000000 0.000000 3541.807289 0.000000 3541.807289
EDGE_SE3:QUAT 125 54 -0.358290 0.271336 -0.086885 0.005261 -0.004332 -0.137090 0.990535 1833.241839 0.000000 0.000000 0.000000 0.000000 0.000000 1833.241839 0.000000 0.000000 0.000000 0.000000 1833.241839 0.000000 0.000000 0.000000 170.077898 0.000000 0.000000 170.077898 0.000000 170.077898
EDGE_SE3:QUAT 125 55 -0.129213 0.290545 -0.039633 0.021607 -0.021658 -0.218375 0.975385 559.966972 0.000000 0.000000 0.000000 0.000000 0.000000 559.966972 0.000000 0.000000 0.000000 0.000000 559.966972 0.000000 0.000000 0.000000 164.678102 0.000000 0.000000 164.678102 0.000000 164.678102
EDGE_SE3:QUAT 125 53 -0.325358 0.213456 -0.063698 -0.007021 -0.001308 -0.084568 0.996392 1200.690278 0.000000 0.000000 0.000000 0.000000 0.000000 1200.690278 0.000000 0.000000 0.000000 0.000000 1200.690278 0.000000 0.000000 0.000000 176.046308 0.000000 0.000000 176.046308 0.000000 176.046308
EDGE_SE3:QUAT 126 127 0.006319 0.061244 -0.022132 0.009936 0.002699 -0.054904 0.998439 5293.691311 0.000000 0.000000 0.000000 0.000000 0.000000 5293.691311 0.000000 0.000000 0.000000 0.000000 5293.691311 0.000000 0.000000 0.000000 5293.691311 0.000000 0.000000 5293.691311 0.000000 5293.691311
EDGE_SE3:QUAT 127 128 -0.178311 0.082077 -0.032769 0.004327 0.017851 -0.017889 0.999671 5494.541416 0.000000 0.000000 0.000000 0.000000 0.000000 5494.541416 0.000000 0.000000 0.000000 0.000000 5494.541416 0.000000 0.000000 0.000000 5494.541416 0.000000 0.000000 5494.541416 0.000000 5494.541416
EDGE_SE3:QUAT 127 58 0.006197 0.004963 0.004176 0.021212 -0.027327 -0.209701 0.977153 335.926500 0.000000 0.000000 0.000000 0.000000 0.000000 335.926500 0.000000 0.000000 0.000000 0.000000 335.926500 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 127 125 -0.141123 -0.130698 -0.016947 -0.034425 0.001623 0.169851 0.984867 1288.948953 0.000000 0.000000 0.000000 0.000000 0.000000 1288.948953 0.000000 0.000000 0.000000 0.000000 1288.948953 0.000000 0.000000 0.000000 131.746801 0.000000 0.000000 131.746801 0.000000 131.746801
EDGE_SE3:QUAT 128 129 0.090230 0.101947 0.012128 0.029795 -0.017508 -0.116045 0.992643 4735.157715 0.000000 0.000000 0.000000 0.000000 0.000000 4735.157715 0.000000 0.000000 0.000000 0.000000 4735.157715 0.000000 0.000000 0.000000 4735.157715 0.000000 0.000000 4735.157715 0.000000 4735.157715
EDGE_SE3:QUAT 128 126 0.183093 -0.121558 0.068320 -0.015443 -0.019677 0.068668 0.997326 3736.090955 0.000000 0.000000 0.000000 0.000000 0.000000 3736.090955 0.000000 0.000000 0.000000 0.000000 3736.090955 0.000000 0.000000 0.000000 196.383880 0.000000 0.000000 196.383880 0.000000 196.383880
EDGE_SE3:QUAT 128 57 -0.009785 -0.109895 0.017976 -0.017657 -0.034256 -0.100295 0.994211 529.051539 0.000000 0.000000 0.000000 0.000000 0.000000 529.051539 0.000000 0.000000 0.000000 0.000000 529.051539 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 128 58 0.179311 -0.045267 0.063012 0.018368 -0.041695 -0.198626 0.979016 154.117969 0.000000 0.000000 0.000000 0.000000 0.000000 154.117969 0.000000 0.000000 0.000000 0.000000 154.117969 0.000000 0.000000 0.000000 340.098041 0.000000 0.000000 340.098041 0.000000 340.098041
EDGE_SE3:QUAT 128 51 -0.276201 -0.209058 -0.053559 -0.091280 0.000179 0.227874 0.969403 279.692301 0.000000 0.000000 0.000000 0.000000 0.000000 279.692301 0.000000 0.000000 0.000000 0.000000 279.692301 0.000000 0.000000 0.000000 155.261454 0.000000 0.000000 155.261454 0.000000 155.261454
EDGE_SE3:QUAT 129 130 0.019353 0.069800 -0.000024 0.011959 -0.008089 -0.080057 0.996686 4551.356445 0.000000 0.000000 0.000000 0.000000 0.000000 4551.356445 0.000000 0.000000 0.000000 0.000000 4551.356445 0.000000 0.000000 0.000000 4551.356445 0.000000 0.000000 4551.356445 0.000000 4551.356445
EDGE_SE3:QUAT 129 55 -0.276956 -0.088263 -0.021618 -0.044272 -0.022612 0.072046 0.996162 533.272578 0.000000 0.000000 0.000000 0.000000 0.000000 533.272578 0.000000 0.000000 0.000000 0.000000 533.272578 0.000000 0.000000 0.000000 171.512938 0.000000 0.000000 171.512938 0.000000 171.512938
EDGE_SE3:QUAT 129 126 0.150130 -0.124815 0.071048 -0.047417 0.001176 0.170656 0.984188 616.409067 0.000000 0.000000 0.000000 0.000000 0.000000 616.409067 0.000000 0.000000 0.000000 0.000000 616.409067 0.000000 0.000000 0.000000 248.948945 0.000000 0.000000 248.948945 0.000000 248.948945
EDGE_SE3:QUAT 129 127 0.123924 -0.081275 0.059490 -0.035795 0.006315 0.118711 0.992263 2362.275784 0.000000 0.000000 0.000000 0.000000 0.000000 2362.275784 0.000000 0.000000 0.000000 0.000000 2362.275784 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 129 52 -0.227250 -0.257801 0.043185 -0.085795 0.011224 0.247224 0.965087 846.995339 0.000000 0.000000 0.000000 0.000000 0.000000 846.995339 0.000000 0.000000 0.000000 0.000000 846.995339 0.000000 0.000000 0.000000 203.275233 0.000000 0.000000 203.275233 0.000000 203.275233
EDGE_SE3:QUAT 130 132 0.070305 -0.064273 -0.008477 0.017564 -0.012080 -0.090473 0.995671 3737.215332 0.000000 0.000000 0.000000 0.000000 0.000000 3737.215332 0.000000 0.000000 0.000000 0.000000 3737.215332 0.000000 0.000000 0.000000 3737.215332 0.000000 0.000000 3737.215332 0.000000 3737.215332
EDGE_SE3:QUAT 130 57 -0.017901 -0.214015 0.026440 -0.061521 -0.016237 0.080243 0.994742 3555.426967 0.000000 0.000000 0.000000 0.000000 0.000000 3555.426967 0.000000 0.000000 0.000000 0.000000 3555.426967 0.000000 0.000000 0.000000 253.516044 0.000000 0.000000 253.516044 0.000000 253.516044
EDGE_SE3:QUAT 130 60 0.117164 0.065465 0.039450 -0.009856 -0.017705 -0.106474 0.994109 1587.345116 0.000000 0.000000 0.000000 0.000000 0.000000 1587.345116 0.000000 0.000000 0.000000 0.000000 1587.345116 0.000000 0.000000 0.000000 380.225906 0.000000 0.000000 380.225906 0.000000 380.225906
EDGE_SE3:QUAT 130 126 0.153292 -0.148296 0.088794 -0.059860 0.011438 0.244279 0.967788 867.257863 0.000000 0.000000 0.000000 0.000000 0.000000 867.257863 0.000000 0.000000 0.000000 0.000000 867.257863 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 130 127 0.128626 -0.095966 0.055744 -0.050331 0.012702 0.190442 0.980325 523.511245 0.000000 0.000000 0.000000 0.000000 0.000000 523.511245 0.000000 0.000000 0.000000 0.000000 523.511245 0.000000 0.000000 0.000000 268.890239 0.000000 0.000000 268.890239 0.000000 268.890239
EDGE_SE3:QUAT 132 133 0.051975 0.144888 0.049608 0.022509 -0.009780 -0.101005 0.994583 3425.357910 0.000000 0.000000 0.000000 0.000000 0.000000 3425.357910 0.000000 0.000000 0.000000 0.000000 3425.357910 0.000000 0.000000 0.000000 3425.357910 0.000000 0.000000 3425.357910 0.000000 3425.357910
EDGE_SE3:QUAT 132 58 0.092828 0.025325 0.027843 -0.042008 -0.019100 0.067000 0.996685 832.179060 0.000000 0.000000 0.000000 0.000000 0.000000 832.179060 0.000000 0.000000 0.000000 0.000000 832.179060 0.000000 0.000000 0.000000 465.639955 0.000000 0.000000 465.639955 0.000000 465.639955
EDGE_SE3:QUAT 132 57 -0.027831 -0.118247 -0.008422 -0.078734 -0.017260 0.164055 0.983153 739.524018 0.000000 0.000000 0.000000 0.000000 0.000000 739.524018 0.000000 0.000000 0.000000 0.000000 739.524018 0.000000 0.000000 0.000000 319.473070 0.000000 0.000000 319.473070 0.000000 319.473070
EDGE_SE3:QUAT 133 135 0.137000 0.138033 0.036116 0.035362 -0.012205 -0.152019 0.987669 4081.415283 0.000000 0.000000 0.000000 0.000000 0.000000 4081.415283 0.000000 0.000000 0.000000 0.000000 4081.415283 0.000000 0.000000 0.000000 4081.415283 0.000000 0.000000 4081.415283 0.000000 4081.415283
EDGE_SE3:QUAT 133 60 -0.027760 0.072335 0.009233 -0.048533 0.000164 0.073265 0.996131 562.375614 0.000000 0.000000 0.000000 0.000000 0.000000 562.375614 0.000000 0.000000 0.000000 0.000000 562.375614 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 133 58 0.050651 -0.076861 0.046791 -0.059952 -0.001645 0.163923 0.984648 240.501480 0.000000 0.000000 0.000000 0.000000 0.000000 240.501480 0.000000 0.000000 0.000000 0.000000 240.501480 0.000000 0.000000 0.000000 329.302059 0.000000 0.000000 329.302059 0.000000 329.302059
EDGE_SE3:QUAT 133 130 -0.116736 -0.044506 -0.010776 -0.040093 0.024240 0.179324 0.982674 221.297924 0.000000 0.000000 0.000000 0.000000 0.000000 221.297924 0.000000 0.000000 0.000000 0.000000 221.297924 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 133 63 0.122389 0.187267 -0.011617 0.008310 -0.017198 -0.156647 0.987470 554.871130 0.000000 0.000000 0.000000 0.000000 0.000000 554.871130 0.000000 0.000000 0.000000 0.000000 554.871130 0.000000 0.000000 0.000000 219.558781 0.000000 0.000000 219.558781 0.000000 219.558781
EDGE_SE3:QUAT 135 136 0.164828 -0.043146 0.025753 -0.000715 -0.002146 -0.069701 0.997565 4500.792474 0.000000 0.000000 0.000000 0.000000 0.000000 4500.792474 0.000000 0.000000 0.000000 0.000000 4500.792474 0.000000 0.000000 0.000000 4500.792474 0.000000 0.000000 4500.792474 0.000000 4500.792474
EDGE_SE3:QUAT 135 61 -0.057527 -0.000915 0.007844 -0.046488 -0.010027 0.118493 0.991815 869.981411 0.000000 0.000000 0.000000 0.000000 0.000000 869.981411 0.000000 0.000000 0.000000 0.000000 869.981411 0.000000 0.000000 0.000000 253.516044 0.000000 0.000000 253.516044 0.000000 253.516044
EDGE_SE3:QUAT 135 64 0.087754 0.084757 0.020305 -0.006025 -0.017067 -0.074753 0.997038 3947.735149 0.000000 0.000000 0.000000 0.000000 0.000000 3947.735149 0.000000 0.000000 0.000000 0.000000 3947.735149 0.000000 0.000000 0.000000 397.126299 0.000000 0.000000 397.126299 0.000000 397.126299
EDGE_SE3:QUAT 135 65 0.177042 -0.026631 0.049398 -0.006592 -0.026530 -0.113205 0.993196 624.417016 0.000000 0.000000 0.000000 0.000000 0.000000 624.417016 0.000000 0.000000 0.000000 0.000000 624.417016 0.000000 0.000000 0.000000 263.458981 0.000000 0.000000 263.458981 0.000000 263.458981
EDGE_SE3:QUAT 135 60 -0.152207 -0.091908 -0.002118 -0.084908 0.010946 0.220009 0.971734 714.122701 0.000000 0.000000 0.000000 0.000000 0.000000 714.122701 0.000000 0.000000 0.000000 0.000000 714.122701 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 136 137 0.154604 0.123395 -0.016299 0.022840 -0.035014 -0.143061 0.988831 3716.144287 0.000000 0.000000 0.000000 0.000000 0.000000 3716.144287 0.000000 0.000000 0.000000 0.000000 3716.144287 0.000000 0.000000 0.000000 3716.144287 0.000000 0.000000 3716.144287 0.000000 3716.144287
EDGE_SE3:QUAT 136 63 -0.239856 0.097208 -0.047989 -0.023960 -0.002806 0.058010 0.998024 854.445441 0.000000 0.000000 0.000000 0.000000 0.000000 854.445441 0.000000 0.000000 0.000000 0.000000 854.445441 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 136 61 -0.251780 0.039492 -0.054031 -0.044821 -0.017649 0.183235 0.981888 3541.051455 0.000000 0.000000 0.000000 0.000000 0.000000 3541.051455 0.000000 0.000000 0.000000 0.000000 3541.051455 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142
EDGE_SE3:QUAT 136 133 -0.289943 -0.102845 -0.011255 -0.034216 0.019385 0.208861 0.977154 226.839611 0.000000 0.000000 0.000000 0.000000 0.000000 226.839611 0.000000 0.000000 0.000000 0.000000 226.839611 0.000000 0.000000 0.000000 140.441342 0.000000 0.000000 140.441342 0.000000 140.441342
EDGE_SE3:QUAT 136 64 -0.116291 0.174601 -0.034541 -0.006857 -0.020616 -0.015447 0.999645 1840.653470 0.000000 0.000000 0.000000 0.000000 0.000000 1840.653470 0.000000 0.000000 0.000000 0.000000 1840.653470 0.000000 0.000000 0.000000 380.225906 0.000000 0.000000 380.225906 0.000000 380.225906
EDGE_SE3:QUAT 137 138 0.018980 0.206697 -0.004080 0.011162 0.001953 -0.058767 0.998207 5377.359863 0.000000 0.000000 0.000000 0.000000 0.000000 5377.359863 0.000000 0.000000 0.000000 0.000000 5377.359863 0.000000 0.000000 0.000000 5377.359863 0.000000 0.000000 5377.359863 0.000000 5377.359863
EDGE_SE3:QUAT 137 64 -0.295651 -0.039141 -0.032231 -0.030011 0.008194 0.131254 0.990861 159.073635 0.000000 0.000000 0.000000 0.000000 0.000000 159.073635 0.000000 0.000000 0.000000 0.000000 159.073635 0.000000 0.000000 0.000000 310.474802 0.000000 0.000000 310.474802 0.000000 310.474802
EDGE_SE3:QUAT 137 67 0.011752 0.100234 0.008817 0.001033 -0.019412 -0.099822 0.994815 5868.672946 0.000000 0.000000 0.000000 0.000000 0.000000 5868.672946 0.000000 0.000000 0.000000 0.000000 5868.672946 0.000000 0.000000 0.000000 294.546949 0.000000 0.000000 294.546949 0.000000 294.546949
EDGE_SE3:QUAT 137 63 -0.389716 -0.108731 -0.057456 -0.048551 0.021162 0.195292 0.979314 397.804640 0.000000 0.000000 0.000000 0.000000 0.000000 397.804640 0.000000 0.000000 0.000000 0.000000 397.804640 0.000000 0.000000 0.000000 258.344110 0.000000 0.000000 258.344110 0.000000 258.344110
EDGE_SE3:QUAT 137 68 -0.035722 0.140573 -0.011602 0.026505 -0.003484 -0.152806 0.987895 3219.846169 0.000000 0.000000 0.000000 0.000000 0.000000 3219.846169 0.000000 0.000000 0.000000 0.000000 3219.846169 0.000000 0.000000 0.000000 329.302059 0.000000 0.000000 329.302059 0.000000 329.302059
EDGE_SE3:QUAT 138 139 0.166466 0.157555 0.029943 0.026818 -0.031232 -0.113548 0.992679 4593.225098 0.000000 0.000000 0.000000 0.000000 0.000000 4593.225098 0.000000 0.000000 0.000000 0.000000 4593.225098 0.000000 0.000000 0.000000 4593.225098 0.000000 0.000000 4593.225098 0.000000 4593.225098
EDGE_SE3:QUAT 138 1 0.352761 0.494479 -0.006477 0.008702 -0.052817 -0.237516 0.969908 102.106012 0.000000 0.000000 0.000000 0.000000 0.000000 102.106012 0.000000 0.000000 0.000000 0.000000 102.106012 0.000000 0.000000 0.000000 87.640479 0.000000 0.000000 87.640479 0.000000 87.640479
EDGE_SE3:QUAT 138 4 0.158032 0.205340 0.032471 0.033924 -0.020841 -0.236230 0.970881 1149.264143 0.000000 0.000000 0.000000 0.000000 0.000000 1149.264143 0.000000 0.000000 0.000000 0.000000 1149.264143 0.000000 0.000000 0.000000 222.672548 0.000000 0.000000 222.672548 0.000000 222.672548
EDGE_SE3:QUAT 138 69 -0.004067 -0.143426 0.009325 0.043114 0.001589 -0.185811 0.981638 906.063496 0.000000 0.000000 0.000000 0.000000 0.000000 906.063496 0.000000 0.000000 0.000000 0.000000 906.063496 0.000000 0.000000 0.000000 397.126299 0.000000 0.000000 397.126299 0.000000 397.126299
EDGE_SE3:QUAT 139 141 -0.115039 0.108331 -0.011087 -0.019292 -0.019029 -0.000126 0.999633 5015.404297 0.000000 0.000000 0.000000 0.000000 0.000000 5015.404297 0.000000 0.000000 0.000000 0.000000 5015.404297 0.000000 0.000000 0.000000 5015.404297 0.000000 0.000000 5015.404297 0.000000 5015.404297
EDGE_SE3:QUAT 139 65 -0.225904 -0.421606 0.015835 -0.060754 0.026368 0.238310 0.968928 559.125654 0.000000 0.000000 0.000000 0.000000 0.000000 559.125654 0.000000 0.000000 0.000000 0.000000 559.125654 0.000000 0.000000 0.000000 188.199138 0.000000 0.000000 188.199138 0.000000 188.199138
EDGE_SE3:QUAT 139 1 0.022566 0.380041 -0.010398 -0.030785 -0.013973 -0.130712 0.990844 4201.454132 0.000000 0.000000 0.000000 0.000000 0.000000 4201.454132 0.000000 0.000000 0.000000 0.000000 4201.454132 0.000000 0.000000 0.000000 208.294086 0.000000 0.000000 208.294086 0.000000 208.294086
EDGE_SE3:QUAT 141 142 0.142060 0.048090 0.003441 0.009219 0.012386 -0.056370 0.998291 5315.857422 0.000000 0.000000 0.000000 0.000000 0.000000 5315.857422 0.000000 0.000000 0.000000 0.000000 5315.857422 0.000000 0.000000 0.000000 5315.857422 0.000000 0.000000 5315.857422 0.000000 5315.857422
EDGE_SE3:QUAT 141 71 -0.095062 -0.640240 -0.002044 0.040222 0.035301 -0.088745 0.994616 734.021701 0.000000 0.000000 0.000000 0.000000 0.000000 734.021701 0.000000 0.000000 0.000000 0.000000 734.021701 0.000000 0.000000 0.000000 194.237967 0.000000 0.000000 194.237967 0.000000 194.237967
EDGE_SE3:QUAT 141 1 0.138023 0.269759 0.023744 -0.015839 0.011747 -0.129651 0.991364 4097.168040 0.000000 0.000000 0.000000 0.000000 0.000000 4097.168040 0.000000 0.000000 0.000000 0.000000 4097.168040 0.000000 0.000000 0.000000 171.512938 0.000000 0.000000 171.512938 0.000000 171.512938
EDGE_SE3:QUAT 141 138 -0.010649 -0.295927 -0.007810 -0.004554 0.048671 0.113735 0.992308 1297.628686 0.000000 0.000000 0.000000 0.000000 0.000000 1297.628686 0.000000 0.000000 0.000000 0.000000 1297.628686 0.000000 0.000000 0.000000 194.237967 0.000000 0.000000 194.237967 0.000000 194.237967
EDGE_SE3:QUAT 142 145 0.017466 0.083990 0.006666 -0.022729 -0.021109 -0.067011 0.997270 4654.427574 0.000000 0.000000 0.000000 0.000000 0.000000 4654.427574 0.000000 0.000000 0.000000 0.000000 4654.427574 0.000000 0.000000 0.000000 4654.427574 0.000000 0.000000 4654.427574 0.000000 4654.427574
EDGE_SE3:QUAT 142 137 -0.064639 -0.495646 0.024616 -0.024985 0.038911 0.215846 0.975332 1644.463226 0.000000 0.000000 0.000000 0.000000 0.000000 1644.463226 0.000000 0.000000 0.000000 0.000000 1644.463226 0.000000 0.000000 0.000000 141.246064 0.000000 0.000000 141.246064 0.000000 141.246064
EDGE_SE3:QUAT 142 138 -0.134618 -0.293982 -0.004468 -0.023992 0.038173 0.155143 0.986863 2357.405583 0.000000 0.000000 0.000000 0.000000 0.000000 2357.405583 0.000000 0.000000 0.000000 0.000000 2357.405583 0.000000 0.000000 0.000000 184.472736 0.000000 0.000000 184.472736 0.000000 184.472736
EDGE_SE3:QUAT 142 1 -0.033836 0.196701 0.009600 -0.022299 -0.004398 -0.068513 0.997391 4873.264934 0.000000 0.000000 0.000000 0.000000 0.000000 4873.264934 0.000000 0.000000 0.000000 0.000000 4873.264934 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
EDGE_SE3:QUAT 142 139 -0.006654 -0.162899 0.001206 0.008392 0.007746 0.057814 0.998262 5465.802041 0.000000 0.000000 0.000000 0.000000 0.000000 5465.802041 0.000000 0.000000 0.000000 0.000000 5465.802041 0.000000 0.000000 0.000000 310.474802 0.000000 0.000000 310.474802 0.000000 310.474802
EDGE_SE3:QUAT 145 141 -0.146642 -0.145538 -0.012205 0.015930 0.007069 0.118107 0.992848 2803.029355 0.000000 0.000000 0.000000 0.000000 0.000000 2803.029355 0.000000 0.000000 0.000000 0.000000 2803.029355 0.000000 0.000000 0.000000 213.704083 0.000000 0.000000 213.704083 0.000000 213.704083
EDGE_SE3:QUAT 145 139 0.008244 -0.220406 -0.010480 0.031014 0.029033 0.118419 0.992054 3659.972798 0.000000 0.000000 0.000000 0.000000 0.000000 3659.972798 0.000000 0.000000 0.000000 0.000000 3659.972798 0.000000 0.000000 0.000000 352.030706 0.000000 0.000000 352.030706 0.000000 352.030706
EDGE_SE3:QUAT 145 68 -0.097040 -0.471334 -0.024338 0.016977 0.052550 0.127654 0.990280 788.082363 0.000000 0.000000 0.000000 0.000000 0.000000 788.082363 0.000000 0.000000 0.000000 0.000000 788.082363 0.000000 0.000000 0.000000 148.224302 0.000000 0.000000 148.224302 0.000000 148.224302
EDGE_SE3:QUAT 145 1 -0.053993 0.159819 -0.010592 -0.000300 0.012450 -0.013062 0.999837 1417.147373 0.000000 0.000000 0.000000 0.000000 0.000000 1417.147373 0.000000 0.000000 0.000000 0.000000 1417.147373 0.000000 0.000000 0.000000 244.620131 0.000000 0.000000 244.620131 0.000000 244.620131
data/tests/manifest.txt
+12 -4
View File
@@ -1,11 +1,19 @@
# Test data assets fetched by scripts/fetch_test_data.sh.
# Format: <basename>\t<google_drive_file_id>\t<sha256>
# Format: <basename>\t<source>\t<sha256>
# - basename is the file's name on disk under data/tests/
# - google_drive_file_id is the ID from the share link
# https://drive.google.com/file/d/<ID>/view?usp=drive_link
# - sha256 must match the downloaded bytes (compute with `sha256sum file.db`)
# - source is one of:
# * a Google Drive file ID (from https://drive.google.com/file/d/<ID>/...);
# assembled into a direct-download URL by the fetch script.
# * a full http(s):// URL; used as-is. Append "&resourcekey=<key>" to a
# GDrive URL for legacy files (uploaded before 2017) that require it.
# - sha256 must match the downloaded bytes (compute with `sha256sum file.db`).
# Leave as TODO_FILL_SHA256 to bypass the integrity check on first download
# then paste the actual hash back in.
#
# Lines starting with '#' and blank lines are ignored.
netherdrone_lidar3d_sample_15s.db 1IBE8aMgY1_kmme_7Kb9W2wz6yBMLl63i 3fedb26d76d080e687d3926ab80cadee27d7c0115638562a75c1d9f08cc1c885
pr2_scan2d_stereo_sample_15s.db 11GHZgwDzgC1Gv2hkmrPQQtP-dS9BGCA7 842fe941ce487b2109ae12ae796a9debf9e6a94df45cc2a0a9e4a47d41c5e878
pr2_scan2d_rgbd_sample_15s.db 1vlFungKsdbnepgsuPHY-1h-mxdFxkZvI 1d8fd150a7f1d1e3dbb7cbb4f6ed66d0ac80cf06a6f5e859047e28bff2b96f14
2loops_workspace_3IT.db https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/Texture/2loops_workspace_3IT_updated.db 68f113fed7228d9081314f08b54240966c295cda0fb42046567edcf714445755
robust_graph_optimization_stereo.db https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/robust_graph_optimization_stereo.db 247694b5bdb82168ebe88bb6bb5bc31c7142234f8c64567afd93e464418cf02e
loop_3it_gps.db https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.db 7aefeb573107a27b0a7826cb87ea03db495367aa56868b4d2b2543e6cacad3c8
scripts/fetch_test_data.sh
+14 -6
View File
@@ -1,11 +1,13 @@
#!/usr/bin/env bash
# Fetch test data assets listed in data/tests/manifest.txt from Google Drive.
# Fetch test data assets listed in data/tests/manifest.txt. Each entry's
# source can be either a bare Google Drive file ID (assembled into the
# uc?export=download&id=... URL) or a full http(s):// URL (used as-is).
# Skips files that are already present and whose SHA-256 matches the manifest.
# Intended for CI and local first-time setup.
#
# All linked files are public and under ~100 MB, so the direct GDrive download
# URL (uc?export=download&id=...) streams the bytes directly without the
# virus-scan interstitial that would otherwise need a tool like gdown.
# URL streams the bytes directly without the virus-scan interstitial that
# would otherwise need a tool like gdown.
set -euo pipefail
REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -42,13 +44,13 @@ verify_sha() {
fi
}
while IFS=$'\t' read -r name file_id expected_sha; do
while IFS=$'\t' read -r name source expected_sha; do
# Strip trailing CR so the script works when manifest.txt is checked out
# with CRLF line endings (default on Windows Git unless core.autocrlf=input).
# Without this, expected_sha keeps a trailing \r and even a byte-for-byte
# match looks like "expected <sha>\r, got <sha>".
name="${name%$'\r'}"
file_id="${file_id%$'\r'}"
source="${source%$'\r'}"
expected_sha="${expected_sha%$'\r'}"
# Skip comments and blank lines.
[[ -z "${name// }" || "$name" =~ ^# ]] && continue
@@ -59,7 +61,13 @@ while IFS=$'\t' read -r name file_id expected_sha; do
continue
fi
url="https://drive.google.com/uc?export=download&id=${file_id}"
# If the source already looks like a URL, use it as-is. Otherwise treat
# it as a Google Drive file ID and assemble the direct-download URL.
if [[ "$source" =~ ^https?:// ]]; then
url="$source"
else
url="https://drive.google.com/uc?export=download&id=${source}"
fi
echo "Fetching $name <- $url"
mkdir -p "$(dirname "$target")"
# -L follows the redirect, -f fails on HTTP errors, -S shows errors on stderr.