Add files using upload-large-folder tool

.gitattributes

@@ -315,3 +315,33 @@ test/point_and_click_remote/3.hdf5 filter=lfs diff=lfs merge=lfs -text
 test/play_reset_connect_four/9.hdf5 filter=lfs diff=lfs merge=lfs -text
 test/play_reset_connect_four/7.hdf5 filter=lfs diff=lfs merge=lfs -text
 test/play_reset_connect_four/17.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/9.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/24.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/7.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/17.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/21.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/19.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/10.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/15.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/0.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/22.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/18.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/8.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/12.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/16.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/2.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/11.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/6.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/5.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/1.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/23.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/20.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/13.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/4.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/14.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/25.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/add_remove_lid/3.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/open_close_insert_remove_case/9.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/open_close_insert_remove_case/7.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/open_close_insert_remove_case/17.hdf5 filter=lfs diff=lfs merge=lfs -text
+test/open_close_insert_remove_case/21.hdf5 filter=lfs diff=lfs merge=lfs -text

test/add_remove_lid/0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ba0cc67599470ff970bb15d4855c37324834d3a92f5fea86ead484090b420
+size 503712

test/add_remove_lid/0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0ec11f438e100ad27d702ed098fc63f392348e6a3fb8b882f84c7751497af9
+size 1472629

test/add_remove_lid/0/cam_space/0/0_15.json

@@ -0,0 +1,4674 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.4014813303947449,
+     -0.8947422504425049,
+     0.1955740749835968
+    ],
+    [
+     -0.3796508312225342,
+     -0.35691511631011963,
+     -0.853508710861206
+    ],
+    [
+     0.8334735631942749,
+     0.2684180438518524,
+     -0.48298442363739014
+    ]
+   ],
+   [
+    [
+     0.39950352907180786,
+     -0.8966184854507446,
+     0.19097697734832764
+    ],
+    [
+     -0.4014774560928345,
+     -0.3584052324295044,
+     -0.8428295850753784
+    ],
+    [
+     0.824143648147583,
+     0.26004043221473694,
+     -0.503156304359436
+    ]
+   ],
+   [
+    [
+     0.3784306049346924,
+     -0.906822681427002,
+     0.18564185500144958
+    ],
+    [
+     -0.4500786066055298,
+     -0.35552167892456055,
+     -0.8191664218902588
+    ],
+    [
+     0.8088383674621582,
+     0.22644424438476562,
+     -0.5426816940307617
+    ]
+   ],
+   [
+    [
+     0.31159913539886475,
+     -0.9274684190750122,
+     0.20666038990020752
+    ],
+    [
+     -0.501237154006958,
+     -0.3452024459838867,
+     -0.7934714555740356
+    ],
+    [
+     0.807259202003479,
+     0.14365920424461365,
+     -0.5724464654922485
+    ]
+   ],
+   [
+    [
+     0.28474849462509155,
+     -0.9300277233123779,
+     0.23230764269828796
+    ],
+    [
+     -0.5313420295715332,
+     -0.35483360290527344,
+     -0.7692651748657227
+    ],
+    [
+     0.7978683710098267,
+     0.09561231732368469,
+     -0.5952012538909912
+    ]
+   ],
+   [
+    [
+     0.3082825541496277,
+     -0.9092024564743042,
+     0.2798442840576172
+    ],
+    [
+     -0.536636471748352,
+     -0.4091082811355591,
+     -0.7380052804946899
+    ],
+    [
+     0.7854827642440796,
+     0.0773395299911499,
+     -0.6140321493148804
+    ]
+   ],
+   [
+    [
+     0.31981778144836426,
+     -0.8810780644416809,
+     0.3484508991241455
+    ],
+    [
+     -0.5505382418632507,
+     -0.4721202850341797,
+     -0.6884839534759521
+    ],
+    [
+     0.7711188793182373,
+     0.028353899717330933,
+     -0.6360595226287842
+    ]
+   ],
+   [
+    [
+     0.3100530505180359,
+     -0.8808776140213013,
+     0.3576616048812866
+    ],
+    [
+     -0.5787042379379272,
+     -0.4733431339263916,
+     -0.6641144752502441
+    ],
+    [
+     0.7543001174926758,
+     -0.001069486141204834,
+     -0.6565290689468384
+    ]
+   ],
+   [
+    [
+     0.3156045079231262,
+     -0.8883838653564453,
+     0.3334188461303711
+    ],
+    [
+     -0.6037064790725708,
+     -0.45908069610595703,
+     -0.6517543792724609
+    ],
+    [
+     0.7320740222930908,
+     0.004409581422805786,
+     -0.6812111139297485
+    ]
+   ],
+   [
+    [
+     0.32182812690734863,
+     -0.8863500356674194,
+     0.3328820466995239
+    ],
+    [
+     -0.6142383813858032,
+     -0.4630146026611328,
+     -0.6390062570571899
+    ],
+    [
+     0.7205123901367188,
+     0.0011813342571258545,
+     -0.6934413909912109
+    ]
+   ],
+   [
+    [
+     0.3283466696739197,
+     -0.888573944568634,
+     0.3203513026237488
+    ],
+    [
+     -0.6201518177986145,
+     -0.45861780643463135,
+     -0.6364603638648987
+    ],
+    [
+     0.7124608159065247,
+     0.010313272476196289,
+     -0.7016364336013794
+    ]
+   ],
+   [
+    [
+     0.34053122997283936,
+     -0.8903279304504395,
+     0.3022497296333313
+    ],
+    [
+     -0.6172196865081787,
+     -0.4541785717010498,
+     -0.6424657106399536
+    ],
+    [
+     0.7092803120613098,
+     0.03222528100013733,
+     -0.7041898965835571
+    ]
+   ],
+   [
+    [
+     0.351348340511322,
+     -0.9008810520172119,
+     0.2548876106739044
+    ],
+    [
+     -0.635360836982727,
+     -0.42938733100891113,
+     -0.6418279409408569
+    ],
+    [
+     0.6876561641693115,
+     0.06355956196784973,
+     -0.7232489585876465
+    ]
+   ],
+   [
+    [
+     0.3266351819038391,
+     -0.9200410842895508,
+     0.2164115607738495
+    ],
+    [
+     -0.6064271926879883,
+     -0.37963366508483887,
+     -0.6986592411994934
+    ],
+    [
+     0.724952220916748,
+     0.0969688892364502,
+     -0.6819397211074829
+    ]
+   ],
+   [
+    [
+     0.3494018316268921,
+     -0.9203436374664307,
+     0.17574447393417358
+    ],
+    [
+     -0.5861550569534302,
+     -0.36103200912475586,
+     -0.7253127098083496
+    ],
+    [
+     0.7309861779212952,
+     0.15041211247444153,
+     -0.6656093597412109
+    ]
+   ],
+   [
+    [
+     0.3490148186683655,
+     -0.9219530820846558,
+     0.16790202260017395
+    ],
+    [
+     -0.5597840547561646,
+     -0.348799467086792,
+     -0.7516520023345947
+    ],
+    [
+     0.7515519857406616,
+     0.16834881901741028,
+     -0.6378308534622192
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9400028586387634,
+      0.2912006676197052,
+      0.1777547150850296
+     ],
+     [
+      -0.28184232115745544,
+      0.9564159512519836,
+      -0.07637694478034973
+     ],
+     [
+      -0.19224844872951508,
+      0.02169574238359928,
+      0.9811064004898071
+     ]
+    ],
+    [
+     [
+      0.7607916593551636,
+      0.6377803087234497,
+      -0.120134636759758
+     ],
+     [
+      -0.647688627243042,
+      0.7578818202018738,
+      -0.07819603383541107
+     ],
+     [
+      0.041175972670316696,
+      0.13730072975158691,
+      0.9896731972694397
+     ]
+    ],
+    [
+     [
+      0.988425076007843,
+      0.1449030339717865,
+      -0.04493317753076553
+     ],
+     [
+      -0.1372830867767334,
+      0.9803577661514282,
+      0.14160503447055817
+     ],
+     [
+      0.06456958502531052,
+      -0.13379739224910736,
+      0.9889029264450073
+     ]
+    ],
+    [
+     [
+      0.9327250719070435,
+      0.3575592339038849,
+      0.04663996398448944
+     ],
+     [
+      -0.3599657118320465,
+      0.9308905005455017,
+      0.06218987703323364
+     ],
+     [
+      -0.021180132403969765,
+      -0.07479484379291534,
+      0.996973991394043
+     ]
+    ],
+    [
+     [
+      0.8638758659362793,
+      0.473882257938385,
+      0.17074593901634216
+     ],
+     [
+      -0.4986072778701782,
+      0.8526078462600708,
+      0.15636727213859558
+     ],
+     [
+      -0.0714796707034111,
+      -0.22021707892417908,
+      0.9728283882141113
+     ]
+    ],
+    [
+     [
+      0.9215618371963501,
+      0.3831365704536438,
+      -0.06269096583127975
+     ],
+     [
+      -0.3871620297431946,
+      0.9189401865005493,
+      -0.07519619166851044
+     ],
+     [
+      0.02879883348941803,
+      0.09356950223445892,
+      0.9951961636543274
+     ]
+    ],
+    [
+     [
+      0.8353232145309448,
+      0.3920372724533081,
+      -0.3854112923145294
+     ],
+     [
+      -0.2565948963165283,
+      0.8980346918106079,
+      0.35734128952026367
+     ],
+     [
+      0.4862038195133209,
+      -0.1996009200811386,
+      0.8507440090179443
+     ]
+    ],
+    [
+     [
+      0.886978268623352,
+      0.4513099491596222,
+      0.0979231595993042
+     ],
+     [
+      -0.46153029799461365,
+      0.8588862419128418,
+      0.22204552590847015
+     ],
+     [
+      0.016106493771076202,
+      -0.24214406311511993,
+      0.9701066017150879
+     ]
+    ],
+    [
+     [
+      0.9269066452980042,
+      0.358754962682724,
+      -0.11017689108848572
+     ],
+     [
+      -0.3374886214733124,
+      0.9252183437347412,
+      0.1734142154455185
+     ],
+     [
+      0.1641508936882019,
+      -0.12355534732341766,
+      0.9786667227745056
+     ]
+    ],
+    [
+     [
+      0.8887246251106262,
+      0.41353639960289,
+      -0.19787923991680145
+     ],
+     [
+      -0.40757104754447937,
+      0.9103343486785889,
+      0.0719527080655098
+     ],
+     [
+      0.20989133417606354,
+      0.01670370250940323,
+      0.9775820374488831
+     ]
+    ],
+    [
+     [
+      0.9340770244598389,
+      0.3502672612667084,
+      0.06937510520219803
+     ],
+     [
+      -0.3555903732776642,
+      0.8947988152503967,
+      0.26998260617256165
+     ],
+     [
+      0.03248930722475052,
+      -0.27685365080833435,
+      0.9603626728057861
+     ]
+    ],
+    [
+     [
+      0.8399892449378967,
+      0.5302322506904602,
+      -0.11520351469516754
+     ],
+     [
+      -0.5259432196617126,
+      0.8478431701660156,
+      0.06742128729820251
+     ],
+     [
+      0.13342346251010895,
+      0.003957357257604599,
+      0.991051197052002
+     ]
+    ],
+    [
+     [
+      0.9240419864654541,
+      0.06058582291007042,
+      0.3774595856666565
+     ],
+     [
+      0.1380729079246521,
+      0.8678230047225952,
+      -0.47730401158332825
+     ],
+     [
+      -0.3564859628677368,
+      0.49316588044166565,
+      0.7935396432876587
+     ]
+    ],
+    [
+     [
+      0.9478075504302979,
+      -0.23149147629737854,
+      0.2192544937133789
+     ],
+     [
+      0.15878289937973022,
+      0.939014196395874,
+      0.3050251603126526
+     ],
+     [
+      -0.2764938175678253,
+      -0.254291296005249,
+      0.9267616271972656
+     ]
+    ],
+    [
+     [
+      0.8659980893135071,
+      0.4851250946521759,
+      0.12124750763177872
+     ],
+     [
+      -0.4304811656475067,
+      0.8466449975967407,
+      -0.31285494565963745
+     ],
+     [
+      -0.25442737340927124,
+      0.21873702108860016,
+      0.9420301914215088
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9566241502761841,
+      0.2233860194683075,
+      0.18699978291988373
+     ],
+     [
+      -0.21152713894844055,
+      0.9739769697189331,
+      -0.08139502257108688
+     ],
+     [
+      -0.20031599700450897,
+      0.038308918476104736,
+      0.9789820909500122
+     ]
+    ],
+    [
+     [
+      0.7721790671348572,
+      0.6260066032409668,
+      -0.10888150334358215
+     ],
+     [
+      -0.6334812641143799,
+      0.7717783451080322,
+      -0.05531371384859085
+     ],
+     [
+      0.04940563440322876,
+      0.11168649047613144,
+      0.9925146102905273
+     ]
+    ],
+    [
+     [
+      0.9814463257789612,
+      0.1870964914560318,
+      -0.04192870482802391
+     ],
+     [
+      -0.18040232360363007,
+      0.9751499891281128,
+      0.12859807908535004
+     ],
+     [
+      0.06494702398777008,
+      -0.11864807456731796,
+      0.9908100366592407
+     ]
+    ],
+    [
+     [
+      0.9519111514091492,
+      0.29982200264930725,
+      0.06302289664745331
+     ],
+     [
+      -0.30348965525627136,
+      0.9509438276290894,
+      0.05999918282032013
+     ],
+     [
+      -0.041942156851291656,
+      -0.07624068856239319,
+      0.9962069392204285
+     ]
+    ],
+    [
+     [
+      0.8602908253669739,
+      0.48145735263824463,
+      0.167626291513443
+     ],
+     [
+      -0.5051106214523315,
+      0.8494894504547119,
+      0.1524169147014618
+     ],
+     [
+      -0.0690145418047905,
+      -0.2157926857471466,
+      0.973997175693512
+     ]
+    ],
+    [
+     [
+      0.9219786524772644,
+      0.3822310268878937,
+      -0.062086738646030426
+     ],
+     [
+      -0.3862195312976837,
+      0.919287383556366,
+      -0.07579677551984787
+     ],
+     [
+      0.028103673830628395,
+      0.0938621237874031,
+      0.9951884746551514
+     ]
+    ],
+    [
+     [
+      0.8346289396286011,
+      0.39744946360588074,
+      -0.38135093450546265
+     ],
+     [
+      -0.25442567467689514,
+      0.8922387361526489,
+      0.3730652332305908
+     ],
+     [
+      0.48853063583374023,
+      -0.21434557437896729,
+      0.8458095788955688
+     ]
+    ],
+    [
+     [
+      0.8923658728599548,
+      0.44146570563316345,
+      0.09376119077205658
+     ],
+     [
+      -0.45130738615989685,
+      0.8738889694213867,
+      0.18066471815109253
+     ],
+     [
+      -0.0021796002984046936,
+      -0.20353415608406067,
+      0.9790654182434082
+     ]
+    ],
+    [
+     [
+      0.936936616897583,
+      0.3331725001335144,
+      -0.10557382553815842
+     ],
+     [
+      -0.3106580376625061,
+      0.9323058724403381,
+      0.1851954162120819
+     ],
+     [
+      0.160129114985466,
+      -0.14071902632713318,
+      0.9770142436027527
+     ]
+    ],
+    [
+     [
+      0.9021342992782593,
+      0.3900625705718994,
+      -0.18440425395965576
+     ],
+     [
+      -0.38354921340942383,
+      0.9207659363746643,
+      0.07127514481544495
+     ],
+     [
+      0.19759491086006165,
+      0.006428353488445282,
+      0.9802626967430115
+     ]
+    ],
+    [
+     [
+      0.9387481212615967,
+      0.33636295795440674,
+      0.07491303235292435
+     ],
+     [
+      -0.34402984380722046,
+      0.9022258520126343,
+      0.2600616216659546
+     ],
+     [
+      0.019886622205376625,
+      -0.2699046730995178,
+      0.9626816511154175
+     ]
+    ],
+    [
+     [
+      0.8407014012336731,
+      0.5278933048248291,
+      -0.12062263488769531
+     ],
+     [
+      -0.5228174924850464,
+      0.8493090867996216,
+      0.07304748892784119
+     ],
+     [
+      0.1410071849822998,
+      0.0016524940729141235,
+      0.990007221698761
+     ]
+    ],
+    [
+     [
+      0.9326147437095642,
+      0.07462722063064575,
+      0.35307303071022034
+     ],
+     [
+      0.11939062178134918,
+      0.8594832420349121,
+      -0.4970255494117737
+     ],
+     [
+      -0.3405520021915436,
+      0.5056869387626648,
+      0.7926569581031799
+     ]
+    ],
+    [
+     [
+      0.9568711519241333,
+      -0.22625410556793213,
+      0.18222685158252716
+     ],
+     [
+      0.16275206208229065,
+      0.9370757341384888,
+      0.3088702857494354
+     ],
+     [
+      -0.24064351618289948,
+      -0.26589128375053406,
+      0.9334840774536133
+     ]
+    ],
+    [
+     [
+      0.8564291596412659,
+      0.49011674523353577,
+      0.16221794486045837
+     ],
+     [
+      -0.41359642148017883,
+      0.8394164443016052,
+      -0.35258764028549194
+     ],
+     [
+      -0.30897751450538635,
+      0.23487359285354614,
+      0.9216112494468689
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9725756049156189,
+      0.11743367463350296,
+      0.20076367259025574
+     ],
+     [
+      -0.10125326365232468,
+      0.9908643960952759,
+      -0.08908180147409439
+     ],
+     [
+      -0.209390789270401,
+      0.066310815513134,
+      0.9755810499191284
+     ]
+    ],
+    [
+     [
+      0.7904220223426819,
+      0.6062037348747253,
+      -0.08803419023752213
+     ],
+     [
+      -0.609675943851471,
+      0.7924663424491882,
+      -0.017097966745495796
+     ],
+     [
+      0.059399284422397614,
+      0.06718693673610687,
+      0.9959707260131836
+     ]
+    ],
+    [
+     [
+      0.964259922504425,
+      0.26147371530532837,
+      -0.04282834380865097
+     ],
+     [
+      -0.25605589151382446,
+      0.9611558318138123,
+      0.10302822291851044
+     ],
+     [
+      0.06810387969017029,
+      -0.08837954699993134,
+      0.9937559366226196
+     ]
+    ],
+    [
+     [
+      0.9696308970451355,
+      0.22581103444099426,
+      0.09394323080778122
+     ],
+     [
+      -0.23203244805335999,
+      0.9707622528076172,
+      0.061494577676057816
+     ],
+     [
+      -0.07731039077043533,
+      -0.08142492175102234,
+      0.9936765432357788
+     ]
+    ],
+    [
+     [
+      0.8595747947692871,
+      0.48719823360443115,
+      0.15417206287384033
+     ],
+     [
+      -0.5070250630378723,
+      0.8507343530654907,
+      0.1384797990322113
+     ],
+     [
+      -0.06369234621524811,
+      -0.1972028613090515,
+      0.9782915115356445
+     ]
+    ],
+    [
+     [
+      0.919556736946106,
+      0.3875560164451599,
+      -0.06492865085601807
+     ],
+     [
+      -0.39160943031311035,
+      0.9174801111221313,
+      -0.06980152428150177
+     ],
+     [
+      0.032518744468688965,
+      0.08961313962936401,
+      0.9954456090927124
+     ]
+    ],
+    [
+     [
+      0.8354976177215576,
+      0.41777268052101135,
+      -0.3569449484348297
+     ],
+     [
+      -0.2628757059574127,
+      0.8743176460266113,
+      0.40800124406814575
+     ],
+     [
+      0.4825350344181061,
+      -0.24705193936824799,
+      0.8403126001358032
+     ]
+    ],
+    [
+     [
+      0.8996464014053345,
+      0.42707163095474243,
+      0.09080839157104492
+     ],
+     [
+      -0.435563862323761,
+      0.8922985792160034,
+      0.1186901107430458
+     ],
+     [
+      -0.03033902309834957,
+      -0.1463319957256317,
+      0.9887701869010925
+     ]
+    ],
+    [
+     [
+      0.9469286203384399,
+      0.30684414505958557,
+      -0.0957750678062439
+     ],
+     [
+      -0.2811618745326996,
+      0.9350598454475403,
+      0.21589595079421997
+     ],
+     [
+      0.15580183267593384,
+      -0.17750975489616394,
+      0.971707820892334
+     ]
+    ],
+    [
+     [
+      0.9167008399963379,
+      0.36768993735313416,
+      -0.15640880167484283
+     ],
+     [
+      -0.35988834500312805,
+      0.9298437833786011,
+      0.07662159949541092
+     ],
+     [
+      0.17360873520374298,
+      -0.013949379324913025,
+      0.9847158789634705
+     ]
+    ],
+    [
+     [
+      0.9463317394256592,
+      0.3127616345882416,
+      0.08146430552005768
+     ],
+     [
+      -0.3231888711452484,
+      0.913973331451416,
+      0.24536028504371643
+     ],
+     [
+      0.0022830739617347717,
+      -0.25852057337760925,
+      0.9660030603408813
+     ]
+    ],
+    [
+     [
+      0.8365174531936646,
+      0.5336796045303345,
+      -0.1241961419582367
+     ],
+     [
+      -0.5255084037780762,
+      0.8455812931060791,
+      0.0939849317073822
+     ],
+     [
+      0.15517577528953552,
+      -0.013353917747735977,
+      0.9877966046333313
+     ]
+    ],
+    [
+     [
+      0.9460240006446838,
+      0.10664206743240356,
+      0.3060492277145386
+     ],
+     [
+      0.08575613796710968,
+      0.828291654586792,
+      -0.553695559501648
+     ],
+     [
+      -0.3125452399253845,
+      0.5500549077987671,
+      0.7744385600090027
+     ]
+    ],
+    [
+     [
+      0.9720470309257507,
+      -0.209880530834198,
+      0.10523675382137299
+     ],
+     [
+      0.16600334644317627,
+      0.9313428401947021,
+      0.32410404086112976
+     ],
+     [
+      -0.16603462398052216,
+      -0.2975747287273407,
+      0.9401499032974243
+     ]
+    ],
+    [
+     [
+      0.8366117477416992,
+      0.5021973848342896,
+      0.21881192922592163
+     ],
+     [
+      -0.37929248809814453,
+      0.819251537322998,
+      -0.4300745725631714
+     ],
+     [
+      -0.395244300365448,
+      0.27681171894073486,
+      0.8758751153945923
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9741530418395996,
+      -0.03791476786136627,
+      0.22268438339233398
+     ],
+     [
+      0.06248850375413895,
+      0.992574155330658,
+      -0.10436361283063889
+     ],
+     [
+      -0.21707382798194885,
+      0.11558134108781815,
+      0.9692883491516113
+     ]
+    ],
+    [
+     [
+      0.8282578587532043,
+      0.556937575340271,
+      -0.06172079220414162
+     ],
+     [
+      -0.5552343130111694,
+      0.830552339553833,
+      0.04356198012828827
+     ],
+     [
+      0.07552365958690643,
+      -0.0018110554665327072,
+      0.9971423745155334
+     ]
+    ],
+    [
+     [
+      0.9286502599716187,
+      0.36612507700920105,
+      -0.05967545881867409
+     ],
+     [
+      -0.3629624545574188,
+      0.9300204515457153,
+      0.057621926069259644
+     ],
+     [
+      0.0765962228178978,
+      -0.031850665807724,
+      0.996553361415863
+     ]
+    ],
+    [
+     [
+      0.9812612533569336,
+      0.12405474483966827,
+      0.14743386209011078
+     ],
+     [
+      -0.13574527204036713,
+      0.988121509552002,
+      0.07203510403633118
+     ],
+     [
+      -0.13674627244472504,
+      -0.09069870412349701,
+      0.9864452481269836
+     ]
+    ],
+    [
+     [
+      0.8723500370979309,
+      0.47217556834220886,
+      0.1267109513282776
+     ],
+     [
+      -0.48541775345802307,
+      0.8673694133758545,
+      0.10972630977630615
+     ],
+     [
+      -0.05809512734413147,
+      -0.15722748637199402,
+      0.9858521819114685
+     ]
+    ],
+    [
+     [
+      0.9203407764434814,
+      0.3841067850589752,
+      -0.07372181862592697
+     ],
+     [
+      -0.388285368680954,
+      0.9199411273002625,
+      -0.054247744381427765
+     ],
+     [
+      0.04698280617594719,
+      0.0785515084862709,
+      0.9958023428916931
+     ]
+    ],
+    [
+     [
+      0.8448914289474487,
+      0.44265416264533997,
+      -0.30035942792892456
+     ],
+     [
+      -0.27183493971824646,
+      0.8388597965240479,
+      0.4716142416000366
+     ],
+     [
+      0.4607214331626892,
+      -0.316814661026001,
+      0.8290743231773376
+     ]
+    ],
+    [
+     [
+      0.9119489192962646,
+      0.3977051079273224,
+      0.10089516639709473
+     ],
+     [
+      -0.40045902132987976,
+      0.9162813425064087,
+      0.007813870906829834
+     ],
+     [
+      -0.08934074640274048,
+      -0.04753023013472557,
+      0.9948663711547852
+     ]
+    ],
+    [
+     [
+      0.9623388648033142,
+      0.26367655396461487,
+      -0.06617087125778198
+     ],
+     [
+      -0.23698505759239197,
+      0.9329406023025513,
+      0.27103501558303833
+     ],
+     [
+      0.1331990659236908,
+      -0.2451460361480713,
+      0.960292398929596
+     ]
+    ],
+    [
+     [
+      0.9335941672325134,
+      0.34351152181625366,
+      -0.10198887437582016
+     ],
+     [
+      -0.33498919010162354,
+      0.9377264976501465,
+      0.09193070232868195
+     ],
+     [
+      0.12721693515777588,
+      -0.05166079103946686,
+      0.9905286431312561
+     ]
+    ],
+    [
+     [
+      0.9628618955612183,
+      0.2547108232975006,
+      0.08955064415931702
+     ],
+     [
+      -0.26855215430259705,
+      0.9377409815788269,
+      0.22027623653411865
+     ],
+     [
+      -0.027868567034602165,
+      -0.23614463210105896,
+      0.9713181853294373
+     ]
+    ],
+    [
+     [
+      0.8339747786521912,
+      0.5386027693748474,
+      -0.11997134983539581
+     ],
+     [
+      -0.5239514708518982,
+      0.8411393761634827,
+      0.13401269912719727
+     ],
+     [
+      0.17309223115444183,
+      -0.04890405386686325,
+      0.9836907386779785
+     ]
+    ],
+    [
+     [
+      0.9618186354637146,
+      0.17107802629470825,
+      0.21362867951393127
+     ],
+     [
+      0.018292300403118134,
+      0.7386280298233032,
+      -0.6738650798797607
+     ],
+     [
+      -0.2730756402015686,
+      0.6520437002182007,
+      0.7072967290878296
+     ]
+    ],
+    [
+     [
+      0.9811402559280396,
+      -0.1807052046060562,
+      -0.06862552464008331
+     ],
+     [
+      0.19327594339847565,
+      0.9118502140045166,
+      0.36217886209487915
+     ],
+     [
+      -0.0028714127838611603,
+      -0.3686119318008423,
+      0.929578959941864
+     ]
+    ],
+    [
+     [
+      0.7889248728752136,
+      0.5315410494804382,
+      0.3083207607269287
+     ],
+     [
+      -0.3061864972114563,
+      0.7750662565231323,
+      -0.5527406334877014
+     ],
+     [
+      -0.5327733159065247,
+      0.34166720509529114,
+      0.7742197513580322
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9704817533493042,
+      -0.10488779842853546,
+      0.2171720564365387
+     ],
+     [
+      0.1319853514432907,
+      0.984645426273346,
+      -0.11425083875656128
+     ],
+     [
+      -0.20185396075248718,
+      0.139541894197464,
+      0.9694240689277649
+     ]
+    ],
+    [
+     [
+      0.8426434397697449,
+      0.5366877913475037,
+      -0.04379729926586151
+     ],
+     [
+      -0.5330533385276794,
+      0.8429099917411804,
+      0.07319043576717377
+     ],
+     [
+      0.07619759440422058,
+      -0.038327138870954514,
+      0.9963558316230774
+     ]
+    ],
+    [
+     [
+      0.90208899974823,
+      0.4234766960144043,
+      -0.08308415114879608
+     ],
+     [
+      -0.4217516779899597,
+      0.9059067964553833,
+      0.038188520818948746
+     ],
+     [
+      0.09143844246864319,
+      0.0005914345383644104,
+      0.9958105683326721
+     ]
+    ],
+    [
+     [
+      0.9776302576065063,
+      0.10846203565597534,
+      0.18020841479301453
+     ],
+     [
+      -0.12618497014045715,
+      0.9879198670387268,
+      0.08995386958122253
+     ],
+     [
+      -0.1682748794555664,
+      -0.11068122088909149,
+      0.9795066118240356
+     ]
+    ],
+    [
+     [
+      0.865770161151886,
+      0.48969027400016785,
+      0.10317674279212952
+     ],
+     [
+      -0.49824240803718567,
+      0.8627548217773438,
+      0.08607357740402222
+     ],
+     [
+      -0.04686683416366577,
+      -0.12592697143554688,
+      0.9909318089485168
+     ]
+    ],
+    [
+     [
+      0.9178192615509033,
+      0.38842523097991943,
+      -0.08205875754356384
+     ],
+     [
+      -0.39218783378601074,
+      0.9191975593566895,
+      -0.03556036576628685
+     ],
+     [
+      0.06161567196249962,
+      0.06482043862342834,
+      0.99599289894104
+     ]
+    ],
+    [
+     [
+      0.8476848602294922,
+      0.4619067907333374,
+      -0.2609070837497711
+     ],
+     [
+      -0.2961435914039612,
+      0.8200709819793701,
+      0.48967593908309937
+     ],
+     [
+      0.44014695286750793,
+      -0.3378249406814575,
+      0.8319525718688965
+     ]
+    ],
+    [
+     [
+      0.9163115620613098,
+      0.3852361738681793,
+      0.10939019918441772
+     ],
+     [
+      -0.386203795671463,
+      0.922321081161499,
+      -0.013058270327746868
+     ],
+     [
+      -0.10592339932918549,
+      -0.030281461775302887,
+      0.9939131140708923
+     ]
+    ],
+    [
+     [
+      0.9712769985198975,
+      0.23145633935928345,
+      -0.05521734431385994
+     ],
+     [
+      -0.20358631014823914,
+      0.9284473657608032,
+      0.3107057809829712
+     ],
+     [
+      0.12318122386932373,
+      -0.29053986072540283,
+      0.9489009380340576
+     ]
+    ],
+    [
+     [
+      0.9292816519737244,
+      0.3625528812408447,
+      -0.07064739614725113
+     ],
+     [
+      -0.3550596833229065,
+      0.9295088052749634,
+      0.09972994029521942
+     ],
+     [
+      0.10182475298643112,
+      -0.06759315729141235,
+      0.9925033450126648
+     ]
+    ],
+    [
+     [
+      0.9665518999099731,
+      0.2420969158411026,
+      0.08465496450662613
+     ],
+     [
+      -0.2550373673439026,
+      0.9421323537826538,
+      0.21758361160755157
+     ],
+     [
+      -0.027079863473773003,
+      -0.2318960279226303,
+      0.9723635911941528
+     ]
+    ],
+    [
+     [
+      0.8435987234115601,
+      0.5255063772201538,
+      -0.1103825718164444
+     ],
+     [
+      -0.5051813125610352,
+      0.8463846445083618,
+      0.16859689354896545
+     ],
+     [
+      0.18202485144138336,
+      -0.08646491169929504,
+      0.9794849753379822
+     ]
+    ],
+    [
+     [
+      0.9674505591392517,
+      0.20794008672237396,
+      0.1442231684923172
+     ],
+     [
+      -0.028112739324569702,
+      0.6547017097473145,
+      -0.7553644180297852
+     ],
+     [
+      -0.2514936923980713,
+      0.7267231941223145,
+      0.6392372846603394
+     ]
+    ],
+    [
+     [
+      0.9753320813179016,
+      -0.15185189247131348,
+      -0.16021354496479034
+     ],
+     [
+      0.205078125,
+      0.8918658494949341,
+      0.4031354784965515
+     ],
+     [
+      0.08167210221290588,
+      -0.42604726552963257,
+      0.9010068774223328
+     ]
+    ],
+    [
+     [
+      0.7811163663864136,
+      0.5342867970466614,
+      0.32310208678245544
+     ],
+     [
+      -0.2603822946548462,
+      0.7490664124488831,
+      -0.6091803312301636
+     ],
+     [
+      -0.5675019025802612,
+      0.39171063899993896,
+      0.7242268323898315
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9698885083198547,
+      -0.12512648105621338,
+      0.20894895493984222
+     ],
+     [
+      0.15211433172225952,
+      0.9812363982200623,
+      -0.11847533285617828
+     ],
+     [
+      -0.19020392000675201,
+      0.14669199287891388,
+      0.9707233905792236
+     ]
+    ],
+    [
+     [
+      0.8341216444969177,
+      0.5506662726402283,
+      -0.031745634973049164
+     ],
+     [
+      -0.5468067526817322,
+      0.8330875635147095,
+      0.08347142487764359
+     ],
+     [
+      0.07241178303956985,
+      -0.052266594022512436,
+      0.9960044026374817
+     ]
+    ],
+    [
+     [
+      0.8853163123130798,
+      0.45475539565086365,
+      -0.09701856225728989
+     ],
+     [
+      -0.4538578689098358,
+      0.8904843330383301,
+      0.03241412714123726
+     ],
+     [
+      0.10113400965929031,
+      0.01533588394522667,
+      0.9947546124458313
+     ]
+    ],
+    [
+     [
+      0.9730127453804016,
+      0.12673746049404144,
+      0.19283108413219452
+     ],
+     [
+      -0.1481965333223343,
+      0.9837649464607239,
+      0.10121414810419083
+     ],
+     [
+      -0.1768728345632553,
+      -0.12705954909324646,
+      0.9759978652000427
+     ]
+    ],
+    [
+     [
+      0.8609360456466675,
+      0.5012043118476868,
+      0.08708225190639496
+     ],
+     [
+      -0.5072163939476013,
+      0.8588544130325317,
+      0.07141861319541931
+     ],
+     [
+      -0.0389956571161747,
+      -0.10565640032291412,
+      0.9936378002166748
+     ]
+    ],
+    [
+     [
+      0.9206922650337219,
+      0.380860835313797,
+      -0.08526913076639175
+     ],
+     [
+      -0.3840193450450897,
+      0.9230207204818726,
+      -0.02370360493659973
+     ],
+     [
+      0.06967740505933762,
+      0.05456872284412384,
+      0.9960759878158569
+     ]
+    ],
+    [
+     [
+      0.8439501523971558,
+      0.4807555377483368,
+      -0.23795445263385773
+     ],
+     [
+      -0.3238306939601898,
+      0.8102552890777588,
+      0.48848751187324524
+     ],
+     [
+      0.4276469349861145,
+      -0.3352021276950836,
+      0.8394984602928162
+     ]
+    ],
+    [
+     [
+      0.9233095645904541,
+      0.36664533615112305,
+      0.11432686448097229
+     ],
+     [
+      -0.36811524629592896,
+      0.9297389984130859,
+      -0.008748363703489304
+     ],
+     [
+      -0.10950168967247009,
+      -0.03400801122188568,
+      0.9934046864509583
+     ]
+    ],
+    [
+     [
+      0.9812275171279907,
+      0.18575939536094666,
+      -0.05182725936174393
+     ],
+     [
+      -0.15933477878570557,
+      0.9322653412818909,
+      0.3247980773448944
+     ],
+     [
+      0.1086510494351387,
+      -0.31044289469718933,
+      0.9443622827529907
+     ]
+    ],
+    [
+     [
+      0.9203361868858337,
+      0.38697943091392517,
+      -0.05681730434298515
+     ],
+     [
+      -0.3804248869419098,
+      0.9194067120552063,
+      0.09984070807695389
+     ],
+     [
+      0.09087450802326202,
+      -0.0702723041176796,
+      0.9933798909187317
+     ]
+    ],
+    [
+     [
+      0.9688102602958679,
+      0.2353588193655014,
+      0.07754291594028473
+     ],
+     [
+      -0.24689702689647675,
+      0.9435331225395203,
+      0.22087812423706055
+     ],
+     [
+      -0.02117869257926941,
+      -0.23313412070274353,
+      0.9722139239311218
+     ]
+    ],
+    [
+     [
+      0.8620434403419495,
+      0.4956512451171875,
+      -0.10588179528713226
+     ],
+     [
+      -0.47210603952407837,
+      0.8612579703330994,
+      0.1880175769329071
+     ],
+     [
+      0.18438269197940826,
+      -0.11209189891815186,
+      0.9764417409896851
+     ]
+    ],
+    [
+     [
+      0.9699724316596985,
+      0.2197573482990265,
+      0.10421209037303925
+     ],
+     [
+      -0.050829529762268066,
+      0.6021791696548462,
+      -0.796741247177124
+     ],
+     [
+      -0.2378440946340561,
+      0.7675199508666992,
+      0.5952674150466919
+     ]
+    ],
+    [
+     [
+      0.9730770587921143,
+      -0.12093997001647949,
+      -0.1962001919746399
+     ],
+     [
+      0.1968691051006317,
+      0.8787963390350342,
+      0.4346947968006134
+     ],
+     [
+      0.11984803527593613,
+      -0.4616173207759857,
+      0.8789458870887756
+     ]
+    ],
+    [
+     [
+      0.7994993329048157,
+      0.5187157988548279,
+      0.30287736654281616
+     ],
+     [
+      -0.23553894460201263,
+      0.7345850467681885,
+      -0.6363223791122437
+     ],
+     [
+      -0.5525596737861633,
+      0.43739986419677734,
+      0.7094780206680298
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.969639003276825,
+      -0.13496872782707214,
+      0.20392060279846191
+     ],
+     [
+      0.16255459189414978,
+      0.9787301421165466,
+      -0.12515322864055634
+     ],
+     [
+      -0.18269145488739014,
+      0.15450169146060944,
+      0.9709547162055969
+     ]
+    ],
+    [
+     [
+      0.829095184803009,
+      0.558467447757721,
+      -0.026744259521365166
+     ],
+     [
+      -0.5543383955955505,
+      0.8273165822029114,
+      0.09086387604475021
+     ],
+     [
+      0.07287048548460007,
+      -0.06050943583250046,
+      0.9955041408538818
+     ]
+    ],
+    [
+     [
+      0.881246030330658,
+      0.46202772855758667,
+      -0.09967850148677826
+     ],
+     [
+      -0.4612855315208435,
+      0.8866830468177795,
+      0.03176283836364746
+     ],
+     [
+      0.10305854678153992,
+      0.017989370971918106,
+      0.9945126175880432
+     ]
+    ],
+    [
+     [
+      0.9701631665229797,
+      0.13887640833854675,
+      0.19873802363872528
+     ],
+     [
+      -0.162958025932312,
+      0.9804396033287048,
+      0.1103762611746788
+     ],
+     [
+      -0.17952196300029755,
+      -0.1394689381122589,
+      0.9738173484802246
+     ]
+    ],
+    [
+     [
+      0.8559210896492004,
+      0.5100244283676147,
+      0.08528893440961838
+     ],
+     [
+      -0.5156645774841309,
+      0.8541533350944519,
+      0.067172572016716
+     ],
+     [
+      -0.03859017789363861,
+      -0.10147489607334137,
+      0.9940893650054932
+     ]
+    ],
+    [
+     [
+      0.9271478652954102,
+      0.36487114429473877,
+      -0.08524034917354584
+     ],
+     [
+      -0.3676883578300476,
+      0.9297439455986023,
+      -0.01953008398413658
+     ],
+     [
+      0.07212573289871216,
+      0.04944915696978569,
+      0.9961689710617065
+     ]
+    ],
+    [
+     [
+      0.8452837467193604,
+      0.484765887260437,
+      -0.22471633553504944
+     ],
+     [
+      -0.3350432515144348,
+      0.8084927797317505,
+      0.4838237464427948
+     ],
+     [
+      0.41622278094291687,
+      -0.3336786925792694,
+      0.845823347568512
+     ]
+    ],
+    [
+     [
+      0.92568039894104,
+      0.3606959879398346,
+      0.11407964676618576
+     ],
+     [
+      -0.36305859684944153,
+      0.9317663311958313,
+      -7.153861224651337e-05
+     ],
+     [
+      -0.10632137209177017,
+      -0.04135137051343918,
+      0.993471622467041
+     ]
+    ],
+    [
+     [
+      0.9848614931106567,
+      0.1648034006357193,
+      -0.05373707041144371
+     ],
+     [
+      -0.1384909600019455,
+      0.9345219731330872,
+      0.32785508036613464
+     ],
+     [
+      0.10425010323524475,
+      -0.3154497444629669,
+      0.9431985020637512
+     ]
+    ],
+    [
+     [
+      0.9131351709365845,
+      0.4050742983818054,
+      -0.04581432789564133
+     ],
+     [
+      -0.39909738302230835,
+      0.9112078547477722,
+      0.1020859107375145
+     ],
+     [
+      0.08309874683618546,
+      -0.07493386417627335,
+      0.9937200546264648
+     ]
+    ],
+    [
+     [
+      0.9686551094055176,
+      0.23670314252376556,
+      0.07535825669765472
+     ],
+     [
+      -0.24772249162197113,
+      0.9429998397827148,
+      0.22222694754600525
+     ],
+     [
+      -0.01846100576221943,
+      -0.23392921686172485,
+      0.9720783233642578
+     ]
+    ],
+    [
+     [
+      0.8748570680618286,
+      0.4717373549938202,
+      -0.10995019972324371
+     ],
+     [
+      -0.4468372166156769,
+      0.8736039400100708,
+      0.1927502453327179
+     ],
+     [
+      0.18698041141033173,
+      -0.1194990873336792,
+      0.9750683307647705
+     ]
+    ],
+    [
+     [
+      0.9674253463745117,
+      0.23781929910182953,
+      0.08677650988101959
+     ],
+     [
+      -0.06396926939487457,
+      0.5612999200820923,
+      -0.8251365423202515
+     ],
+     [
+      -0.24494104087352753,
+      0.7927069664001465,
+      0.5582289099693298
+     ]
+    ],
+    [
+     [
+      0.9684360027313232,
+      -0.1213712990283966,
+      -0.21771711111068726
+     ],
+     [
+      0.21018260717391968,
+      0.8671610355377197,
+      0.4515030086040497
+     ],
+     [
+      0.13399630784988403,
+      -0.4830121099948883,
+      0.8653001189231873
+     ]
+    ],
+    [
+     [
+      0.8163188099861145,
+      0.5086399912834167,
+      0.2736949920654297
+     ],
+     [
+      -0.23785807192325592,
+      0.7278313636779785,
+      -0.6431834697723389
+     ],
+     [
+      -0.5263526439666748,
+      0.4599422216415405,
+      0.7151265740394592
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9683687090873718,
+      -0.14079752564430237,
+      0.20600523054599762
+     ],
+     [
+      0.16856905817985535,
+      0.9778509140014648,
+      -0.12406487762928009
+     ],
+     [
+      -0.18397437036037445,
+      0.15486665070056915,
+      0.970654308795929
+     ]
+    ],
+    [
+     [
+      0.8168699741363525,
+      0.5764337182044983,
+      -0.021158354356884956
+     ],
+     [
+      -0.5722804665565491,
+      0.8144870400428772,
+      0.09542515128850937
+     ],
+     [
+      0.0722394734621048,
+      -0.0658414289355278,
+      0.9952117204666138
+     ]
+    ],
+    [
+     [
+      0.8755212426185608,
+      0.47244080901145935,
+      -0.10130269080400467
+     ],
+     [
+      -0.47219547629356384,
+      0.8810518383979797,
+      0.027913060039281845
+     ],
+     [
+      0.10244018584489822,
+      0.023396193981170654,
+      0.9944639801979065
+     ]
+    ],
+    [
+     [
+      0.9680869579315186,
+      0.14850486814975739,
+      0.20187599956989288
+     ],
+     [
+      -0.1737067550420761,
+      0.9782490134239197,
+      0.11337901651859283
+     ],
+     [
+      -0.18064765632152557,
+      -0.1448279768228531,
+      0.9728264212608337
+     ]
+    ],
+    [
+     [
+      0.8517757654190063,
+      0.5176074504852295,
+      0.08099731802940369
+     ],
+     [
+      -0.5227726697921753,
+      0.8498791456222534,
+      0.06643863767385483
+     ],
+     [
+      -0.03444879874587059,
+      -0.09893400222063065,
+      0.994497537612915
+     ]
+    ],
+    [
+     [
+      0.9291039109230042,
+      0.36055514216423035,
+      -0.08225493878126144
+     ],
+     [
+      -0.36303290724754333,
+      0.9316221475601196,
+      -0.016949255019426346
+     ],
+     [
+      0.07051938027143478,
+      0.04560886695981026,
+      0.9964671730995178
+     ]
+    ],
+    [
+     [
+      0.8430719375610352,
+      0.4906303286552429,
+      -0.22025345265865326
+     ],
+     [
+      -0.34536945819854736,
+      0.8078591227531433,
+      0.4775809645652771
+     ],
+     [
+      0.41224944591522217,
+      -0.32656633853912354,
+      0.850532054901123
+     ]
+    ],
+    [
+     [
+      0.9283217191696167,
+      0.3544948101043701,
+      0.11203689128160477
+     ],
+     [
+      -0.35716354846954346,
+      0.9340331554412842,
+      0.004041178151965141
+     ],
+     [
+      -0.1032135859131813,
+      -0.04376700520515442,
+      0.993695855140686
+     ]
+    ],
+    [
+     [
+      0.986792802810669,
+      0.1525876820087433,
+      -0.05437783896923065
+     ],
+     [
+      -0.126760333776474,
+      0.9363926649093628,
+      0.3272622227668762
+     ],
+     [
+      0.10085520148277283,
+      -0.3160470724105835,
+      0.9433676600456238
+     ]
+    ],
+    [
+     [
+      0.907423734664917,
+      0.41796237230300903,
+      -0.04346918687224388
+     ],
+     [
+      -0.4122859835624695,
+      0.9055241942405701,
+      0.10023080557584763
+     ],
+     [
+      0.08125510811805725,
+      -0.07303007692098618,
+      0.9940142035484314
+     ]
+    ],
+    [
+     [
+      0.9693259000778198,
+      0.23535573482513428,
+      0.07081624865531921
+     ],
+     [
+      -0.24540475010871887,
+      0.9426974058151245,
+      0.22604888677597046
+     ],
+     [
+      -0.013556394726037979,
+      -0.23649367690086365,
+      0.9715384244918823
+     ]
+    ],
+    [
+     [
+      0.8823029398918152,
+      0.45795345306396484,
+      -0.10872039943933487
+     ],
+     [
+      -0.4329374432563782,
+      0.88023442029953,
+      0.19430023431777954
+     ],
+     [
+      0.18467989563941956,
+      -0.1243625357747078,
+      0.974898636341095
+     ]
+    ],
+    [
+     [
+      0.9681663513183594,
+      0.2370043843984604,
+      0.08051618188619614
+     ],
+     [
+      -0.066165491938591,
+      0.5525473356246948,
+      -0.830851137638092
+     ],
+     [
+      -0.24140435457229614,
+      0.7990747094154358,
+      0.550639271736145
+     ]
+    ],
+    [
+     [
+      0.9719820618629456,
+      -0.10928862541913986,
+      -0.20810291171073914
+     ],
+     [
+      0.19635573029518127,
+      0.8641897439956665,
+      0.4632715582847595
+     ],
+     [
+      0.12921008467674255,
+      -0.4911538362503052,
+      0.8614363670349121
+     ]
+    ],
+    [
+     [
+      0.8289824724197388,
+      0.4958897531032562,
+      0.2586144804954529
+     ],
+     [
+      -0.23172160983085632,
+      0.7253949046134949,
+      -0.6481568813323975
+     ],
+     [
+      -0.50901198387146,
+      0.477384090423584,
+      0.7162480354309082
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9669424295425415,
+      -0.1430554836988449,
+      0.21108633279800415
+     ],
+     [
+      0.17045362293720245,
+      0.9782977104187012,
+      -0.11780960857868195
+     ],
+     [
+      -0.1896519660949707,
+      0.1498955339193344,
+      0.9703419208526611
+     ]
+    ],
+    [
+     [
+      0.8148983120918274,
+      0.5792604684829712,
+      -0.019952230155467987
+     ],
+     [
+      -0.5750595331192017,
+      0.812332034111023,
+      0.09707286953926086
+     ],
+     [
+      0.0724383145570755,
+      -0.06763079762458801,
+      0.9950772523880005
+     ]
+    ],
+    [
+     [
+      0.8715871572494507,
+      0.4789665937423706,
+      -0.10453135520219803
+     ],
+     [
+      -0.4797062873840332,
+      0.877210259437561,
+      0.019597461447119713
+     ],
+     [
+      0.10108251124620438,
+      0.033063456416130066,
+      0.994328498840332
+     ]
+    ],
+    [
+     [
+      0.9673960208892822,
+      0.15314725041389465,
+      0.20171980559825897
+     ],
+     [
+      -0.17755630612373352,
+      0.9780596494674683,
+      0.10896359384059906
+     ],
+     [
+      -0.18060652911663055,
+      -0.14122755825519562,
+      0.9733632802963257
+     ]
+    ],
+    [
+     [
+      0.8525304794311523,
+      0.5172933340072632,
+      0.0748291164636612
+     ],
+     [
+      -0.5218855142593384,
+      0.8503484129905701,
+      0.0674026608467102
+     ],
+     [
+      -0.028763867914676666,
+      -0.09651505947113037,
+      0.9949158430099487
+     ]
+    ],
+    [
+     [
+      0.926957905292511,
+      0.3667278587818146,
+      -0.07911824434995651
+     ],
+     [
+      -0.3687303364276886,
+      0.9294607639312744,
+      -0.01185979787260294
+     ],
+     [
+      0.06918799132108688,
+      0.04016683250665665,
+      0.9967947006225586
+     ]
+    ],
+    [
+     [
+      0.8410851955413818,
+      0.48750194907188416,
+      -0.2343449592590332
+     ],
+     [
+      -0.3437240421772003,
+      0.8162365555763245,
+      0.4643400013446808
+     ],
+     [
+      0.4176476001739502,
+      -0.3099994957447052,
+      0.8540906310081482
+     ]
+    ],
+    [
+     [
+      0.9291757345199585,
+      0.3522302210330963,
+      0.11209961026906967
+     ],
+     [
+      -0.3565187156200409,
+      0.9340704679489136,
+      0.020166881382465363
+     ],
+     [
+      -0.09760554879903793,
+      -0.058704182505607605,
+      0.9934923052787781
+     ]
+    ],
+    [
+     [
+      0.9874816536903381,
+      0.14793406426906586,
+      -0.05473104864358902
+     ],
+     [
+      -0.12287174165248871,
+      0.9390134811401367,
+      0.3211793899536133
+     ],
+     [
+      0.09890656918287277,
+      -0.31043386459350586,
+      0.9454355239868164
+     ]
+    ],
+    [
+     [
+      0.907932698726654,
+      0.4159879982471466,
+      -0.05110921710729599
+     ],
+     [
+      -0.41059616208076477,
+      0.9073008894920349,
+      0.09064130485057831
+     ],
+     [
+      0.0840771421790123,
+      -0.06131095811724663,
+      0.9945712685585022
+     ]
+    ],
+    [
+     [
+      0.9696654677391052,
+      0.23533844947814941,
+      0.06606607139110565
+     ],
+     [
+      -0.2442963719367981,
+      0.9421740174293518,
+      0.2294066995382309
+     ],
+     [
+      -0.008257515728473663,
+      -0.23858745396137238,
+      0.9710859060287476
+     ]
+    ],
+    [
+     [
+      0.8859484791755676,
+      0.45226114988327026,
+      -0.102738156914711
+     ],
+     [
+      -0.4276961088180542,
+      0.8823848366737366,
+      0.19614548981189728
+     ],
+     [
+      0.17936356365680695,
+      -0.1298341006040573,
+      0.9751778244972229
+     ]
+    ],
+    [
+     [
+      0.9715244174003601,
+      0.221453458070755,
+      0.08425374329090118
+     ],
+     [
+      -0.059191711246967316,
+      0.5711582899093628,
+      -0.8187029957771301
+     ],
+     [
+      -0.2294268161058426,
+      0.7904028296470642,
+      0.5680024027824402
+     ]
+    ],
+    [
+     [
+      0.9800281524658203,
+      -0.09718683362007141,
+      -0.17349234223365784
+     ],
+     [
+      0.168687641620636,
+      0.8682940006256104,
+      0.4664868414402008
+     ],
+     [
+      0.1053059995174408,
+      -0.48643621802330017,
+      0.8673467636108398
+     ]
+    ],
+    [
+     [
+      0.8380023241043091,
+      0.4826609790325165,
+      0.2545398473739624
+     ],
+     [
+      -0.22410914301872253,
+      0.729749858379364,
+      -0.6459413766860962
+     ],
+     [
+      -0.4975211024284363,
+      0.48425567150115967,
+      0.719700813293457
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9677010178565979,
+      -0.13399650156497955,
+      0.21354074776172638
+     ],
+     [
+      0.1612369269132614,
+      0.9801155924797058,
+      -0.1156550794839859
+     ],
+     [
+      -0.1937972456216812,
+      0.1463501900434494,
+      0.9700640439987183
+     ]
+    ],
+    [
+     [
+      0.805212140083313,
+      0.5926831364631653,
+      -0.018974458798766136
+     ],
+     [
+      -0.5885931849479675,
+      0.8027248382568359,
+      0.09586937725543976
+     ],
+     [
+      0.07205143570899963,
+      -0.0660269558429718,
+      0.9952130317687988
+     ]
+    ],
+    [
+     [
+      0.8684629201889038,
+      0.4847606420516968,
+      -0.10382337123155594
+     ],
+     [
+      -0.4857892394065857,
+      0.8739136457443237,
+      0.016845718026161194
+     ],
+     [
+      0.09889880567789078,
+      0.03580639138817787,
+      0.9944530725479126
+     ]
+    ],
+    [
+     [
+      0.9667226672172546,
+      0.16361315548419952,
+      0.19666728377342224
+     ],
+     [
+      -0.18655772507190704,
+      0.9768890142440796,
+      0.10432694852352142
+     ],
+     [
+      -0.17505285143852234,
+      -0.13754503428936005,
+      0.9749040007591248
+     ]
+    ],
+    [
+     [
+      0.8520228862762451,
+      0.5183689594268799,
+      0.07314814627170563
+     ],
+     [
+      -0.5228486061096191,
+      0.8495998978614807,
+      0.06934913992881775
+     ],
+     [
+      -0.026198221370577812,
+      -0.09733246266841888,
+      0.9949070811271667
+     ]
+    ],
+    [
+     [
+      0.9265038967132568,
+      0.36807316541671753,
+      -0.07818375527858734
+     ],
+     [
+      -0.3697757124900818,
+      0.929086446762085,
+      -0.00801780354231596
+     ],
+     [
+      0.0696883350610733,
+      0.03633897751569748,
+      0.9969066977500916
+     ]
+    ],
+    [
+     [
+      0.8368425369262695,
+      0.49123308062553406,
+      -0.24162904918193817
+     ],
+     [
+      -0.34768858551979065,
+      0.8178452849388123,
+      0.4585212469100952
+     ],
+     [
+      0.4228559732437134,
+      -0.29969847202301025,
+      0.8552038669586182
+     ]
+    ],
+    [
+     [
+      0.9308509230613708,
+      0.347724586725235,
+      0.11226850003004074
+     ],
+     [
+      -0.35320982336997986,
+      0.9349719285964966,
+      0.03271586075425148
+     ],
+     [
+      -0.09359178692102432,
+      -0.07010792195796967,
+      0.9931392073631287
+     ]
+    ],
+    [
+     [
+      0.9890508055686951,
+      0.13843122124671936,
+      -0.05113963782787323
+     ],
+     [
+      -0.11583378165960312,
+      0.9429302215576172,
+      0.3121940791606903
+     ],
+     [
+      0.09143851697444916,
+      -0.3028521239757538,
+      0.9486409425735474
+     ]
+    ],
+    [
+     [
+      0.9043911099433899,
+      0.4229641556739807,
+      -0.05637453496456146
+     ],
+     [
+      -0.4175395369529724,
+      0.9044437408447266,
+      0.08741971850395203
+     ],
+     [
+      0.08796299993991852,
+      -0.05552301183342934,
+      0.9945751428604126
+     ]
+    ],
+    [
+     [
+      0.9702432155609131,
+      0.23382440209388733,
+      0.06288325041532516
+     ],
+     [
+      -0.24208283424377441,
+      0.9420196413993835,
+      0.23236793279647827
+     ],
+     [
+      -0.004903972148895264,
+      -0.2406763732433319,
+      0.9705930352210999
+     ]
+    ],
+    [
+     [
+      0.8916856646537781,
+      0.4417492747306824,
+      -0.09876351803541183
+     ],
+     [
+      -0.4182589650154114,
+      0.8875042796134949,
+      0.19337931275367737
+     ],
+     [
+      0.17307820916175842,
+      -0.1311248540878296,
+      0.9761404395103455
+     ]
+    ],
+    [
+     [
+      0.9725412130355835,
+      0.21387916803359985,
+      0.09175702929496765
+     ],
+     [
+      -0.05096251517534256,
+      0.5804065465927124,
+      -0.8127306699752808
+     ],
+     [
+      -0.2270825207233429,
+      0.7857378721237183,
+      0.575369119644165
+     ]
+    ],
+    [
+     [
+      0.9864215850830078,
+      -0.09181936830282211,
+      -0.13616760075092316
+     ],
+     [
+      0.14588993787765503,
+      0.8706570267677307,
+      0.46975788474082947
+     ],
+     [
+      0.07542240619659424,
+      -0.48324480652809143,
+      0.8722304105758667
+     ]
+    ],
+    [
+     [
+      0.8491171002388,
+      0.47204551100730896,
+      0.23700883984565735
+     ],
+     [
+      -0.22679641842842102,
+      0.7310633063316345,
+      -0.6435136795043945
+     ],
+     [
+      -0.4770362079143524,
+      0.49266567826271057,
+      0.7278165817260742
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9678673148155212,
+      -0.12456453591585159,
+      0.2184412032365799
+     ],
+     [
+      0.15153254568576813,
+      0.9821617007255554,
+      -0.11133833974599838
+     ],
+     [
+      -0.20067577064037323,
+      0.14086169004440308,
+      0.9694778323173523
+     ]
+    ],
+    [
+     [
+      0.7928564548492432,
+      0.6090776920318604,
+      -0.020075257867574692
+     ],
+     [
+      -0.6050817966461182,
+      0.7907185554504395,
+      0.09295263886451721
+     ],
+     [
+      0.07248926162719727,
+      -0.06155093014240265,
+      0.9954681396484375
+     ]
+    ],
+    [
+     [
+      0.8716919422149658,
+      0.4797707200050354,
+      -0.09986573457717896
+     ],
+     [
+      -0.48081862926483154,
+      0.8766937255859375,
+      0.014882490038871765
+     ],
+     [
+      0.09469184279441833,
+      0.0350443571805954,
+      0.9948896169662476
+     ]
+    ],
+    [
+     [
+      0.9661442041397095,
+      0.17659874260425568,
+      0.1880909949541092
+     ],
+     [
+      -0.19822336733341217,
+      0.9747281670570374,
+      0.10301720350980759
+     ],
+     [
+      -0.1651448756456375,
+      -0.13681350648403168,
+      0.9767339825630188
+     ]
+    ],
+    [
+     [
+      0.8571059107780457,
+      0.5091755390167236,
+      0.0781647264957428
+     ],
+     [
+      -0.5141891241073608,
+      0.8548336625099182,
+      0.06977779418230057
+     ],
+     [
+      -0.03128869831562042,
+      -0.09999840706586838,
+      0.9944955110549927
+     ]
+    ],
+    [
+     [
+      0.9303605556488037,
+      0.35845592617988586,
+      -0.0770624652504921
+     ],
+     [
+      -0.3602422773838043,
+      0.9328029155731201,
+      -0.010205735452473164
+     ],
+     [
+      0.06822579354047775,
+      0.03725617378950119,
+      0.9969740509986877
+     ]
+    ],
+    [
+     [
+      0.829554557800293,
+      0.5014836192131042,
+      -0.24566945433616638
+     ],
+     [
+      -0.3554415702819824,
+      0.8134825229644775,
+      0.46033406257629395
+     ],
+     [
+      0.4306977689266205,
+      -0.2945510745048523,
+      0.8530762195587158
+     ]
+    ],
+    [
+     [
+      0.9335780739784241,
+      0.3399593234062195,
+      0.11340031772851944
+     ],
+     [
+      -0.34488141536712646,
+      0.9382736682891846,
+      0.026444977149367332
+     ],
+     [
+      -0.09741031378507614,
+      -0.06379810720682144,
+      0.9931973814964294
+     ]
+    ],
+    [
+     [
+      0.9915999174118042,
+      0.12099073827266693,
+      -0.045726045966148376
+     ],
+     [
+      -0.10153833031654358,
+      0.9471626877784729,
+      0.3042578399181366
+     ],
+     [
+      0.08012238144874573,
+      -0.2970590889453888,
+      0.9514915943145752
+     ]
+    ],
+    [
+     [
+      0.8967763185501099,
+      0.43745148181915283,
+      -0.06654641032218933
+     ],
+     [
+      -0.43157118558883667,
+      0.8979058861732483,
+      0.08666816353797913
+     ],
+     [
+      0.09766551852226257,
+      -0.049002453684806824,
+      0.994012176990509
+     ]
+    ],
+    [
+     [
+      0.974393904209137,
+      0.21640950441360474,
+      0.061019692569971085
+     ],
+     [
+      -0.22471573948860168,
+      0.9465718269348145,
+      0.23131075501441956
+     ],
+     [
+      -0.00770166888833046,
+      -0.2390998899936676,
+      0.9709644317626953
+     ]
+    ],
+    [
+     [
+      0.898944079875946,
+      0.4271906614303589,
+      -0.09699326753616333
+     ],
+     [
+      -0.4058429002761841,
+      0.8954993486404419,
+      0.1826813668012619
+     ],
+     [
+      0.16489717364311218,
+      -0.12485630810260773,
+      0.9783760905265808
+     ]
+    ],
+    [
+     [
+      0.9725987315177917,
+      0.20283648371696472,
+      0.11361783742904663
+     ],
+     [
+      -0.032275520265102386,
+      0.6017671823501587,
+      -0.7980191111564636
+     ],
+     [
+      -0.2302388846874237,
+      0.7724853157997131,
+      0.5918246507644653
+     ]
+    ],
+    [
+     [
+      0.9913240671157837,
+      -0.08685649931430817,
+      -0.09865336120128632
+     ],
+     [
+      0.1233777105808258,
+      0.8737156391143799,
+      0.4705304801464081
+     ],
+     [
+      0.0453263521194458,
+      -0.47861984372138977,
+      0.876851499080658
+     ]
+    ],
+    [
+     [
+      0.8579689264297485,
+      0.461905837059021,
+      0.2247939556837082
+     ],
+     [
+      -0.2277064174413681,
+      0.7342195510864258,
+      -0.639586865901947
+     ],
+     [
+      -0.4604770541191101,
+      0.4975586235523224,
+      0.7351164817810059
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9684667587280273,
+      -0.10516594350337982,
+      0.22585895657539368
+     ],
+     [
+      0.13215988874435425,
+      0.9853391051292419,
+      -0.10789185762405396
+     ],
+     [
+      -0.21120110154151917,
+      0.13433916866779327,
+      0.9681668877601624
+     ]
+    ],
+    [
+     [
+      0.7768288850784302,
+      0.6291525959968567,
+      -0.02653210051357746
+     ],
+     [
+      -0.6253508925437927,
+      0.7757141590118408,
+      0.08487547934055328
+     ],
+     [
+      0.07398094981908798,
+      -0.049341846257448196,
+      0.9960382580757141
+     ]
+    ],
+    [
+     [
+      0.8782558441162109,
+      0.4690617322921753,
+      -0.09299344569444656
+     ],
+     [
+      -0.4692726731300354,
+      0.8828046917915344,
+      0.02095254883170128
+     ],
+     [
+      0.09192309528589249,
+      0.025237586349248886,
+      0.9954462647438049
+     ]
+    ],
+    [
+     [
+      0.9688971042633057,
+      0.1738060563802719,
+      0.1761527955532074
+     ],
+     [
+      -0.19253040850162506,
+      0.9766483306884766,
+      0.09534208476543427
+     ],
+     [
+      -0.15546828508377075,
+      -0.1262914389371872,
+      0.9797347187995911
+     ]
+    ],
+    [
+     [
+      0.8567759990692139,
+      0.5079790353775024,
+      0.08883804827928543
+     ],
+     [
+      -0.5143948793411255,
+      0.8540451526641846,
+      0.07749094069004059
+     ],
+     [
+      -0.036507926881313324,
+      -0.11209021508693695,
+      0.9930271506309509
+     ]
+    ],
+    [
+     [
+      0.9292259216308594,
+      0.3619198799133301,
+      -0.07451961934566498
+     ],
+     [
+      -0.36404967308044434,
+      0.9312273263931274,
+      -0.016836881637573242
+     ],
+     [
+      0.06330110132694244,
+      0.04277411103248596,
+      0.9970774054527283
+     ]
+    ],
+    [
+     [
+      0.8216491341590881,
+      0.5107679963111877,
+      -0.25299954414367676
+     ],
+     [
+      -0.35940492153167725,
+      0.8087595701217651,
+      0.4655492901802063
+     ],
+     [
+      0.44240349531173706,
+      -0.2915889024734497,
+      0.8480890989303589
+     ]
+    ],
+    [
+     [
+      0.9338774681091309,
+      0.3415623903274536,
+      0.10586786270141602
+     ],
+     [
+      -0.3444095849990845,
+      0.9387732148170471,
+      0.009320620447397232
+     ],
+     [
+      -0.09620234370231628,
+      -0.045166224241256714,
+      0.9943365454673767
+     ]
+    ],
+    [
+     [
+      0.9923356771469116,
+      0.11426442861557007,
+      -0.0470489040017128
+     ],
+     [
+      -0.09627978503704071,
+      0.9536029696464539,
+      0.28525710105895996
+     ],
+     [
+      0.07746071368455887,
+      -0.2785409092903137,
+      0.9572955369949341
+     ]
+    ],
+    [
+     [
+      0.8962225317955017,
+      0.436242014169693,
+      -0.08048634976148605
+     ],
+     [
+      -0.429713636636734,
+      0.8987978100776672,
+      0.08665261417627335
+     ],
+     [
+      0.11014246195554733,
+      -0.04307394474744797,
+      0.992982029914856
+     ]
+    ],
+    [
+     [
+      0.9750155210494995,
+      0.21270020306110382,
+      0.06405705213546753
+     ],
+     [
+      -0.22179646790027618,
+      0.9481194615364075,
+      0.22776257991790771
+     ],
+     [
+      -0.012288585305213928,
+      -0.23627969622612,
+      0.9716073870658875
+     ]
+    ],
+    [
+     [
+      0.8975769877433777,
+      0.42942291498184204,
+      -0.099757120013237
+     ],
+     [
+      -0.4105284810066223,
+      0.8966265320777893,
+      0.1659134328365326
+     ],
+     [
+      0.16069190204143524,
+      -0.10796695202589035,
+      0.9810816645622253
+     ]
+    ],
+    [
+     [
+      0.9723508358001709,
+      0.18044528365135193,
+      0.14823409914970398
+     ],
+     [
+      -0.0036033466458320618,
+      0.6462857723236084,
+      -0.7630870342254639
+     ],
+     [
+      -0.2334970235824585,
+      0.7414541244506836,
+      0.6290667057037354
+     ]
+    ],
+    [
+     [
+      0.9945356249809265,
+      -0.09130901098251343,
+      -0.05061127245426178
+     ],
+     [
+      0.10435900092124939,
+      0.8826920986175537,
+      0.45821815729141235
+     ],
+     [
+      0.002834724262356758,
+      -0.46099603176116943,
+      0.8873976469039917
+     ]
+    ],
+    [
+     [
+      0.85825115442276,
+      0.4598592221736908,
+      0.22789132595062256
+     ],
+     [
+      -0.23286429047584534,
+      0.7446111440658569,
+      -0.6255625486373901
+     ],
+     [
+      -0.457361102104187,
+      0.4838220775127411,
+      0.7461481690406799
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9716652035713196,
+      -0.042151130735874176,
+      0.232572540640831
+     ],
+     [
+      0.06662416458129883,
+      0.9929147362709045,
+      -0.09839468449354172
+     ],
+     [
+      -0.22677727043628693,
+      0.1111016497015953,
+      0.9675890207290649
+     ]
+    ],
+    [
+     [
+      0.7427859902381897,
+      0.6683101058006287,
+      -0.04038040339946747
+     ],
+     [
+      -0.665740430355072,
+      0.7436453700065613,
+      0.061492398381233215
+     ],
+     [
+      0.07112469524145126,
+      -0.018792830407619476,
+      0.9972903728485107
+     ]
+    ],
+    [
+     [
+      0.9057245850563049,
+      0.41756170988082886,
+      -0.07283709198236465
+     ],
+     [
+      -0.4163138270378113,
+      0.9086479544639587,
+      0.03227628022432327
+     ],
+     [
+      0.07966061681509018,
+      0.0010896623134613037,
+      0.9968214631080627
+     ]
+    ],
+    [
+     [
+      0.9687119722366333,
+      0.2032838761806488,
+      0.14238274097442627
+     ],
+     [
+      -0.2165563702583313,
+      0.9725824594497681,
+      0.08477440476417542
+     ],
+     [
+      -0.12124568223953247,
+      -0.11295586824417114,
+      0.9861746430397034
+     ]
+    ],
+    [
+     [
+      0.8677113652229309,
+      0.4853997230529785,
+      0.10707072913646698
+     ],
+     [
+      -0.4945163130760193,
+      0.8647910356521606,
+      0.08712092787027359
+     ],
+     [
+      -0.050305336713790894,
+      -0.12854403257369995,
+      0.9904270768165588
+     ]
+    ],
+    [
+     [
+      0.9393695592880249,
+      0.33583030104637146,
+      -0.06930261850357056
+     ],
+     [
+      -0.3384879529476166,
+      0.9404700994491577,
+      -0.030690034851431847
+     ],
+     [
+      0.054870400577783585,
+      0.05228738486766815,
+      0.9971234798431396
+     ]
+    ],
+    [
+     [
+      0.8074769973754883,
+      0.5157453417778015,
+      -0.2863348126411438
+     ],
+     [
+      -0.3558673858642578,
+      0.813012957572937,
+      0.46083441376686096
+     ],
+     [
+      0.47046709060668945,
+      -0.2702159583568573,
+      0.8400262594223022
+     ]
+    ],
+    [
+     [
+      0.9357587695121765,
+      0.3328069746494293,
+      0.11659766733646393
+     ],
+     [
+      -0.33638450503349304,
+      0.9416495561599731,
+      0.011897573247551918
+     ],
+     [
+      -0.10583454370498657,
+      -0.05035490542650223,
+      0.9931079745292664
+     ]
+    ],
+    [
+     [
+      0.9951964020729065,
+      0.09093967080116272,
+      -0.036250561475753784
+     ],
+     [
+      -0.07972757518291473,
+      0.967751145362854,
+      0.23895855247974396
+     ],
+     [
+      0.0568123385310173,
+      -0.23492051661014557,
+      0.9703528881072998
+     ]
+    ],
+    [
+     [
+      0.8910407423973083,
+      0.4403507709503174,
+      -0.1101708933711052
+     ],
+     [
+      -0.4327182173728943,
+      0.8973330855369568,
+      0.08688119053840637
+     ],
+     [
+      0.13711819052696228,
+      -0.02974172867834568,
+      0.990108072757721
+     ]
+    ],
+    [
+     [
+      0.9820075035095215,
+      0.17656363546848297,
+      0.0669819563627243
+     ],
+     [
+      -0.18724314868450165,
+      0.9564427733421326,
+      0.22395817935466766
+     ],
+     [
+      -0.024521537125110626,
+      -0.2324705272912979,
+      0.972294270992279
+     ]
+    ],
+    [
+     [
+      0.909365713596344,
+      0.4055399000644684,
+      -0.09268975257873535
+     ],
+     [
+      -0.39262834191322327,
+      0.9103331565856934,
+      0.13090649247169495
+     ],
+     [
+      0.13746635615825653,
+      -0.08264924585819244,
+      0.9870522022247314
+     ]
+    ],
+    [
+     [
+      0.9679024815559387,
+      0.1379680037498474,
+      0.2100704312324524
+     ],
+     [
+      0.05006704106926918,
+      0.7132459878921509,
+      -0.6991233229637146
+     ],
+     [
+      -0.24628853797912598,
+      0.6872008442878723,
+      0.6834449172019958
+     ]
+    ],
+    [
+     [
+      0.9954806566238403,
+      -0.08730839937925339,
+      0.037355728447437286
+     ],
+     [
+      0.06190594285726547,
+      0.8949204087257385,
+      0.4419107139110565
+     ],
+     [
+      -0.07201292365789413,
+      -0.4376010596752167,
+      0.8962808847427368
+     ]
+    ],
+    [
+     [
+      0.8791744709014893,
+      0.42814087867736816,
+      0.20915952324867249
+     ],
+     [
+      -0.23337262868881226,
+      0.769588828086853,
+      -0.5943654775619507
+     ],
+     [
+      -0.4154389798641205,
+      0.47373881936073303,
+      0.7765191793441772
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9613801836967468,
+      -0.01686295121908188,
+      0.2747068405151367
+     ],
+     [
+      0.04390496760606766,
+      0.994735836982727,
+      -0.09259029477834702
+     ],
+     [
+      -0.27169936895370483,
+      0.10107546299695969,
+      0.9570596814155579
+     ]
+    ],
+    [
+     [
+      0.7258038520812988,
+      0.683181643486023,
+      -0.08044680953025818
+     ],
+     [
+      -0.6820393800735474,
+      0.7299157381057739,
+      0.045224837958812714
+     ],
+     [
+      0.08961616456508636,
+      0.02204352617263794,
+      0.9957324266433716
+     ]
+    ],
+    [
+     [
+      0.9399601817131042,
+      0.3389275074005127,
+      -0.040037285536527634
+     ],
+     [
+      -0.33702874183654785,
+      0.9402983784675598,
+      0.04744011163711548
+     ],
+     [
+      0.05372575297951698,
+      -0.031098097562789917,
+      0.9980713725090027
+     ]
+    ],
+    [
+     [
+      0.9780738949775696,
+      0.17072194814682007,
+      0.11927054822444916
+     ],
+     [
+      -0.18003812432289124,
+      0.981006383895874,
+      0.07219952344894409
+     ],
+     [
+      -0.10467912256717682,
+      -0.0920897126197815,
+      0.9902331829071045
+     ]
+    ],
+    [
+     [
+      0.8781616687774658,
+      0.4537910223007202,
+      0.1513468623161316
+     ],
+     [
+      -0.47178739309310913,
+      0.8738808035850525,
+      0.1172560304403305
+     ],
+     [
+      -0.07904939353466034,
+      -0.17437328398227692,
+      0.9815014600753784
+     ]
+    ],
+    [
+     [
+      0.9479895234107971,
+      0.3130500912666321,
+      -0.05758058652281761
+     ],
+     [
+      -0.31671011447906494,
+      0.9457545876502991,
+      -0.07240818440914154
+     ],
+     [
+      0.031789716333150864,
+      0.08687855303287506,
+      0.9957115650177002
+     ]
+    ],
+    [
+     [
+      0.8052434921264648,
+      0.48399853706359863,
+      -0.34253230690956116
+     ],
+     [
+      -0.28935980796813965,
+      0.824984073638916,
+      0.4854608178138733
+     ],
+     [
+      0.5175459980964661,
+      -0.29179906845092773,
+      0.8043627738952637
+     ]
+    ],
+    [
+     [
+      0.9301658272743225,
+      0.34780940413475037,
+      0.11755918711423874
+     ],
+     [
+      -0.3458670675754547,
+      0.9375457167625427,
+      -0.03720264136791229
+     ],
+     [
+      -0.12315654009580612,
+      -0.006055222824215889,
+      0.992368757724762
+     ]
+    ],
+    [
+     [
+      0.9896935224533081,
+      0.1418484002351761,
+      -0.019640855491161346
+     ],
+     [
+      -0.13597534596920013,
+      0.9738891124725342,
+      0.18179860711097717
+     ],
+     [
+      0.044915854930877686,
+      -0.17725422978401184,
+      0.9831396341323853
+     ]
+    ],
+    [
+     [
+      0.9039727449417114,
+      0.4008810222148895,
+      -0.1487535536289215
+     ],
+     [
+      -0.39030560851097107,
+      0.9156845808029175,
+      0.09582915902137756
+     ],
+     [
+      0.174627423286438,
+      -0.028567608445882797,
+      0.9842200875282288
+     ]
+    ],
+    [
+     [
+      0.9845931529998779,
+      0.14817318320274353,
+      0.0928492397069931
+     ],
+     [
+      -0.1646156907081604,
+      0.9645235538482666,
+      0.20638781785964966
+     ],
+     [
+      -0.05897414684295654,
+      -0.21849247813224792,
+      0.9740549921989441
+     ]
+    ],
+    [
+     [
+      0.8950258493423462,
+      0.4318012595176697,
+      -0.11169794946908951
+     ],
+     [
+      -0.4271925687789917,
+      0.9019218683242798,
+      0.06358771026134491
+     ],
+     [
+      0.12820008397102356,
+      -0.00919611006975174,
+      0.9917057156562805
+     ]
+    ],
+    [
+     [
+      0.9437618255615234,
+      0.09542854130268097,
+      0.3165549337863922
+     ],
+     [
+      0.11077341437339783,
+      0.8108395338058472,
+      -0.5746899843215942
+     ],
+     [
+      -0.3115170896053314,
+      0.5774363279342651,
+      0.7546684145927429
+     ]
+    ],
+    [
+     [
+      0.9817957282066345,
+      -0.15705548226833344,
+      0.10682085156440735
+     ],
+     [
+      0.10614101588726044,
+      0.9200437068939209,
+      0.377165287733078
+     ],
+     [
+      -0.1575157344341278,
+      -0.35896119475364685,
+      0.9199650287628174
+     ]
+    ],
+    [
+     [
+      0.8616938591003418,
+      0.44669750332832336,
+      0.24071763455867767
+     ],
+     [
+      -0.2832808196544647,
+      0.8170618414878845,
+      -0.5021572709083557
+     ],
+     [
+      -0.4209935665130615,
+      0.36451512575149536,
+      0.830597996711731
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9553698897361755,
+      0.03557832911610603,
+      0.29326197504997253
+     ],
+     [
+      -0.012290331535041332,
+      0.9966485500335693,
+      -0.08087403327226639
+     ],
+     [
+      -0.2951565086841583,
+      0.07366032153367996,
+      0.9526052474975586
+     ]
+    ],
+    [
+     [
+      0.7032262086868286,
+      0.7028726935386658,
+      -0.10697157680988312
+     ],
+     [
+      -0.7053617835044861,
+      0.7085950374603271,
+      0.018913736566901207
+     ],
+     [
+      0.08909349143505096,
+      0.06215302646160126,
+      0.9940821528434753
+     ]
+    ],
+    [
+     [
+      0.958732008934021,
+      0.283562570810318,
+      -0.02062121406197548
+     ],
+     [
+      -0.2816913425922394,
+      0.957219123840332,
+      0.06619343161582947
+     ],
+     [
+      0.03850900009274483,
+      -0.057652946561574936,
+      0.9975937008857727
+     ]
+    ],
+    [
+     [
+      0.9794350266456604,
+      0.17765462398529053,
+      0.09563397616147995
+     ],
+     [
+      -0.18381479382514954,
+      0.9811317920684814,
+      0.05993722379207611
+     ],
+     [
+      -0.08318141847848892,
+      -0.07628355920314789,
+      0.9936104416847229
+     ]
+    ],
+    [
+     [
+      0.8832704424858093,
+      0.4356880486011505,
+      0.1732317954301834
+     ],
+     [
+      -0.46004584431648254,
+      0.876654863357544,
+      0.14083370566368103
+     ],
+     [
+      -0.09050492942333221,
+      -0.20408880710601807,
+      0.9747597575187683
+     ]
+    ],
+    [
+     [
+      0.9478973150253296,
+      0.3148759603500366,
+      -0.04841298609972
+     ],
+     [
+      -0.31823813915252686,
+      0.942891538143158,
+      -0.09838718920946121
+     ],
+     [
+      0.014668440446257591,
+      0.10866781324148178,
+      0.9939699172973633
+     ]
+    ],
+    [
+     [
+      0.7973321676254272,
+      0.4624067544937134,
+      -0.3878677785396576
+     ],
+     [
+      -0.25543302297592163,
+      0.8408002257347107,
+      0.4772934019565582
+     ],
+     [
+      0.5468230247497559,
+      -0.2814871370792389,
+      0.7885110378265381
+     ]
+    ],
+    [
+     [
+      0.9302050471305847,
+      0.34891530871391296,
+      0.11391540616750717
+     ],
+     [
+      -0.3457789719104767,
+      0.9371448159217834,
+      -0.046866752207279205
+     ],
+     [
+      -0.12310775369405746,
+      0.004206135869026184,
+      0.9923843741416931
+     ]
+    ],
+    [
+     [
+      0.9864829182624817,
+      0.16311350464820862,
+      -0.015666447579860687
+     ],
+     [
+      -0.15972977876663208,
+      0.9785293340682983,
+      0.13025660812854767
+     ],
+     [
+      0.03657669201493263,
+      -0.1259935349225998,
+      0.9913565516471863
+     ]
+    ],
+    [
+     [
+      0.9082624912261963,
+      0.37524694204330444,
+      -0.18506470322608948
+     ],
+     [
+      -0.36518383026123047,
+      0.9268534183502197,
+      0.08708369731903076
+     ],
+     [
+      0.20420575141906738,
+      -0.01151222363114357,
+      0.9788603186607361
+     ]
+    ],
+    [
+     [
+      0.9867678880691528,
+      0.12614388763904572,
+      0.10186661034822464
+     ],
+     [
+      -0.14491702616214752,
+      0.9679381847381592,
+      0.20517006516456604
+     ],
+     [
+      -0.07271962612867355,
+      -0.21721744537353516,
+      0.9734107255935669
+     ]
+    ],
+    [
+     [
+      0.8865134716033936,
+      0.44747281074523926,
+      -0.11773686856031418
+     ],
+     [
+      -0.44867002964019775,
+      0.893523633480072,
+      0.01762845180928707
+     ],
+     [
+      0.1130889281630516,
+      0.03719714283943176,
+      0.992888331413269
+     ]
+    ],
+    [
+     [
+      0.9300671815872192,
+      0.025661170482635498,
+      0.3664921820163727
+     ],
+     [
+      0.15698176622390747,
+      0.8741487264633179,
+      -0.45958760380744934
+     ],
+     [
+      -0.3321622312068939,
+      0.4849799573421478,
+      0.8089886903762817
+     ]
+    ],
+    [
+     [
+      0.9700583219528198,
+      -0.1700020283460617,
+      0.17345379292964935
+     ],
+     [
+      0.10519246757030487,
+      0.9378047585487366,
+      0.3308424949645996
+     ],
+     [
+      -0.21890969574451447,
+      -0.30269044637680054,
+      0.9276082515716553
+     ]
+    ],
+    [
+     [
+      0.8647438883781433,
+      0.4340628981590271,
+      0.25260129570961
+     ],
+     [
+      -0.30756163597106934,
+      0.8553382158279419,
+      -0.41689616441726685
+     ],
+     [
+      -0.397018700838089,
+      0.28281790018081665,
+      0.873149573802948
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9499491453170776,
+      0.06114663928747177,
+      0.3063620328903198
+     ],
+     [
+      -0.03919515013694763,
+      0.9962368011474609,
+      -0.077304407954216
+     ],
+     [
+      -0.3099360466003418,
+      0.06142735481262207,
+      0.9487709403038025
+     ]
+    ],
+    [
+     [
+      0.6879547834396362,
+      0.7151669859886169,
+      -0.1235087513923645
+     ],
+     [
+      -0.720029890537262,
+      0.6939040422439575,
+      0.007361914962530136
+     ],
+     [
+      0.09096822142601013,
+      0.08386532962322235,
+      0.9923161864280701
+     ]
+    ],
+    [
+     [
+      0.965224027633667,
+      0.2611764669418335,
+      -0.011378924362361431
+     ],
+     [
+      -0.2595599889755249,
+      0.9626214504241943,
+      0.077385812997818
+     ],
+     [
+      0.031164947897195816,
+      -0.07174113392829895,
+      0.9969362616539001
+     ]
+    ],
+    [
+     [
+      0.9812336564064026,
+      0.172689288854599,
+      0.08578410744667053
+     ],
+     [
+      -0.17763975262641907,
+      0.9826222062110901,
+      0.05383026599884033
+     ],
+     [
+      -0.07499745488166809,
+      -0.06805873662233353,
+      0.9948585033416748
+     ]
+    ],
+    [
+     [
+      0.8805174827575684,
+      0.43516427278518677,
+      0.18793873488903046
+     ],
+     [
+      -0.4641679525375366,
+      0.8719514608383179,
+      0.1557203233242035
+     ],
+     [
+      -0.09610952436923981,
+      -0.22434958815574646,
+      0.9697577953338623
+     ]
+    ],
+    [
+     [
+      0.9461544156074524,
+      0.32043784856796265,
+      -0.045949578285217285
+     ],
+     [
+      -0.32363641262054443,
+      0.9394847750663757,
+      -0.11237351596355438
+     ],
+     [
+      0.00716019980609417,
+      0.12119366228580475,
+      0.992603063583374
+     ]
+    ],
+    [
+     [
+      0.7944819331169128,
+      0.44946128129959106,
+      -0.4083908200263977
+     ],
+     [
+      -0.23459672927856445,
+      0.8474278450012207,
+      0.4762671887874603
+     ],
+     [
+      0.560145378112793,
+      -0.28257855772972107,
+      0.7787082195281982
+     ]
+    ],
+    [
+     [
+      0.9304465651512146,
+      0.34920740127563477,
+      0.11101067066192627
+     ],
+     [
+      -0.34588855504989624,
+      0.9370213150978088,
+      -0.04849962890148163
+     ],
+     [
+      -0.12095579504966736,
+      0.006728995591402054,
+      0.9926350712776184
+     ]
+    ],
+    [
+     [
+      0.9814114570617676,
+      0.1907760500907898,
+      -0.02088293246924877
+     ],
+     [
+      -0.18771356344223022,
+      0.9768688082695007,
+      0.10242553055286407
+     ],
+     [
+      0.03994022309780121,
+      -0.09660157561302185,
+      0.99452143907547
+     ]
+    ],
+    [
+     [
+      0.9111315608024597,
+      0.35891422629356384,
+      -0.2025335133075714
+     ],
+     [
+      -0.34905704855918884,
+      0.9333537817001343,
+      0.0837247297167778
+     ],
+     [
+      0.2190854251384735,
+      -0.0055884867906570435,
+      0.9756896495819092
+     ]
+    ],
+    [
+     [
+      0.9871748685836792,
+      0.1191631481051445,
+      0.10623513162136078
+     ],
+     [
+      -0.13894686102867126,
+      0.9690170884132385,
+      0.20420485734939575
+     ],
+     [
+      -0.07860997319221497,
+      -0.21634694933891296,
+      0.9731466770172119
+     ]
+    ],
+    [
+     [
+      0.8754534125328064,
+      0.46699094772338867,
+      -0.12450215220451355
+     ],
+     [
+      -0.47137099504470825,
+      0.881910502910614,
+      -0.006579479202628136
+     ],
+     [
+      0.10672719776630402,
+      0.06444672495126724,
+      0.9921975135803223
+     ]
+    ],
+    [
+     [
+      0.9198747873306274,
+      -0.01116335391998291,
+      0.39205315709114075
+     ],
+     [
+      0.18150688707828522,
+      0.8982318043708801,
+      -0.4002934992313385
+     ],
+     [
+      -0.3476860225200653,
+      0.4393802583217621,
+      0.8282870650291443
+     ]
+    ],
+    [
+     [
+      0.9627793431282043,
+      -0.17974579334259033,
+      0.20185992121696472
+     ],
+     [
+      0.11204444617033005,
+      0.9450522661209106,
+      0.3071194291114807
+     ],
+     [
+      -0.24597159028053284,
+      -0.27307093143463135,
+      0.930016279220581
+     ]
+    ],
+    [
+     [
+      0.8599041700363159,
+      0.43718767166137695,
+      0.2634991407394409
+     ],
+     [
+      -0.3292734622955322,
+      0.8695200681686401,
+      -0.3681221008300781
+     ],
+     [
+      -0.39005619287490845,
+      0.2297864556312561,
+      0.8916581869125366
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.06936027854681015,
+    0.326102077960968,
+    0.31945791840553284
+   ],
+   [
+    0.0677165612578392,
+    0.3203124403953552,
+    0.3225424885749817
+   ],
+   [
+    0.07964391261339188,
+    0.32565778493881226,
+    0.34691670536994934
+   ],
+   [
+    0.1391318440437317,
+    0.28910014033317566,
+    0.356048583984375
+   ],
+   [
+    0.19133293628692627,
+    0.27056029438972473,
+    0.401567280292511
+   ],
+   [
+    0.19953280687332153,
+    0.23691163957118988,
+    0.3922359347343445
+   ],
+   [
+    0.19946733117103577,
+    0.18555036187171936,
+    0.3618495464324951
+   ],
+   [
+    0.19415651261806488,
+    0.1840069591999054,
+    0.37045350670814514
+   ],
+   [
+    0.19550475478172302,
+    0.21594199538230896,
+    0.4105660319328308
+   ],
+   [
+    0.1864604949951172,
+    0.20738135278224945,
+    0.39460834860801697
+   ],
+   [
+    0.19026942551136017,
+    0.21194486320018768,
+    0.3917318880558014
+   ],
+   [
+    0.1949262022972107,
+    0.2124376744031906,
+    0.40390273928642273
+   ],
+   [
+    0.1743832379579544,
+    0.14719679951667786,
+    0.3222997784614563
+   ],
+   [
+    0.11963709443807602,
+    0.2567727565765381,
+    0.4045755863189697
+   ],
+   [
+    0.07662343978881836,
+    0.2513797879219055,
+    0.3398476541042328
+   ],
+   [
+    0.07412686198949814,
+    0.27026501297950745,
+    0.34039369225502014
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.6803882122039795,
+    -0.837843656539917,
+    -4.314499378204346,
+    -2.12758469581604,
+    -0.279785692691803,
+    -3.873955726623535,
+    -1.7372804880142212,
+    0.8284725546836853,
+    0.7268370389938354,
+    1.2267122268676758
+   ],
+   [
+    -2.683776378631592,
+    -0.8528778553009033,
+    -4.339680194854736,
+    -2.126307964324951,
+    -0.2924751043319702,
+    -3.872044563293457,
+    -1.7228225469589233,
+    0.832180917263031,
+    0.7515527009963989,
+    1.2298376560211182
+   ],
+   [
+    -2.6097476482391357,
+    -0.9503974914550781,
+    -4.273305416107178,
+    -2.0072522163391113,
+    -0.28706181049346924,
+    -4.001764297485352,
+    -1.8177250623703003,
+    0.8295018672943115,
+    0.7769285440444946,
+    1.1979804039001465
+   ],
+   [
+    -2.559351682662964,
+    -0.7816038131713867,
+    -3.9363014698028564,
+    -1.8887689113616943,
+    -0.2886180281639099,
+    -3.8186092376708984,
+    -1.684556245803833,
+    0.8067045211791992,
+    0.8277007341384888,
+    1.325838327407837
+   ],
+   [
+    -2.7047677040100098,
+    -0.6785316467285156,
+    -3.7472023963928223,
+    -1.8655633926391602,
+    -0.4148132801055908,
+    -3.659497022628784,
+    -1.794012427330017,
+    0.8285641074180603,
+    0.6743876934051514,
+    1.3410017490386963
+   ],
+   [
+    -2.5231070518493652,
+    -0.6576051712036133,
+    -3.367600679397583,
+    -1.650144338607788,
+    -0.5078659653663635,
+    -3.523496150970459,
+    -1.643834114074707,
+    0.8012982606887817,
+    0.7901326417922974,
+    1.2946693897247314
+   ],
+   [
+    -2.193389415740967,
+    -0.6292833089828491,
+    -3.31559419631958,
+    -1.5484570264816284,
+    -0.3972127437591553,
+    -3.3280739784240723,
+    -1.6776224374771118,
+    0.7782347202301025,
+    0.7201039791107178,
+    1.2061059474945068
+   ],
+   [
+    -2.322023630142212,
+    -0.7978923320770264,
+    -3.3568408489227295,
+    -1.5317493677139282,
+    -0.27355313301086426,
+    -3.632458448410034,
+    -1.6530531644821167,
+    0.8642383813858032,
+    0.808479905128479,
+    1.1694680452346802
+   ],
+   [
+    -2.443150520324707,
+    -0.8262529373168945,
+    -3.174936532974243,
+    -1.4870092868804932,
+    -0.3460811376571655,
+    -3.4510998725891113,
+    -1.5652233362197876,
+    0.8064284324645996,
+    0.7826212644577026,
+    1.250054955482483
+   ],
+   [
+    -2.4581172466278076,
+    -0.8603441715240479,
+    -3.1961560249328613,
+    -1.515222191810608,
+    -0.241693913936615,
+    -3.532853126525879,
+    -1.5433273315429688,
+    0.9454654455184937,
+    0.8923959732055664,
+    1.1848623752593994
+   ],
+   [
+    -2.2522366046905518,
+    -0.7057158946990967,
+    -2.9453461170196533,
+    -1.4497489929199219,
+    -0.3258481025695801,
+    -3.293497085571289,
+    -1.4801857471466064,
+    0.7540767192840576,
+    0.8143829107284546,
+    1.1861977577209473
+   ],
+   [
+    -2.2033841609954834,
+    -0.7373478412628174,
+    -2.904477596282959,
+    -1.4122873544692993,
+    -0.38491976261138916,
+    -3.2693912982940674,
+    -1.4132957458496094,
+    0.7474490404129028,
+    0.7580689191818237,
+    1.152294635772705
+   ],
+   [
+    0.8807294368743896,
+    0.9793766736984253,
+    -1.1571840047836304,
+    -0.6759192943572998,
+    -1.0533373355865479,
+    -0.9255907535552979,
+    -1.3246442079544067,
+    0.12244459241628647,
+    0.4792216718196869,
+    1.233791708946228
+   ],
+   [
+    -2.704864978790283,
+    -0.8561506271362305,
+    -4.210597991943359,
+    -2.0602967739105225,
+    -0.15148389339447021,
+    -4.025216102600098,
+    -1.8092530965805054,
+    0.8178165555000305,
+    0.7799230813980103,
+    1.268660306930542
+   ],
+   [
+    -2.5980780124664307,
+    -0.8577127456665039,
+    -4.044663906097412,
+    -1.9411914348602295,
+    -0.18763303756713867,
+    -3.9346823692321777,
+    -1.7451575994491577,
+    0.8388468027114868,
+    0.7556077241897583,
+    1.2961130142211914
+   ],
+   [
+    -2.554584503173828,
+    -0.8798825740814209,
+    -4.188529014587402,
+    -2.055147409439087,
+    -0.14544552564620972,
+    -4.057192325592041,
+    -1.8008004426956177,
+    0.8132539987564087,
+    0.73566734790802,
+    1.3059265613555908
+   ]
+  ]
+ ]
+}

test/add_remove_lid/0/cam_space/1/0_15.json

@@ -0,0 +1,4674 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.07978630065917969,
+     0.8127016425132751,
+     -0.5771917700767517
+    ],
+    [
+     0.5628615021705627,
+     -0.5146242380142212,
+     -0.6467992067337036
+    ],
+    [
+     -0.8226915001869202,
+     -0.27327319979667664,
+     -0.4984985589981079
+    ]
+   ],
+   [
+    [
+     0.08741581439971924,
+     0.7622835636138916,
+     -0.6413128972053528
+    ],
+    [
+     0.6101152896881104,
+     -0.5498756170272827,
+     -0.570435106754303
+    ],
+    [
+     -0.7874756455421448,
+     -0.34140971302986145,
+     -0.5131487846374512
+    ]
+   ],
+   [
+    [
+     0.09241092205047607,
+     0.6852133274078369,
+     -0.7224563360214233
+    ],
+    [
+     0.6680793762207031,
+     -0.580673336982727,
+     -0.4652836322784424
+    ],
+    [
+     -0.7383295297622681,
+     -0.4396607279777527,
+     -0.5114376544952393
+    ]
+   ],
+   [
+    [
+     0.10781890153884888,
+     0.5153315663337708,
+     -0.850181519985199
+    ],
+    [
+     0.695326030254364,
+     -0.6502995491027832,
+     -0.30599409341812134
+    ],
+    [
+     -0.7105609774589539,
+     -0.5581613779067993,
+     -0.4284381866455078
+    ]
+   ],
+   [
+    [
+     0.09788399934768677,
+     0.19529502093791962,
+     -0.9758476614952087
+    ],
+    [
+     0.5248896479606628,
+     -0.8432148694992065,
+     -0.11610147356987
+    ],
+    [
+     -0.8455232977867126,
+     -0.5008478164672852,
+     -0.18504559993743896
+    ]
+   ],
+   [
+    [
+     0.07988244295120239,
+     0.10997089743614197,
+     -0.9907196164131165
+    ],
+    [
+     0.5145635604858398,
+     -0.8557815551757812,
+     -0.053502947092056274
+    ],
+    [
+     -0.8537232279777527,
+     -0.5055142641067505,
+     -0.12494909763336182
+    ]
+   ],
+   [
+    [
+     0.06749707460403442,
+     0.1284732073545456,
+     -0.989413321018219
+    ],
+    [
+     0.5582983493804932,
+     -0.8267436027526855,
+     -0.0692642480134964
+    ],
+    [
+     -0.8268899321556091,
+     -0.5477127432823181,
+     -0.12752902507781982
+    ]
+   ],
+   [
+    [
+     0.08046120405197144,
+     0.16458769142627716,
+     -0.9830752611160278
+    ],
+    [
+     0.5780733823776245,
+     -0.8111721277236938,
+     -0.08849415183067322
+    ],
+    [
+     -0.8120081424713135,
+     -0.5611692667007446,
+     -0.16041183471679688
+    ]
+   ],
+   [
+    [
+     0.05174899101257324,
+     0.22266054153442383,
+     -0.9735216498374939
+    ],
+    [
+     0.6266611814498901,
+     -0.7662556171417236,
+     -0.14194422960281372
+    ],
+    [
+     -0.7775717377662659,
+     -0.602722704410553,
+     -0.1791856288909912
+    ]
+   ],
+   [
+    [
+     0.045782506465911865,
+     0.29080989956855774,
+     -0.955685019493103
+    ],
+    [
+     0.6858774423599243,
+     -0.7046996355056763,
+     -0.18157905340194702
+    ],
+    [
+     -0.7262756824493408,
+     -0.6471695303916931,
+     -0.23172307014465332
+    ]
+   ],
+   [
+    [
+     0.010640084743499756,
+     0.38331297039985657,
+     -0.9235572814941406
+    ],
+    [
+     0.7729222774505615,
+     -0.5891345739364624,
+     -0.2356095016002655
+    ],
+    [
+     -0.6344115734100342,
+     -0.7113310098648071,
+     -0.302539587020874
+    ]
+   ],
+   [
+    [
+     0.01490098237991333,
+     0.44492217898368835,
+     -0.8954452872276306
+    ],
+    [
+     0.8066555261611938,
+     -0.5345261096954346,
+     -0.25216788053512573
+    ],
+    [
+     -0.5908339619636536,
+     -0.7185583710670471,
+     -0.3668639659881592
+    ]
+   ],
+   [
+    [
+     0.048985958099365234,
+     0.5450332164764404,
+     -0.8369823694229126
+    ],
+    [
+     0.8392194509506226,
+     -0.4768456220626831,
+     -0.26139914989471436
+    ],
+    [
+     -0.541582465171814,
+     -0.689606785774231,
+     -0.4807612895965576
+    ]
+   ],
+   [
+    [
+     0.1972191333770752,
+     0.5729013681411743,
+     -0.7955430150032043
+    ],
+    [
+     0.83498215675354,
+     -0.5233869552612305,
+     -0.16991488635540009
+    ],
+    [
+     -0.5137212872505188,
+     -0.6307536363601685,
+     -0.5815843343734741
+    ]
+   ],
+   [
+    [
+     0.4640345573425293,
+     0.3708406984806061,
+     -0.8044558763504028
+    ],
+    [
+     0.605987012386322,
+     -0.7952916622161865,
+     -0.01706431806087494
+    ],
+    [
+     -0.6461050510406494,
+     -0.4795713424682617,
+     -0.5937676429748535
+    ]
+   ],
+   [
+    [
+     0.4332733750343323,
+     0.48264801502227783,
+     -0.761134147644043
+    ],
+    [
+     0.6368116140365601,
+     -0.7615585327148438,
+     -0.12041397392749786
+    ],
+    [
+     -0.6377657651901245,
+     -0.4325268864631653,
+     -0.6373189687728882
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9610763192176819,
+      -0.19359378516674042,
+      -0.1971135139465332
+     ],
+     [
+      0.17012746632099152,
+      0.976824939250946,
+      -0.1298832893371582
+     ],
+     [
+      0.21768999099731445,
+      0.0912933275103569,
+      0.9717389345169067
+     ]
+    ],
+    [
+     [
+      0.5957908630371094,
+      -0.7917208075523376,
+      0.1349496841430664
+     ],
+     [
+      0.8014993071556091,
+      0.596854031085968,
+      -0.036933816969394684
+     ],
+     [
+      -0.05130399391055107,
+      0.1301669180393219,
+      0.9901638627052307
+     ]
+    ],
+    [
+     [
+      0.9438653588294983,
+      -0.30171334743499756,
+      0.13448867201805115
+     ],
+     [
+      0.27582406997680664,
+      0.9438749551773071,
+      0.18171709775924683
+     ],
+     [
+      -0.18176698684692383,
+      -0.13442125916481018,
+      0.9741107225418091
+     ]
+    ],
+    [
+     [
+      0.929664134979248,
+      -0.3396260738372803,
+      -0.1427542120218277
+     ],
+     [
+      0.3601123094558716,
+      0.9195024967193604,
+      0.157588928937912
+     ],
+     [
+      0.07774154841899872,
+      -0.197912335395813,
+      0.9771320223808289
+     ]
+    ],
+    [
+     [
+      0.8417456150054932,
+      -0.5255117416381836,
+      -0.12369997799396515
+     ],
+     [
+      0.535338282585144,
+      0.8421075344085693,
+      0.06532928347587585
+     ],
+     [
+      0.06983737647533417,
+      -0.1212119609117508,
+      0.9901668429374695
+     ]
+    ],
+    [
+     [
+      0.9355295300483704,
+      -0.334552139043808,
+      0.11339928209781647
+     ],
+     [
+      0.3400764763355255,
+      0.9398216605186462,
+      -0.032912082970142365
+     ],
+     [
+      -0.09556430578231812,
+      0.06935464590787888,
+      0.9930042028427124
+     ]
+    ],
+    [
+     [
+      0.8593087792396545,
+      -0.3524898886680603,
+      0.3705931305885315
+     ],
+     [
+      0.1943761110305786,
+      0.8952878713607788,
+      0.40084606409072876
+     ],
+     [
+      -0.47308170795440674,
+      -0.2724161148071289,
+      0.8378443717956543
+     ]
+    ],
+    [
+     [
+      0.9381716251373291,
+      -0.3018544316291809,
+      -0.16946354508399963
+     ],
+     [
+      0.3192305564880371,
+      0.9437417984008789,
+      0.08627466857433319
+     ],
+     [
+      0.13388743996620178,
+      -0.13503839075565338,
+      0.9817529320716858
+     ]
+    ],
+    [
+     [
+      0.9865268468856812,
+      -0.15157699584960938,
+      0.06155659258365631
+     ],
+     [
+      0.13726696372032166,
+      0.9716219902038574,
+      0.19263553619384766
+     ],
+     [
+      -0.08900885283946991,
+      -0.18159043788909912,
+      0.9793376922607422
+     ]
+    ],
+    [
+     [
+      0.9039442539215088,
+      -0.402114599943161,
+      0.145563006401062
+     ],
+     [
+      0.3937031328678131,
+      0.9154019951820374,
+      0.08388686180114746
+     ],
+     [
+      -0.1669808030128479,
+      -0.01852044090628624,
+      0.9857861995697021
+     ]
+    ],
+    [
+     [
+      0.9692574739456177,
+      -0.23885886371135712,
+      -0.059045713394880295
+     ],
+     [
+      0.246023491024971,
+      0.9374042749404907,
+      0.24646632373332977
+     ],
+     [
+      -0.0035209618508815765,
+      -0.2534159719944,
+      0.9673510193824768
+     ]
+    ],
+    [
+     [
+      0.8908061981201172,
+      -0.4476020932197571,
+      0.07820910215377808
+     ],
+     [
+      0.42704838514328003,
+      0.8835203051567078,
+      0.19240984320640564
+     ],
+     [
+      -0.15522237122058868,
+      -0.13800081610679626,
+      0.9781931042671204
+     ]
+    ],
+    [
+     [
+      0.9002422094345093,
+      -0.37598809599876404,
+      -0.21953797340393066
+     ],
+     [
+      0.0022038817405700684,
+      0.508162260055542,
+      -0.8612586259841919
+     ],
+     [
+      0.4353838562965393,
+      0.7748575210571289,
+      0.4582977294921875
+     ]
+    ],
+    [
+     [
+      0.9192277789115906,
+      0.2878764569759369,
+      0.26860272884368896
+     ],
+     [
+      -0.38141146302223206,
+      0.8203670978546143,
+      0.42605534195899963
+     ],
+     [
+      -0.0977015495300293,
+      -0.4940900504589081,
+      0.8639035820960999
+     ]
+    ],
+    [
+     [
+      0.8804090023040771,
+      -0.46886590123176575,
+      -0.07102653384208679
+     ],
+     [
+      0.3543575704097748,
+      0.7499982714653015,
+      -0.5585098266601562
+     ],
+     [
+      0.31513601541519165,
+      0.46654829382896423,
+      0.8264514207839966
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9619347453117371,
+      -0.19101592898368835,
+      -0.19543403387069702
+     ],
+     [
+      0.17063704133033752,
+      0.9784310460090637,
+      -0.11642910540103912
+     ],
+     [
+      0.21345853805541992,
+      0.07864892482757568,
+      0.973781168460846
+     ]
+    ],
+    [
+     [
+      0.6094013452529907,
+      -0.7826775312423706,
+      0.12667252123355865
+     ],
+     [
+      0.7914519309997559,
+      0.6100276708602905,
+      -0.038342468440532684
+     ],
+     [
+      -0.04726396128535271,
+      0.12362115830183029,
+      0.991203248500824
+     ]
+    ],
+    [
+     [
+      0.9417662620544434,
+      -0.31240925192832947,
+      0.12440566718578339
+     ],
+     [
+      0.2889173924922943,
+      0.9410364627838135,
+      0.17600330710411072
+     ],
+     [
+      -0.17205531895160675,
+      -0.12981101870536804,
+      0.9764968156814575
+     ]
+    ],
+    [
+     [
+      0.9354762434959412,
+      -0.3273628056049347,
+      -0.1331082433462143
+     ],
+     [
+      0.34502890706062317,
+      0.9275246262550354,
+      0.143712118268013
+     ],
+     [
+      0.07641518115997314,
+      -0.1803654581308365,
+      0.9806268215179443
+     ]
+    ],
+    [
+     [
+      0.8317424654960632,
+      -0.5399830341339111,
+      -0.12892943620681763
+     ],
+     [
+      0.5517357587814331,
+      0.8297699689865112,
+      0.08408008515834808
+     ],
+     [
+      0.061579957604408264,
+      -0.1410679668188095,
+      0.9880828857421875
+     ]
+    ],
+    [
+     [
+      0.9234179258346558,
+      -0.3692381680011749,
+      0.1047019362449646
+     ],
+     [
+      0.37440362572669983,
+      0.9266344308853149,
+      -0.03421323001384735
+     ],
+     [
+      -0.08438758552074432,
+      0.07079388946294785,
+      0.9939149618148804
+     ]
+    ],
+    [
+     [
+      0.8648781180381775,
+      -0.3168741762638092,
+      0.38932836055755615
+     ],
+     [
+      0.17976072430610657,
+      0.9196539521217346,
+      0.3491743206977844
+     ],
+     [
+      -0.46869170665740967,
+      -0.23200726509094238,
+      0.852350115776062
+     ]
+    ],
+    [
+     [
+      0.9354833364486694,
+      -0.31802839040756226,
+      -0.15404188632965088
+     ],
+     [
+      0.33900582790374756,
+      0.9307228326797485,
+      0.13722266256809235
+     ],
+     [
+      0.09972959756851196,
+      -0.18059061467647552,
+      0.9784891605377197
+     ]
+    ],
+    [
+     [
+      0.9740777611732483,
+      -0.2087993025779724,
+      0.0870366245508194
+     ],
+     [
+      0.19063100218772888,
+      0.9648116827011108,
+      0.18110291659832
+     ],
+     [
+      -0.12178811430931091,
+      -0.1598164588212967,
+      0.9796051979064941
+     ]
+    ],
+    [
+     [
+      0.9167782068252563,
+      -0.368179589509964,
+      0.15479525923728943
+     ],
+     [
+      0.3625481426715851,
+      0.9297506809234619,
+      0.06420718133449554
+     ],
+     [
+      -0.16756075620651245,
+      -0.002743016928434372,
+      0.9858579635620117
+     ]
+    ],
+    [
+     [
+      0.9560571312904358,
+      -0.2875036895275116,
+      -0.057413965463638306
+     ],
+     [
+      0.2923642694950104,
+      0.920333743095398,
+      0.2598247528076172
+     ],
+     [
+      -0.02186056785285473,
+      -0.2651931047439575,
+      0.9639474749565125
+     ]
+    ],
+    [
+     [
+      0.8702766299247742,
+      -0.48592409491539,
+      0.08060014247894287
+     ],
+     [
+      0.46581241488456726,
+      0.8651113510131836,
+      0.18601398169994354
+     ],
+     [
+      -0.1601167619228363,
+      -0.12433908134698868,
+      0.9792356491088867
+     ]
+    ],
+    [
+     [
+      0.9117887616157532,
+      -0.33317917585372925,
+      -0.2400684505701065
+     ],
+     [
+      -0.004026621580123901,
+      0.5773108005523682,
+      -0.8165145516395569
+     ],
+     [
+      0.41063976287841797,
+      0.7454554438591003,
+      0.5250439643859863
+     ]
+    ],
+    [
+     [
+      0.9335636496543884,
+      0.2863784730434418,
+      0.21551406383514404
+     ],
+     [
+      -0.3526569902896881,
+      0.8412796258926392,
+      0.4097336232662201
+     ],
+     [
+      -0.06396869570016861,
+      -0.4585149586200714,
+      0.8863814473152161
+     ]
+    ],
+    [
+     [
+      0.8793951272964478,
+      -0.4685034155845642,
+      -0.08466874808073044
+     ],
+     [
+      0.3619319200515747,
+      0.7734094262123108,
+      -0.5204259157180786
+     ],
+     [
+      0.3093049228191376,
+      0.42701566219329834,
+      0.8496987819671631
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9583420157432556,
+      -0.201877161860466,
+      -0.20205482840538025
+     ],
+     [
+      0.18614529073238373,
+      0.9779914021492004,
+      -0.09424812346696854
+     ],
+     [
+      0.21663442254066467,
+      0.0527103915810585,
+      0.9748287796974182
+     ]
+    ],
+    [
+     [
+      0.62205570936203,
+      -0.7738967537879944,
+      0.11887173354625702
+     ],
+     [
+      0.7818933129310608,
+      0.6219671964645386,
+      -0.042422592639923096
+     ],
+     [
+      -0.04110361263155937,
+      0.11933423578739166,
+      0.9920029640197754
+     ]
+    ],
+    [
+     [
+      0.9370591044425964,
+      -0.33186885714530945,
+      0.10855089128017426
+     ],
+     [
+      0.31198129057884216,
+      0.9353781938552856,
+      0.16653920710086823
+     ],
+     [
+      -0.15680532157421112,
+      -0.12219123542308807,
+      0.98004150390625
+     ]
+    ],
+    [
+     [
+      0.941606879234314,
+      -0.31585001945495605,
+      -0.1166844367980957
+     ],
+     [
+      0.3287806510925293,
+      0.9372317790985107,
+      0.11618873476982117
+     ],
+     [
+      0.07266215980052948,
+      -0.14776769280433655,
+      0.9863492846488953
+     ]
+    ],
+    [
+     [
+      0.8125404119491577,
+      -0.5669004917144775,
+      -0.13565358519554138
+     ],
+     [
+      0.5812088251113892,
+      0.8056715726852417,
+      0.11440956592559814
+     ],
+     [
+      0.044433411210775375,
+      -0.1718054711818695,
+      0.9841282963752747
+     ]
+    ],
+    [
+     [
+      0.8953154683113098,
+      -0.43562886118888855,
+      0.09293955564498901
+     ],
+     [
+      0.440117746591568,
+      0.8972980380058289,
+      -0.03395020216703415
+     ],
+     [
+      -0.06860479712486267,
+      0.07130049169063568,
+      0.9950927495956421
+     ]
+    ],
+    [
+     [
+      0.8697599172592163,
+      -0.2742260694503784,
+      0.4102655053138733
+     ],
+     [
+      0.1623900979757309,
+      0.9441269040107727,
+      0.28679925203323364
+     ],
+     [
+      -0.4659905433654785,
+      -0.18282341957092285,
+      0.8656953573226929
+     ]
+    ],
+    [
+     [
+      0.9278958439826965,
+      -0.3487328290939331,
+      -0.13188914954662323
+     ],
+     [
+      0.3696642518043518,
+      0.9065779447555542,
+      0.20362885296344757
+     ],
+     [
+      0.04855574294924736,
+      -0.23770107328891754,
+      0.9701240062713623
+     ]
+    ],
+    [
+     [
+      0.9497215747833252,
+      -0.2870182693004608,
+      0.1250976175069809
+     ],
+     [
+      0.264611154794693,
+      0.9493750333786011,
+      0.16931620240211487
+     ],
+     [
+      -0.16736139357089996,
+      -0.1277010440826416,
+      0.9775902032852173
+     ]
+    ],
+    [
+     [
+      0.9341903328895569,
+      -0.31743019819259644,
+      0.16286954283714294
+     ],
+     [
+      0.31498295068740845,
+      0.9481967687606812,
+      0.041335489600896835
+     ],
+     [
+      -0.16755351424217224,
+      0.012685910798609257,
+      0.9857813715934753
+     ]
+    ],
+    [
+     [
+      0.9300932884216309,
+      -0.3626960217952728,
+      -0.05812081694602966
+     ],
+     [
+      0.36394110321998596,
+      0.8884977698326111,
+      0.27949708700180054
+     ],
+     [
+      -0.0497322678565979,
+      -0.281110942363739,
+      0.9583858251571655
+     ]
+    ],
+    [
+     [
+      0.8303954005241394,
+      -0.5506677627563477,
+      0.08490270376205444
+     ],
+     [
+      0.5314788818359375,
+      0.828590989112854,
+      0.17597511410713196
+     ],
+     [
+      -0.16725343465805054,
+      -0.10100492835044861,
+      0.980726420879364
+     ]
+    ],
+    [
+     [
+      0.9305858612060547,
+      -0.2482229620218277,
+      -0.26906371116638184
+     ],
+     [
+      -0.02212567627429962,
+      0.6955171227455139,
+      -0.7181687951087952
+     ],
+     [
+      0.3654044270515442,
+      0.6742709279060364,
+      0.6417462825775146
+     ]
+    ],
+    [
+     [
+      0.9570984840393066,
+      0.26399552822113037,
+      0.1194523274898529
+     ],
+     [
+      -0.28972798585891724,
+      0.8782775402069092,
+      0.38037654757499695
+     ],
+     [
+      -0.004494592547416687,
+      -0.39866647124290466,
+      0.9170849919319153
+     ]
+    ],
+    [
+     [
+      0.8861151933670044,
+      -0.4503796696662903,
+      -0.10935289412736893
+     ],
+     [
+      0.35835856199264526,
+      0.8154373168945312,
+      -0.45457807183265686
+     ],
+     [
+      0.2939031422138214,
+      0.36362096667289734,
+      0.8839687705039978
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9478238821029663,
+      -0.2500227689743042,
+      -0.1977841705083847
+     ],
+     [
+      0.23945124447345734,
+      0.9679238200187683,
+      -0.07606969773769379
+     ],
+     [
+      0.2104591578245163,
+      0.02474101074039936,
+      0.9772895574569702
+     ]
+    ],
+    [
+     [
+      0.6342754364013672,
+      -0.7652207016944885,
+      0.11014486849308014
+     ],
+     [
+      0.7726646065711975,
+      0.6322653293609619,
+      -0.05683152377605438
+     ],
+     [
+      -0.026152119040489197,
+      0.1211518943309784,
+      0.9922894239425659
+     ]
+    ],
+    [
+     [
+      0.9394117593765259,
+      -0.3307197391986847,
+      0.09016662836074829
+     ],
+     [
+      0.3132753074169159,
+      0.9350718259811401,
+      0.16582882404327393
+     ],
+     [
+      -0.13915514945983887,
+      -0.12753456830978394,
+      0.9820238351821899
+     ]
+    ],
+    [
+     [
+      0.9329879283905029,
+      -0.3445996046066284,
+      -0.1038493663072586
+     ],
+     [
+      0.35413163900375366,
+      0.9304554462432861,
+      0.0940399020910263
+     ],
+     [
+      0.0642210990190506,
+      -0.12451443076133728,
+      0.9901372790336609
+     ]
+    ],
+    [
+     [
+      0.7807857990264893,
+      -0.6051321625709534,
+      -0.15552672743797302
+     ],
+     [
+      0.6241772770881653,
+      0.7665568590164185,
+      0.1509743183851242
+     ],
+     [
+      0.027860678732395172,
+      -0.21495486795902252,
+      0.9762265086174011
+     ]
+    ],
+    [
+     [
+      0.8576107025146484,
+      -0.507677435874939,
+      0.0822649896144867
+     ],
+     [
+      0.5117930173873901,
+      0.8582150936126709,
+      -0.039174944162368774
+     ],
+     [
+      -0.05071282386779785,
+      0.07569950073957443,
+      0.9958402514457703
+     ]
+    ],
+    [
+     [
+      0.8709964752197266,
+      -0.25562742352485657,
+      0.4195471405982971
+     ],
+     [
+      0.16621288657188416,
+      0.9569392800331116,
+      0.23799259960651398
+     ],
+     [
+      -0.4623185992240906,
+      -0.13755656778812408,
+      0.8759793043136597
+     ]
+    ],
+    [
+     [
+      0.9119530916213989,
+      -0.39604994654655457,
+      -0.10717275738716125
+     ],
+     [
+      0.4094882905483246,
+      0.8621960282325745,
+      0.298223614692688
+     ],
+     [
+      -0.025707516819238663,
+      -0.31585192680358887,
+      0.9484601616859436
+     ]
+    ],
+    [
+     [
+      0.904403805732727,
+      -0.3903971016407013,
+      0.17217402160167694
+     ],
+     [
+      0.3634948432445526,
+      0.9162788391113281,
+      0.168239563703537
+     ],
+     [
+      -0.22343964874744415,
+      -0.08957213163375854,
+      0.9705933928489685
+     ]
+    ],
+    [
+     [
+      0.9353084564208984,
+      -0.3089755177497864,
+      0.17243053019046783
+     ],
+     [
+      0.3080674409866333,
+      0.950802743434906,
+      0.032689664512872696
+     ],
+     [
+      -0.17404772341251373,
+      0.022545307874679565,
+      0.9844791293144226
+     ]
+    ],
+    [
+     [
+      0.885643720626831,
+      -0.4597600996494293,
+      -0.06523702293634415
+     ],
+     [
+      0.45614495873451233,
+      0.8350207805633545,
+      0.30768829584121704
+     ],
+     [
+      -0.08698853105306625,
+      -0.30225974321365356,
+      0.9492481350898743
+     ]
+    ],
+    [
+     [
+      0.7770322561264038,
+      -0.6225870847702026,
+      0.09276977181434631
+     ],
+     [
+      0.604485273361206,
+      0.779155969619751,
+      0.16587215662002563
+     ],
+     [
+      -0.17555198073387146,
+      -0.07281004637479782,
+      0.9817740321159363
+     ]
+    ],
+    [
+     [
+      0.9412055611610413,
+      -0.17090153694152832,
+      -0.29141849279403687
+     ],
+     [
+      -0.04899873584508896,
+      0.7844294309616089,
+      -0.6182795166969299
+     ],
+     [
+      0.3342621922492981,
+      0.596207320690155,
+      0.7299354076385498
+     ]
+    ],
+    [
+     [
+      0.9668163061141968,
+      0.25399741530418396,
+      0.027415232732892036
+     ],
+     [
+      -0.24807490408420563,
+      0.9077613353729248,
+      0.3382723331451416
+     ],
+     [
+      0.06103382259607315,
+      -0.333848237991333,
+      0.9406488537788391
+     ]
+    ],
+    [
+     [
+      0.8946903944015503,
+      -0.4292711913585663,
+      -0.12351259589195251
+     ],
+     [
+      0.3648381531238556,
+      0.8617980480194092,
+      -0.35241639614105225
+     ],
+     [
+      0.2577250897884369,
+      0.2702414393424988,
+      0.927656888961792
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9257810115814209,
+      -0.3286071717739105,
+      -0.18694071471691132
+     ],
+     [
+      0.32556310296058655,
+      0.9443183541297913,
+      -0.047660235315561295
+     ],
+     [
+      0.19219304621219635,
+      -0.016738053411245346,
+      0.9812144041061401
+     ]
+    ],
+    [
+     [
+      0.59389328956604,
+      -0.8008047342300415,
+      0.07747651636600494
+     ],
+     [
+      0.8040690422058105,
+      0.5874764919281006,
+      -0.09134772419929504
+     ],
+     [
+      0.027636045590043068,
+      0.11654727160930634,
+      0.9928005933761597
+     ]
+    ],
+    [
+     [
+      0.9157427549362183,
+      -0.3903225064277649,
+      0.09520265460014343
+     ],
+     [
+      0.3749726414680481,
+      0.915416955947876,
+      0.1463126391172409
+     ],
+     [
+      -0.1442592442035675,
+      -0.09828636050224304,
+      0.9846466779708862
+     ]
+    ],
+    [
+     [
+      0.8055865168571472,
+      -0.5720543265342712,
+      -0.15422113239765167
+     ],
+     [
+      0.5903872847557068,
+      0.7969204187393188,
+      0.12790901958942413
+     ],
+     [
+      0.0497310496866703,
+      -0.19409199059009552,
+      0.9797219634056091
+     ]
+    ],
+    [
+     [
+      0.7411495447158813,
+      -0.6443639993667603,
+      -0.18839409947395325
+     ],
+     [
+      0.6706051826477051,
+      0.7237157821655273,
+      0.16286234557628632
+     ],
+     [
+      0.031401172280311584,
+      -0.2470434159040451,
+      0.9684954881668091
+     ]
+    ],
+    [
+     [
+      0.7896568775177002,
+      -0.6095066666603088,
+      0.0703110545873642
+     ],
+     [
+      0.6129392981529236,
+      0.7887817025184631,
+      -0.046138957142829895
+     ],
+     [
+      -0.027338076382875443,
+      0.07953035831451416,
+      0.9964575171470642
+     ]
+    ],
+    [
+     [
+      0.7671048641204834,
+      -0.5216175317764282,
+      0.37345045804977417
+     ],
+     [
+      0.3827224373817444,
+      0.8392972946166992,
+      0.3861393630504608
+     ],
+     [
+      -0.5148530006408691,
+      -0.1532815396785736,
+      0.8434637784957886
+     ]
+    ],
+    [
+     [
+      0.8442597389221191,
+      -0.5280354022979736,
+      -0.09167370200157166
+     ],
+     [
+      0.5032303333282471,
+      0.7222188115119934,
+      0.47450944781303406
+     ],
+     [
+      -0.18434929847717285,
+      -0.4467422068119049,
+      0.8754637241363525
+     ]
+    ],
+    [
+     [
+      0.788536012172699,
+      -0.570418119430542,
+      0.22985677421092987
+     ],
+     [
+      0.5226285457611084,
+      0.8185454607009888,
+      0.2384171336889267
+     ],
+     [
+      -0.32414567470550537,
+      -0.06787081062793732,
+      0.9435693621635437
+     ]
+    ],
+    [
+     [
+      0.7706835865974426,
+      -0.6086849570274353,
+      0.18854545056819916
+     ],
+     [
+      0.5971240401268005,
+      0.7931532859802246,
+      0.11979468166828156
+     ],
+     [
+      -0.22246266901493073,
+      0.020261239260435104,
+      0.9747306704521179
+     ]
+    ],
+    [
+     [
+      0.7980470061302185,
+      -0.5983217358589172,
+      -0.07163843512535095
+     ],
+     [
+      0.5719045996665955,
+      0.7145742774009705,
+      0.4028755724430084
+     ],
+     [
+      -0.18985825777053833,
+      -0.36248400807380676,
+      0.9124467968940735
+     ]
+    ],
+    [
+     [
+      0.67772376537323,
+      -0.7315660715103149,
+      0.07417301833629608
+     ],
+     [
+      0.713009238243103,
+      0.6784694194793701,
+      0.17690986394882202
+     ],
+     [
+      -0.1797453612089157,
+      -0.06700997054576874,
+      0.9814282059669495
+     ]
+    ],
+    [
+     [
+      0.9483381509780884,
+      -0.03190511465072632,
+      -0.3156529664993286
+     ],
+     [
+      -0.14727783203125,
+      0.8369600772857666,
+      -0.5270740985870361
+     ],
+     [
+      0.28100526332855225,
+      0.5463331937789917,
+      0.7890222668647766
+     ]
+    ],
+    [
+     [
+      0.9849839210510254,
+      0.1685105413198471,
+      -0.03756226599216461
+     ],
+     [
+      -0.14522568881511688,
+      0.9263488054275513,
+      0.3475448191165924
+     ],
+     [
+      0.09336072206497192,
+      -0.33687105774879456,
+      0.9369106888771057
+     ]
+    ],
+    [
+     [
+      0.9395401477813721,
+      -0.31866174936294556,
+      -0.12537530064582825
+     ],
+     [
+      0.2805876135826111,
+      0.9262686371803284,
+      -0.2515890300273895
+     ],
+     [
+      0.19630300998687744,
+      0.2011992335319519,
+      0.959679126739502
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8971139788627625,
+      -0.3953409194946289,
+      -0.19721069931983948
+     ],
+     [
+      0.39511561393737793,
+      0.9176609516143799,
+      -0.04221455752849579
+     ],
+     [
+      0.19766169786453247,
+      -0.040049754083156586,
+      0.9794518351554871
+     ]
+    ],
+    [
+     [
+      0.44085627794265747,
+      -0.8950144052505493,
+      0.06778641045093536
+     ],
+     [
+      0.8941532373428345,
+      0.4313294291496277,
+      -0.12018688023090363
+     ],
+     [
+      0.07833071053028107,
+      0.1135965883731842,
+      0.9904342889785767
+     ]
+    ],
+    [
+     [
+      0.8667833209037781,
+      -0.4776152968406677,
+      0.14342358708381653
+     ],
+     [
+      0.45982593297958374,
+      0.8767771124839783,
+      0.1407906413078308
+     ],
+     [
+      -0.19299429655075073,
+      -0.05608510226011276,
+      0.9795956611633301
+     ]
+    ],
+    [
+     [
+      0.6428722143173218,
+      -0.734512448310852,
+      -0.21727119386196136
+     ],
+     [
+      0.7652838230133057,
+      0.6279462575912476,
+      0.14150682091712952
+     ],
+     [
+      0.0324961394071579,
+      -0.25724491477012634,
+      0.9657996892929077
+     ]
+    ],
+    [
+     [
+      0.6619303226470947,
+      -0.7232716083526611,
+      -0.19679045677185059
+     ],
+     [
+      0.7490745782852173,
+      0.647791862487793,
+      0.13875532150268555
+     ],
+     [
+      0.02712150663137436,
+      -0.2392570674419403,
+      0.9705774188041687
+     ]
+    ],
+    [
+     [
+      0.6462644338607788,
+      -0.7580051422119141,
+      0.08815053850412369
+     ],
+     [
+      0.7617266178131104,
+      0.6477327346801758,
+      -0.014657072722911835
+     ],
+     [
+      -0.04598785191774368,
+      0.07661895453929901,
+      0.9959993362426758
+     ]
+    ],
+    [
+     [
+      0.6199004650115967,
+      -0.7494383454322815,
+      0.23252004384994507
+     ],
+     [
+      0.5123234391212463,
+      0.6110069751739502,
+      0.6034858822822571
+     ],
+     [
+      -0.594346821308136,
+      -0.25497573614120483,
+      0.7627183198928833
+     ]
+    ],
+    [
+     [
+      0.7714680433273315,
+      -0.6228835582733154,
+      -0.12981998920440674
+     ],
+     [
+      0.5797853469848633,
+      0.6041533946990967,
+      0.546669602394104
+     ],
+     [
+      -0.26208028197288513,
+      -0.497005820274353,
+      0.8272237777709961
+     ]
+    ],
+    [
+     [
+      0.6697006225585938,
+      -0.7210309505462646,
+      0.17780767381191254
+     ],
+     [
+      0.6380534172058105,
+      0.6811667680740356,
+      0.3590260148048401
+     ],
+     [
+      -0.379985511302948,
+      -0.12698912620544434,
+      0.916234016418457
+     ]
+    ],
+    [
+     [
+      0.5717247128486633,
+      -0.8025071024894714,
+      0.1706262230873108
+     ],
+     [
+      0.7767947316169739,
+      0.5964025259017944,
+      0.20222267508506775
+     ],
+     [
+      -0.2640470266342163,
+      0.016925841569900513,
+      0.964361310005188
+     ]
+    ],
+    [
+     [
+      0.6906725168228149,
+      -0.7188758850097656,
+      -0.0786697193980217
+     ],
+     [
+      0.6566470861434937,
+      0.5778449773788452,
+      0.48467493057250977
+     ],
+     [
+      -0.30296221375465393,
+      -0.3864098787307739,
+      0.8711494207382202
+     ]
+    ],
+    [
+     [
+      0.52801513671875,
+      -0.8491892218589783,
+      0.008810289204120636
+     ],
+     [
+      0.8271402716636658,
+      0.5166010856628418,
+      0.22127416729927063
+     ],
+     [
+      -0.19245505332946777,
+      -0.10954876989126205,
+      0.9751718640327454
+     ]
+    ],
+    [
+     [
+      0.9346961975097656,
+      0.043314434587955475,
+      -0.35279858112335205
+     ],
+     [
+      -0.2235811948776245,
+      0.843246340751648,
+      -0.48882219195365906
+     ],
+     [
+      0.27632302045822144,
+      0.5357793569564819,
+      0.7978634834289551
+     ]
+    ],
+    [
+     [
+      0.9877122640609741,
+      0.10363347083330154,
+      -0.11698093265295029
+     ],
+     [
+      -0.053124405443668365,
+      0.9265852570533752,
+      0.37231382727622986
+     ],
+     [
+      0.14697697758674622,
+      -0.361524373292923,
+      0.9207050800323486
+     ]
+    ],
+    [
+     [
+      0.9554722309112549,
+      -0.28208646178245544,
+      -0.08660313487052917
+     ],
+     [
+      0.2537252604961395,
+      0.9352226853370667,
+      -0.2469453662633896
+     ],
+     [
+      0.1506531685590744,
+      0.21397604048252106,
+      0.9651517271995544
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8851318359375,
+      -0.42185917496681213,
+      -0.19640900194644928
+     ],
+     [
+      0.42135384678840637,
+      0.9057051539421082,
+      -0.046466052532196045
+     ],
+     [
+      0.19749076664447784,
+      -0.04162909835577011,
+      0.9794204235076904
+     ]
+    ],
+    [
+     [
+      0.3788917660713196,
+      -0.9223695993423462,
+      0.07533588260412216
+     ],
+     [
+      0.9211939573287964,
+      0.3681110143661499,
+      -0.12608018517494202
+     ],
+     [
+      0.0885605439543724,
+      0.11716970056295395,
+      0.9891553521156311
+     ]
+    ],
+    [
+     [
+      0.8467161655426025,
+      -0.5049957036972046,
+      0.1674845814704895
+     ],
+     [
+      0.485608845949173,
+      0.8621453046798706,
+      0.14453184604644775
+     ],
+     [
+      -0.21738401055335999,
+      -0.04104545712471008,
+      0.9752227663993835
+     ]
+    ],
+    [
+     [
+      0.5891358852386475,
+      -0.7725887894630432,
+      -0.2366967350244522
+     ],
+     [
+      0.8077442049980164,
+      0.5709346532821655,
+      0.14691118896007538
+     ],
+     [
+      0.021636411547660828,
+      -0.27774107456207275,
+      0.9604122638702393
+     ]
+    ],
+    [
+     [
+      0.6322594285011292,
+      -0.7507039308547974,
+      -0.1915506273508072
+     ],
+     [
+      0.7743606567382812,
+      0.6202220320701599,
+      0.12526050209999084
+     ],
+     [
+      0.024770379066467285,
+      -0.22752639651298523,
+      0.9734567999839783
+     ]
+    ],
+    [
+     [
+      0.5995148420333862,
+      -0.7945378422737122,
+      0.09639326483011246
+     ],
+     [
+      0.7981956601142883,
+      0.6023974418640137,
+      0.001010216772556305
+     ],
+     [
+      -0.05886971205472946,
+      0.07633504271507263,
+      0.9953427910804749
+     ]
+    ],
+    [
+     [
+      0.5786616802215576,
+      -0.7982174158096313,
+      0.1673310101032257
+     ],
+     [
+      0.5324157476425171,
+      0.5251437425613403,
+      0.6638957262039185
+     ],
+     [
+      -0.6178059577941895,
+      -0.29508134722709656,
+      0.7288640737533569
+     ]
+    ],
+    [
+     [
+      0.7504615783691406,
+      -0.6445310115814209,
+      -0.14624343812465668
+     ],
+     [
+      0.6031032800674438,
+      0.577338457107544,
+      0.5504059195518494
+     ],
+     [
+      -0.270321786403656,
+      -0.5012584328651428,
+      0.821989119052887
+     ]
+    ],
+    [
+     [
+      0.6491568088531494,
+      -0.749883234500885,
+      0.1275559961795807
+     ],
+     [
+      0.6563504338264465,
+      0.6369642019271851,
+      0.40432748198509216
+     ],
+     [
+      -0.38444700837135315,
+      -0.17875048518180847,
+      0.9056758880615234
+     ]
+    ],
+    [
+     [
+      0.511130690574646,
+      -0.844668447971344,
+      0.15899883210659027
+     ],
+     [
+      0.8135493397712708,
+      0.5351306796073914,
+      0.22753582894802094
+     ],
+     [
+      -0.27727749943733215,
+      0.01305285096168518,
+      0.9607012271881104
+     ]
+    ],
+    [
+     [
+      0.6677933931350708,
+      -0.7406610250473022,
+      -0.07398098707199097
+     ],
+     [
+      0.6640496253967285,
+      0.5479010343551636,
+      0.508765697479248
+     ],
+     [
+      -0.3362886905670166,
+      -0.3888774514198303,
+      0.8577203750610352
+     ]
+    ],
+    [
+     [
+      0.4869276285171509,
+      -0.8731443881988525,
+      -0.02281367778778076
+     ],
+     [
+      0.8525594472885132,
+      0.4694463014602661,
+      0.22970151901245117
+     ],
+     [
+      -0.189852774143219,
+      -0.13129806518554688,
+      0.9729937314987183
+     ]
+    ],
+    [
+     [
+      0.9294092059135437,
+      0.045741885900497437,
+      -0.36620521545410156
+     ],
+     [
+      -0.23777201771736145,
+      0.8331107497215271,
+      -0.4993906319141388
+     ],
+     [
+      0.2822464108467102,
+      0.5512115955352783,
+      0.7851768732070923
+     ]
+    ],
+    [
+     [
+      0.9868810772895813,
+      0.09954193234443665,
+      -0.12711066007614136
+     ],
+     [
+      -0.04293808713555336,
+      0.920782208442688,
+      0.3877066373825073
+     ],
+     [
+      0.1556343138217926,
+      -0.37716245651245117,
+      0.9129766821861267
+     ]
+    ],
+    [
+     [
+      0.9566429257392883,
+      -0.28091591596603394,
+      -0.07694495469331741
+     ],
+     [
+      0.2515594959259033,
+      0.9300386309623718,
+      -0.2678543031215668
+     ],
+     [
+      0.14680632948875427,
+      0.2368846833705902,
+      0.9603819847106934
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8799164295196533,
+      -0.42885491251945496,
+      -0.20452508330345154
+     ],
+     [
+      0.42748579382896423,
+      0.9024579524993896,
+      -0.05315612256526947
+     ],
+     [
+      0.2073715627193451,
+      -0.0406586229801178,
+      0.9774169921875
+     ]
+    ],
+    [
+     [
+      0.3294115662574768,
+      -0.9402405023574829,
+      0.0862320140004158
+     ],
+     [
+      0.9401692152023315,
+      0.3182232975959778,
+      -0.12172047793865204
+     ],
+     [
+      0.08700547367334366,
+      0.1211688220500946,
+      0.9888114929199219
+     ]
+    ],
+    [
+     [
+      0.8291276097297668,
+      -0.5305625796318054,
+      0.1762123703956604
+     ],
+     [
+      0.5113310217857361,
+      0.8471202850341797,
+      0.14466436207294464
+     ],
+     [
+      -0.22602656483650208,
+      -0.029842372983694077,
+      0.9736639261245728
+     ]
+    ],
+    [
+     [
+      0.5768064260482788,
+      -0.7787540555000305,
+      -0.2466506063938141
+     ],
+     [
+      0.8165430426597595,
+      0.5583400726318359,
+      0.1466761827468872
+     ],
+     [
+      0.02349025011062622,
+      -0.28600460290908813,
+      0.9579402804374695
+     ]
+    ],
+    [
+     [
+      0.6235344409942627,
+      -0.7578158378601074,
+      -0.19214560091495514
+     ],
+     [
+      0.781326413154602,
+      0.6125618815422058,
+      0.1195698231458664
+     ],
+     [
+      0.027089163661003113,
+      -0.22468434274196625,
+      0.9740549921989441
+     ]
+    ],
+    [
+     [
+      0.5790523290634155,
+      -0.8089970350265503,
+      0.1011047512292862
+     ],
+     [
+      0.8126344680786133,
+      0.5827124118804932,
+      0.008453674614429474
+     ],
+     [
+      -0.0657539814710617,
+      0.07726608216762543,
+      0.9948398470878601
+     ]
+    ],
+    [
+     [
+      0.5582163333892822,
+      -0.818256139755249,
+      0.1373007595539093
+     ],
+     [
+      0.5352656841278076,
+      0.481600284576416,
+      0.6939394474029541
+     ],
+     [
+      -0.6339442729949951,
+      -0.3138759434223175,
+      0.7068215012550354
+     ]
+    ],
+    [
+     [
+      0.7554725408554077,
+      -0.6392945647239685,
+      -0.1434001624584198
+     ],
+     [
+      0.6031942963600159,
+      0.59322190284729,
+      0.5331457853317261
+     ],
+     [
+      -0.25576913356781006,
+      -0.489275187253952,
+      0.8337817192077637
+     ]
+    ],
+    [
+     [
+      0.6479066610336304,
+      -0.7552037835121155,
+      0.09941969811916351
+     ],
+     [
+      0.6588080525398254,
+      0.6210927963256836,
+      0.4245182275772095
+     ],
+     [
+      -0.38234663009643555,
+      -0.2095497101545334,
+      0.8999444246292114
+     ]
+    ],
+    [
+     [
+      0.48457860946655273,
+      -0.8611103892326355,
+      0.15385913848876953
+     ],
+     [
+      0.8276215195655823,
+      0.5082776546478271,
+      0.23811060190200806
+     ],
+     [
+      -0.2832426428794861,
+      0.011953800916671753,
+      0.95897376537323
+     ]
+    ],
+    [
+     [
+      0.6659259796142578,
+      -0.7430606484413147,
+      -0.0663587898015976
+     ],
+     [
+      0.6589493155479431,
+      0.5441707372665405,
+      0.5192919373512268
+     ],
+     [
+      -0.34975486993789673,
+      -0.38953709602355957,
+      0.8520166873931885
+     ]
+    ],
+    [
+     [
+      0.47334736585617065,
+      -0.8801286220550537,
+      -0.036274947226047516
+     ],
+     [
+      0.8605380058288574,
+      0.4532284140586853,
+      0.23250451683998108
+     ],
+     [
+      -0.18819305300712585,
+      -0.14127138257026672,
+      0.9719185829162598
+     ]
+    ],
+    [
+     [
+      0.9252715110778809,
+      0.05384492874145508,
+      -0.37546417117118835
+     ],
+     [
+      -0.25039345026016235,
+      0.8302464485168457,
+      -0.4979899227619171
+     ],
+     [
+      0.284913569688797,
+      0.554789662361145,
+      0.7816858291625977
+     ]
+    ],
+    [
+     [
+      0.9864974021911621,
+      0.09379914402961731,
+      -0.13425584137439728
+     ],
+     [
+      -0.032352302223443985,
+      0.9152023792266846,
+      0.40169376134872437
+     ],
+     [
+      0.1605498045682907,
+      -0.3919263482093811,
+      0.9058793783187866
+     ]
+    ],
+    [
+     [
+      0.9585332274436951,
+      -0.2742190957069397,
+      -0.07757532596588135
+     ],
+     [
+      0.24182818830013275,
+      0.9266934394836426,
+      -0.28767767548561096
+     ],
+     [
+      0.1507752537727356,
+      0.2569887340068817,
+      0.9545803666114807
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8679720163345337,
+      -0.44816407561302185,
+      -0.21394751965999603
+     ],
+     [
+      0.4464423954486847,
+      0.8928576707839966,
+      -0.05911374092102051
+     ],
+     [
+      0.21751733124256134,
+      -0.0442061573266983,
+      0.9750548601150513
+     ]
+    ],
+    [
+     [
+      0.282164990901947,
+      -0.954442024230957,
+      0.09707382321357727
+     ],
+     [
+      0.9552038908004761,
+      0.270084023475647,
+      -0.12099605053663254
+     ],
+     [
+      0.08926562964916229,
+      0.12686613202095032,
+      0.9878950715065002
+     ]
+    ],
+    [
+     [
+      0.8115922212600708,
+      -0.5547491312026978,
+      0.18322516977787018
+     ],
+     [
+      0.5348715782165527,
+      0.8317031860351562,
+      0.1489371359348297
+     ],
+     [
+      -0.23501171171665192,
+      -0.022874295711517334,
+      0.9717233777046204
+     ]
+    ],
+    [
+     [
+      0.5638813972473145,
+      -0.7872528433799744,
+      -0.24954113364219666
+     ],
+     [
+      0.8255262970924377,
+      0.5458440780639648,
+      0.1433897614479065
+     ],
+     [
+      0.023326575756072998,
+      -0.28685757517814636,
+      0.9576892256736755
+     ]
+    ],
+    [
+     [
+      0.6186761856079102,
+      -0.763310432434082,
+      -0.18600276112556458
+     ],
+     [
+      0.785298228263855,
+      0.607865571975708,
+      0.11749932169914246
+     ],
+     [
+      0.0233762264251709,
+      -0.21876168251037598,
+      0.9754982590675354
+     ]
+    ],
+    [
+     [
+      0.5628820061683655,
+      -0.8200089335441589,
+      0.10367844998836517
+     ],
+     [
+      0.8235048651695251,
+      0.5671223998069763,
+      0.014558203518390656
+     ],
+     [
+      -0.07073622941970825,
+      0.07718516141176224,
+      0.9945043325424194
+     ]
+    ],
+    [
+     [
+      0.5353912115097046,
+      -0.8382602334022522,
+      0.10332521796226501
+     ],
+     [
+      0.5402159094810486,
+      0.43390804529190063,
+      0.7210344076156616
+     ],
+     [
+      -0.6492481231689453,
+      -0.3302175998687744,
+      0.6851520538330078
+     ]
+    ],
+    [
+     [
+      0.7649996280670166,
+      -0.6310582160949707,
+      -0.12861233949661255
+     ],
+     [
+      0.597804069519043,
+      0.6214940547943115,
+      0.5063353180885315
+     ],
+     [
+      -0.2395952343940735,
+      -0.46423134207725525,
+      0.8526918888092041
+     ]
+    ],
+    [
+     [
+      0.6604361534118652,
+      -0.7465308904647827,
+      0.08071984350681305
+     ],
+     [
+      0.652632474899292,
+      0.6238576173782349,
+      0.4299679398536682
+     ],
+     [
+      -0.3713420629501343,
+      -0.2312859743833542,
+      0.8992284536361694
+     ]
+    ],
+    [
+     [
+      0.4665345549583435,
+      -0.8716413974761963,
+      0.15028923749923706
+     ],
+     [
+      0.8361554145812988,
+      0.4900272488594055,
+      0.24640899896621704
+     ],
+     [
+      -0.28842610120773315,
+      0.010706812143325806,
+      0.9574422836303711
+     ]
+    ],
+    [
+     [
+      0.6714336276054382,
+      -0.7386916875839233,
+      -0.059258148074150085
+     ],
+     [
+      0.6513090133666992,
+      0.5500761270523071,
+      0.5226976871490479
+     ],
+     [
+      -0.3535158634185791,
+      -0.38955217599868774,
+      0.8504561185836792
+     ]
+    ],
+    [
+     [
+      0.47006291151046753,
+      -0.8815356492996216,
+      -0.04399855434894562
+     ],
+     [
+      0.8628958463668823,
+      0.4484971761703491,
+      0.23294025659561157
+     ],
+     [
+      -0.18561190366744995,
+      -0.14746275544166565,
+      0.9714952111244202
+     ]
+    ],
+    [
+     [
+      0.9235304594039917,
+      0.05960030108690262,
+      -0.3788658678531647
+     ],
+     [
+      -0.2579807937145233,
+      0.8275034427642822,
+      -0.4986822009086609
+     ],
+     [
+      0.2837912142276764,
+      0.5582882761955261,
+      0.7796003818511963
+     ]
+    ],
+    [
+     [
+      0.9866753220558167,
+      0.07805013656616211,
+      -0.14275844395160675
+     ],
+     [
+      -0.012337323278188705,
+      0.910789966583252,
+      0.4126855432987213
+     ],
+     [
+      0.1622331291437149,
+      -0.40542539954185486,
+      0.8996169567108154
+     ]
+    ],
+    [
+     [
+      0.9604331851005554,
+      -0.2671780586242676,
+      -0.07863869518041611
+     ],
+     [
+      0.23034749925136566,
+      0.9207342863082886,
+      -0.3149418532848358
+     ],
+     [
+      0.15655088424682617,
+      0.2843663990497589,
+      0.9458475708961487
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.852676510810852,
+      -0.4706840515136719,
+      -0.22671420872211456
+     ],
+     [
+      0.4683394432067871,
+      0.8809630870819092,
+      -0.06754425913095474
+     ],
+     [
+      0.23151884973049164,
+      -0.048585787415504456,
+      0.9716163873672485
+     ]
+    ],
+    [
+     [
+      0.22103703022003174,
+      -0.9692161083221436,
+      0.10845626890659332
+     ],
+     [
+      0.9709969758987427,
+      0.2083115577697754,
+      -0.11735032498836517
+     ],
+     [
+      0.09114512801170349,
+      0.13124947249889374,
+      0.9871504902839661
+     ]
+    ],
+    [
+     [
+      0.791527509689331,
+      -0.5832996368408203,
+      0.1823342889547348
+     ],
+     [
+      0.5635040998458862,
+      0.8120728731155396,
+      0.15166021883487701
+     ],
+     [
+      -0.2365320771932602,
+      -0.017297133803367615,
+      0.9714697003364563
+     ]
+    ],
+    [
+     [
+      0.5579426288604736,
+      -0.7922487258911133,
+      -0.24706676602363586
+     ],
+     [
+      0.8295584917068481,
+      0.5407174229621887,
+      0.139490008354187
+     ],
+     [
+      0.02308252453804016,
+      -0.28278374671936035,
+      0.9589059352874756
+     ]
+    ],
+    [
+     [
+      0.6112686395645142,
+      -0.7689355611801147,
+      -0.18732023239135742
+     ],
+     [
+      0.7911224365234375,
+      0.6001988649368286,
+      0.11784140765666962
+     ],
+     [
+      0.021816961467266083,
+      -0.2202260047197342,
+      0.9752048850059509
+     ]
+    ],
+    [
+     [
+      0.5562590956687927,
+      -0.8241196274757385,
+      0.10678352415561676
+     ],
+     [
+      0.8274692893028259,
+      0.5611453652381897,
+      0.02026156522333622
+     ],
+     [
+      -0.07661902904510498,
+      0.07708939909934998,
+      0.9940758347511292
+     ]
+    ],
+    [
+     [
+      0.5167672634124756,
+      -0.8529636263847351,
+      0.07351657748222351
+     ],
+     [
+      0.5417903065681458,
+      0.3923113942146301,
+      0.7433404326438904
+     ],
+     [
+      -0.6628837585449219,
+      -0.3443034291267395,
+      0.6648610830307007
+     ]
+    ],
+    [
+     [
+      0.7791767716407776,
+      -0.616078794002533,
+      -0.11545777320861816
+     ],
+     [
+      0.5890056490898132,
+      0.6566624045372009,
+      0.4710273742675781
+     ],
+     [
+      -0.2143731713294983,
+      -0.4350188970565796,
+      0.8745299577713013
+     ]
+    ],
+    [
+     [
+      0.6735827326774597,
+      -0.7360581755638123,
+      0.06711719930171967
+     ],
+     [
+      0.6462031006813049,
+      0.6305554509162903,
+      0.4299086928367615
+     ],
+     [
+      -0.3587588667869568,
+      -0.24620772898197174,
+      0.9003742933273315
+     ]
+    ],
+    [
+     [
+      0.45663362741470337,
+      -0.8772648572921753,
+      0.14795991778373718
+     ],
+     [
+      0.8410238027572632,
+      0.4798942804336548,
+      0.2497609555721283
+     ],
+     [
+      -0.29011163115501404,
+      0.01038854569196701,
+      0.9569364190101624
+     ]
+    ],
+    [
+     [
+      0.6818993091583252,
+      -0.7297122478485107,
+      -0.050332486629486084
+     ],
+     [
+      0.6396125555038452,
+      0.5614910125732422,
+      0.524998664855957
+     ],
+     [
+      -0.35483670234680176,
+      -0.390189528465271,
+      0.8496134877204895
+     ]
+    ],
+    [
+     [
+      0.47294652462005615,
+      -0.8797935247421265,
+      -0.04780249297618866
+     ],
+     [
+      0.8618170022964478,
+      0.4506334662437439,
+      0.2328110933303833
+     ],
+     [
+      -0.18328425288200378,
+      -0.1513042151927948,
+      0.9713464379310608
+     ]
+    ],
+    [
+     [
+      0.9199947118759155,
+      0.0699755996465683,
+      -0.3856334090232849
+     ],
+     [
+      -0.27150028944015503,
+      0.8233984708786011,
+      -0.4982996881008148
+     ],
+     [
+      0.2826611399650574,
+      0.563132643699646,
+      0.7765206098556519
+     ]
+    ],
+    [
+     [
+      0.9840268492698669,
+      0.06053943186998367,
+      -0.16740994155406952
+     ],
+     [
+      0.01705901324748993,
+      0.9040048718452454,
+      0.4271816909313202
+     ],
+     [
+      0.17720074951648712,
+      -0.4232141077518463,
+      0.8885323405265808
+     ]
+    ],
+    [
+     [
+      0.9671629667282104,
+      -0.24780941009521484,
+      -0.056446682661771774
+     ],
+     [
+      0.21569472551345825,
+      0.9177719354629517,
+      -0.33342233300209045
+     ],
+     [
+      0.13443036377429962,
+      0.31029847264289856,
+      0.9410862326622009
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.847870409488678,
+      -0.47425344586372375,
+      -0.2370641976594925
+     ],
+     [
+      0.4690764844417572,
+      0.8793835639953613,
+      -0.08155857771635056
+     ],
+     [
+      0.24714981019496918,
+      -0.04205013066530228,
+      0.9680644273757935
+     ]
+    ],
+    [
+     [
+      0.17419588565826416,
+      -0.9779224395751953,
+      0.1154274269938469
+     ],
+     [
+      0.9810473918914795,
+      0.16224932670593262,
+      -0.10592970252037048
+     ],
+     [
+      0.08486301451921463,
+      0.1316923052072525,
+      0.9876514673233032
+     ]
+    ],
+    [
+     [
+      0.7599777579307556,
+      -0.6253702044487,
+      0.1770477592945099
+     ],
+     [
+      0.6057704091072083,
+      0.7802491784095764,
+      0.15573489665985107
+     ],
+     [
+      -0.23553332686424255,
+      -0.011104755103588104,
+      0.971802830696106
+     ]
+    ],
+    [
+     [
+      0.5955502986907959,
+      -0.7660590410232544,
+      -0.24181294441223145
+     ],
+     [
+      0.8022961616516113,
+      0.5823842883110046,
+      0.13095623254776
+     ],
+     [
+      0.04050787538290024,
+      -0.2719966173171997,
+      0.9614452719688416
+     ]
+    ],
+    [
+     [
+      0.5962598323822021,
+      -0.7800775766372681,
+      -0.1896132528781891
+     ],
+     [
+      0.8026659488677979,
+      0.5834751725196838,
+      0.12362861633300781
+     ],
+     [
+      0.01419471949338913,
+      -0.22591087222099304,
+      0.9740445613861084
+     ]
+    ],
+    [
+     [
+      0.5425792336463928,
+      -0.8330307602882385,
+      0.10801652818918228
+     ],
+     [
+      0.8362684845924377,
+      0.5477960705757141,
+      0.02396918088197708
+     ],
+     [
+      -0.07913809269666672,
+      0.07732563465833664,
+      0.993860125541687
+     ]
+    ],
+    [
+     [
+      0.5315543413162231,
+      -0.8448139429092407,
+      0.061150312423706055
+     ],
+     [
+      0.5379205942153931,
+      0.3924607038497925,
+      0.7460669875144958
+     ],
+     [
+      -0.6542869210243225,
+      -0.3636811375617981,
+      0.6630570888519287
+     ]
+    ],
+    [
+     [
+      0.7948676347732544,
+      -0.5972275137901306,
+      -0.10725989937782288
+     ],
+     [
+      0.575814425945282,
+      0.6866710782051086,
+      0.44375741481781006
+     ],
+     [
+      -0.1913718581199646,
+      -0.4144902229309082,
+      0.8897048234939575
+     ]
+    ],
+    [
+     [
+      0.6886183619499207,
+      -0.721307635307312,
+      0.07429717481136322
+     ],
+     [
+      0.6354027986526489,
+      0.6496067047119141,
+      0.41746199131011963
+     ],
+     [
+      -0.3493824601173401,
+      -0.24026335775852203,
+      0.9056519269943237
+     ]
+    ],
+    [
+     [
+      0.49741291999816895,
+      -0.8558146357536316,
+      0.14199253916740417
+     ],
+     [
+      0.8222281336784363,
+      0.5172810554504395,
+      0.23740547895431519
+     ],
+     [
+      -0.2766250967979431,
+      -0.0013383254408836365,
+      0.9609769582748413
+     ]
+    ],
+    [
+     [
+      0.6896426677703857,
+      -0.7228581309318542,
+      -0.043233826756477356
+     ],
+     [
+      0.6337602734565735,
+      0.5735994577407837,
+      0.5189717411994934
+     ],
+     [
+      -0.3503440022468567,
+      -0.38530492782592773,
+      0.8536973595619202
+     ]
+    ],
+    [
+     [
+      0.4741767644882202,
+      -0.8790192604064941,
+      -0.04981613904237747
+     ],
+     [
+      0.8606443405151367,
+      0.4508504867553711,
+      0.23669660091400146
+     ],
+     [
+      -0.18560120463371277,
+      -0.15511003136634827,
+      0.9703056812286377
+     ]
+    ],
+    [
+     [
+      0.9205824732780457,
+      0.07240720093250275,
+      -0.3837774693965912
+     ],
+     [
+      -0.2733578085899353,
+      0.8212871551513672,
+      -0.5007622838020325
+     ],
+     [
+      0.27893272042274475,
+      0.5659015774726868,
+      0.7758556604385376
+     ]
+    ],
+    [
+     [
+      0.9845935702323914,
+      0.047117576003074646,
+      -0.16839063167572021
+     ],
+     [
+      0.03224407136440277,
+      0.8975732326507568,
+      0.4396847188472748
+     ],
+     [
+      0.17185980081558228,
+      -0.43834033608436584,
+      0.8822255730628967
+     ]
+    ],
+    [
+     [
+      0.9735453128814697,
+      -0.22430884838104248,
+      -0.0435330905020237
+     ],
+     [
+      0.19576239585876465,
+      0.9170651435852051,
+      -0.347373902797699
+     ],
+     [
+      0.11784172058105469,
+      0.3296620845794678,
+      0.9367156624794006
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.858809232711792,
+      -0.44977131485939026,
+      -0.24526016414165497
+     ],
+     [
+      0.44183847308158875,
+      0.8925951719284058,
+      -0.0897364467382431
+     ],
+     [
+      0.25927892327308655,
+      -0.03129887208342552,
+      0.9652951955795288
+     ]
+    ],
+    [
+     [
+      0.15175455808639526,
+      -0.9810894727706909,
+      0.12014211714267731
+     ],
+     [
+      0.9854928255081177,
+      0.140838623046875,
+      -0.0947023332118988
+     ],
+     [
+      0.07599079608917236,
+      0.13277070224285126,
+      0.9882293939590454
+     ]
+    ],
+    [
+     [
+      0.74100661277771,
+      -0.6479505896568298,
+      0.17626462876796722
+     ],
+     [
+      0.6281672120094299,
+      0.761648952960968,
+      0.15904976427555084
+     ],
+     [
+      -0.23730815947055817,
+      -0.007133275270462036,
+      0.9714082479476929
+     ]
+    ],
+    [
+     [
+      0.6409034729003906,
+      -0.7286873459815979,
+      -0.24136587977409363
+     ],
+     [
+      0.7653951048851013,
+      0.6305627226829529,
+      0.12868978083133698
+     ],
+     [
+      0.05842170864343643,
+      -0.2672179937362671,
+      0.9618635177612305
+     ]
+    ],
+    [
+     [
+      0.5816307067871094,
+      -0.7910814881324768,
+      -0.1894620656967163
+     ],
+     [
+      0.813365638256073,
+      0.5689874887466431,
+      0.12120050936937332
+     ],
+     [
+      0.011922083795070648,
+      -0.22459587454795837,
+      0.9743790626525879
+     ]
+    ],
+    [
+     [
+      0.5252159833908081,
+      -0.8434658050537109,
+      0.11275461316108704
+     ],
+     [
+      0.8469610214233398,
+      0.5309779047966003,
+      0.026821549981832504
+     ],
+     [
+      -0.08249327540397644,
+      0.08141165971755981,
+      0.9932608008384705
+     ]
+    ],
+    [
+     [
+      0.5569395422935486,
+      -0.8275891542434692,
+      0.07010367512702942
+     ],
+     [
+      0.5228407382965088,
+      0.4149303436279297,
+      0.7446275949478149
+     ],
+     [
+      -0.6453338861465454,
+      -0.3780594766139984,
+      0.6637884378433228
+     ]
+    ],
+    [
+     [
+      0.7999017238616943,
+      -0.5899808406829834,
+      -0.10990864783525467
+     ],
+     [
+      0.5754517316818237,
+      0.7020549774169922,
+      0.4194926917552948
+     ],
+     [
+      -0.1703307181596756,
+      -0.3988000452518463,
+      0.9010804295539856
+     ]
+    ],
+    [
+     [
+      0.6932324171066284,
+      -0.7184252142906189,
+      0.05739326775074005
+     ],
+     [
+      0.6353800892829895,
+      0.6467987298965454,
+      0.42183369398117065
+     ],
+     [
+      -0.34017783403396606,
+      -0.2559622526168823,
+      0.9048548936843872
+     ]
+    ],
+    [
+     [
+      0.5451873540878296,
+      -0.8261182904243469,
+      0.14247560501098633
+     ],
+     [
+      0.7944847941398621,
+      0.5634012222290039,
+      0.22665607929229736
+     ],
+     [
+      -0.2675156593322754,
+      -0.010375328361988068,
+      0.9634976387023926
+     ]
+    ],
+    [
+     [
+      0.6987733840942383,
+      -0.7142185568809509,
+      -0.04009474813938141
+     ],
+     [
+      0.6288028359413147,
+      0.5865486860275269,
+      0.51045823097229
+     ],
+     [
+      -0.34106123447418213,
+      -0.38190633058547974,
+      0.8589673042297363
+     ]
+    ],
+    [
+     [
+      0.4633796811103821,
+      -0.8846635222434998,
+      -0.05147590488195419
+     ],
+     [
+      0.866174042224884,
+      0.439896821975708,
+      0.23713578283786774
+     ],
+     [
+      -0.1871412694454193,
+      -0.1544709950685501,
+      0.9701117873191833
+     ]
+    ],
+    [
+     [
+      0.9179969429969788,
+      0.0660310611128807,
+      -0.3910518288612366
+     ],
+     [
+      -0.2722792625427246,
+      0.8218651413917542,
+      -0.500401496887207
+     ],
+     [
+      0.28834980726242065,
+      0.5658423900604248,
+      0.7724485993385315
+     ]
+    ],
+    [
+     [
+      0.9864143133163452,
+      0.05909419432282448,
+      -0.15327990055084229
+     ],
+     [
+      0.016110766679048538,
+      0.8937619924545288,
+      0.4482521116733551
+     ],
+     [
+      0.1634848415851593,
+      -0.4446317255496979,
+      0.8806675672531128
+     ]
+    ],
+    [
+     [
+      0.977677583694458,
+      -0.20800301432609558,
+      -0.029687251895666122
+     ],
+     [
+      0.1862909197807312,
+      0.923488199710846,
+      -0.33535832166671753
+     ],
+     [
+      0.0971713662147522,
+      0.3223418593406677,
+      0.941622793674469
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8786617517471313,
+      -0.4060734212398529,
+      -0.25111329555511475
+     ],
+     [
+      0.3955416977405548,
+      0.913678765296936,
+      -0.09347696602344513
+     ],
+     [
+      0.26739537715911865,
+      -0.01719113439321518,
+      0.9634335041046143
+     ]
+    ],
+    [
+     [
+      0.14348548650741577,
+      -0.9833928942680359,
+      0.11113229393959045
+     ],
+     [
+      0.9872865080833435,
+      0.13447695970535278,
+      -0.08474256843328476
+     ],
+     [
+      0.06839050352573395,
+      0.12187875062227249,
+      0.9901859760284424
+     ]
+    ],
+    [
+     [
+      0.7039794921875,
+      -0.6883403658866882,
+      0.17492973804473877
+     ],
+     [
+      0.6691827178001404,
+      0.7253793478012085,
+      0.16130489110946655
+     ],
+     [
+      -0.23792308568954468,
+      0.0035045966506004333,
+      0.97127765417099
+     ]
+    ],
+    [
+     [
+      0.7145763039588928,
+      -0.6586711406707764,
+      -0.23565450310707092
+     ],
+     [
+      0.693906307220459,
+      0.7101085186004639,
+      0.1193314716219902
+     ],
+     [
+      0.08874010294675827,
+      -0.2487935721874237,
+      0.9644827246665955
+     ]
+    ],
+    [
+     [
+      0.5695570111274719,
+      -0.8000438809394836,
+      -0.18850651383399963
+     ],
+     [
+      0.8219463229179382,
+      0.5552150011062622,
+      0.12704560160636902
+     ],
+     [
+      0.0030196085572242737,
+      -0.2273019552230835,
+      0.9738196730613708
+     ]
+    ],
+    [
+     [
+      0.5042917728424072,
+      -0.8562304377555847,
+      0.11206834763288498
+     ],
+     [
+      0.8598186373710632,
+      0.5099006295204163,
+      0.026706505566835403
+     ],
+     [
+      -0.08001064509153366,
+      0.082890585064888,
+      0.9933415651321411
+     ]
+    ],
+    [
+     [
+      0.5887772440910339,
+      -0.8008183836936951,
+      0.1096874475479126
+     ],
+     [
+      0.505495011806488,
+      0.47069650888442993,
+      0.7231318950653076
+     ],
+     [
+      -0.6307267546653748,
+      -0.37031713128089905,
+      0.6819450259208679
+     ]
+    ],
+    [
+     [
+      0.8118269443511963,
+      -0.5736587047576904,
+      -0.10887023061513901
+     ],
+     [
+      0.5639491081237793,
+      0.7220194339752197,
+      0.40081092715263367
+     ],
+     [
+      -0.15132224559783936,
+      -0.3867863714694977,
+      0.9096691012382507
+     ]
+    ],
+    [
+     [
+      0.6960186958312988,
+      -0.7143046855926514,
+      0.07298491895198822
+     ],
+     [
+      0.6314530372619629,
+      0.6573172807693481,
+      0.411340594291687
+     ],
+     [
+      -0.34179675579071045,
+      -0.24021421372890472,
+      0.9085549116134644
+     ]
+    ],
+    [
+     [
+      0.6209995150566101,
+      -0.7708487510681152,
+      0.14195674657821655
+     ],
+     [
+      0.743924617767334,
+      0.6366899013519287,
+      0.20298296213150024
+     ],
+     [
+      -0.2468515932559967,
+      -0.02044720947742462,
+      0.968837559223175
+     ]
+    ],
+    [
+     [
+      0.7079763412475586,
+      -0.705094575881958,
+      -0.04013906419277191
+     ],
+     [
+      0.6246381998062134,
+      0.5986450910568237,
+      0.5014491081237793
+     ],
+     [
+      -0.3295400142669678,
+      -0.3800865113735199,
+      0.8642555475234985
+     ]
+    ],
+    [
+     [
+      0.44934380054473877,
+      -0.8919994831085205,
+      -0.049266569316387177
+     ],
+     [
+      0.872654914855957,
+      0.4264581799507141,
+      0.23792220652103424
+     ],
+     [
+      -0.19121631979942322,
+      -0.1499015837907791,
+      0.9700339436531067
+     ]
+    ],
+    [
+     [
+      0.9220021963119507,
+      0.06435135751962662,
+      -0.38179951906204224
+     ],
+     [
+      -0.26227980852127075,
+      0.8291864395141602,
+      -0.4936184287071228
+     ],
+     [
+      0.28481799364089966,
+      0.5552555918693542,
+      0.7813897728919983
+     ]
+    ],
+    [
+     [
+      0.9908612370491028,
+      0.0673372745513916,
+      -0.11687486618757248
+     ],
+     [
+      -0.006890526041388512,
+      0.890613853931427,
+      0.45470815896987915
+     ],
+     [
+      0.1347091794013977,
+      -0.44974732398986816,
+      0.8829387426376343
+     ]
+    ],
+    [
+     [
+      0.982893705368042,
+      -0.183805912733078,
+      -0.011636406183242798
+     ],
+     [
+      0.17173776030540466,
+      0.937516987323761,
+      -0.302602082490921
+     ],
+     [
+      0.06652937829494476,
+      0.2954272925853729,
+      0.9530459642410278
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9143906831741333,
+      -0.3085426986217499,
+      -0.26208996772766113
+     ],
+     [
+      0.2897150218486786,
+      0.9509212374687195,
+      -0.10869209468364716
+     ],
+     [
+      0.2827630639076233,
+      0.02345563843846321,
+      0.9589029550552368
+     ]
+    ],
+    [
+     [
+      0.2572774887084961,
+      -0.9588355422019958,
+      0.12017801403999329
+     ],
+     [
+      0.9661677479743958,
+      0.25290369987487793,
+      -0.05059301480650902
+     ],
+     [
+      0.01811690628528595,
+      0.129128560423851,
+      0.9914623498916626
+     ]
+    ],
+    [
+     [
+      0.7558301687240601,
+      -0.6359641551971436,
+      0.15578919649124146
+     ],
+     [
+      0.6159011125564575,
+      0.7713018655776978,
+      0.16049699485301971
+     ],
+     [
+      -0.22223082184791565,
+      -0.025357738137245178,
+      0.9746642708778381
+     ]
+    ],
+    [
+     [
+      0.8612428903579712,
+      -0.46401116251945496,
+      -0.20725424587726593
+     ],
+     [
+      0.4923804700374603,
+      0.862841010093689,
+      0.11431033909320831
+     ],
+     [
+      0.1257862001657486,
+      -0.20049689710140228,
+      0.971585750579834
+     ]
+    ],
+    [
+     [
+      0.5797655582427979,
+      -0.7922876477241516,
+      -0.19013771414756775
+     ],
+     [
+      0.814780056476593,
+      0.56442791223526,
+      0.13249428570270538
+     ],
+     [
+      0.002345472574234009,
+      -0.23173601925373077,
+      0.9727758765220642
+     ]
+    ],
+    [
+     [
+      0.5622756481170654,
+      -0.8187063336372375,
+      0.11647339910268784
+     ],
+     [
+      0.8230668902397156,
+      0.5676897764205933,
+      0.01700623705983162
+     ],
+     [
+      -0.08004387468099594,
+      0.08630320429801941,
+      0.9930481910705566
+     ]
+    ],
+    [
+     [
+      0.7177332639694214,
+      -0.6452217102050781,
+      0.2618166506290436
+     ],
+     [
+      0.37159767746925354,
+      0.6729031801223755,
+      0.639622151851654
+     ],
+     [
+      -0.5888752937316895,
+      -0.3617876172065735,
+      0.72272789478302
+     ]
+    ],
+    [
+     [
+      0.8286791443824768,
+      -0.5422471761703491,
+      -0.13877633213996887
+     ],
+     [
+      0.5532394647598267,
+      0.7558729648590088,
+      0.3501175045967102
+     ],
+     [
+      -0.0849529579281807,
+      -0.3669115900993347,
+      0.9263686537742615
+     ]
+    ],
+    [
+     [
+      0.7468277215957642,
+      -0.6560883522033691,
+      0.10861151665449142
+     ],
+     [
+      0.5879486799240112,
+      0.7277288436889648,
+      0.35316720604896545
+     ],
+     [
+      -0.3107486069202423,
+      -0.19989708065986633,
+      0.9292343258857727
+     ]
+    ],
+    [
+     [
+      0.809192955493927,
+      -0.5677338242530823,
+      0.1512782871723175
+     ],
+     [
+      0.5494545102119446,
+      0.8224176168441772,
+      0.14740782976150513
+     ],
+     [
+      -0.20810234546661377,
+      -0.03616085276007652,
+      0.9774383902549744
+     ]
+    ],
+    [
+     [
+      0.7505844235420227,
+      -0.6581600904464722,
+      -0.058722540736198425
+     ],
+     [
+      0.6135333776473999,
+      0.6611663103103638,
+      0.43178218603134155
+     ],
+     [
+      -0.24535642564296722,
+      -0.36011725664138794,
+      0.9000643491744995
+     ]
+    ],
+    [
+     [
+      0.5090212821960449,
+      -0.8607223629951477,
+      -0.007379934191703796
+     ],
+     [
+      0.836757481098175,
+      0.4928020238876343,
+      0.23871155083179474
+     ],
+     [
+      -0.2018274962902069,
+      -0.12768448889255524,
+      0.9710624814033508
+     ]
+    ],
+    [
+     [
+      0.9212758541107178,
+      -0.038561150431632996,
+      -0.3869933784008026
+     ],
+     [
+      -0.197444885969162,
+      0.8109201192855835,
+      -0.5508394241333008
+     ],
+     [
+      0.3350616991519928,
+      0.5838849544525146,
+      0.7394673824310303
+     ]
+    ],
+    [
+     [
+      0.9841911792755127,
+      0.1770271360874176,
+      -0.005390733480453491
+     ],
+     [
+      -0.15695378184318542,
+      0.8858858346939087,
+      0.43654531240463257
+     ],
+     [
+      0.0820559412240982,
+      -0.42879796028137207,
+      0.8996661305427551
+     ]
+    ],
+    [
+     [
+      0.9631838798522949,
+      -0.26671120524406433,
+      -0.03379213437438011
+     ],
+     [
+      0.24756625294685364,
+      0.9289283752441406,
+      -0.2753235101699829
+     ],
+     [
+      0.10482233762741089,
+      0.2568213939666748,
+      0.9607575535774231
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8819960951805115,
+      -0.39610910415649414,
+      -0.2553046941757202
+     ],
+     [
+      0.38055509328842163,
+      0.9182034134864807,
+      -0.1099102795124054
+     ],
+     [
+      0.27795809507369995,
+      -0.0002170763909816742,
+      0.9605931639671326
+     ]
+    ],
+    [
+     [
+      0.4691658616065979,
+      -0.864811360836029,
+      0.17884278297424316
+     ],
+     [
+      0.8829659819602966,
+      0.46302759647369385,
+      -0.0773078203201294
+     ],
+     [
+      -0.015952467918395996,
+      0.19418227672576904,
+      0.9808357357978821
+     ]
+    ],
+    [
+     [
+      0.9434033632278442,
+      -0.3149310052394867,
+      0.1039639264345169
+     ],
+     [
+      0.2846905291080475,
+      0.9298118948936462,
+      0.23324048519134521
+     ],
+     [
+      -0.17012156546115875,
+      -0.19044232368469238,
+      0.9668455719947815
+     ]
+    ],
+    [
+     [
+      0.9556080102920532,
+      -0.27824243903160095,
+      -0.09692499041557312
+     ],
+     [
+      0.2867758572101593,
+      0.953833281993866,
+      0.08922796696424484
+     ],
+     [
+      0.06762328743934631,
+      -0.11306270211935043,
+      0.9912839531898499
+     ]
+    ],
+    [
+     [
+      0.7087774872779846,
+      -0.6723092198371887,
+      -0.213623046875
+     ],
+     [
+      0.7045297026634216,
+      0.6899455785751343,
+      0.16617149114608765
+     ],
+     [
+      0.03566965460777283,
+      -0.26828238368034363,
+      0.9626797437667847
+     ]
+    ],
+    [
+     [
+      0.8038479685783386,
+      -0.5873676538467407,
+      0.0939561277627945
+     ],
+     [
+      0.5935394763946533,
+      0.8024467825889587,
+      -0.06156335026025772
+     ],
+     [
+      -0.039234478026628494,
+      0.10525424033403397,
+      0.9936710596084595
+     ]
+    ],
+    [
+     [
+      0.8374467492103577,
+      -0.2231452465057373,
+      0.498887836933136
+     ],
+     [
+      0.0767923891544342,
+      0.9518356323242188,
+      0.29683637619018555
+     ],
+     [
+      -0.5410968661308289,
+      -0.2102738618850708,
+      0.8142475485801697
+     ]
+    ],
+    [
+     [
+      0.9279244542121887,
+      -0.3314962387084961,
+      -0.17048893868923187
+     ],
+     [
+      0.36386770009994507,
+      0.9048307538032532,
+      0.22109179198741913
+     ],
+     [
+      0.08097253739833832,
+      -0.26719188690185547,
+      0.9602353572845459
+     ]
+    ],
+    [
+     [
+      0.9085912704467773,
+      -0.37540557980537415,
+      0.1831187754869461
+     ],
+     [
+      0.3697602450847626,
+      0.9268234968185425,
+      0.06538810580968857
+     ],
+     [
+      -0.19426582753658295,
+      0.008298972621560097,
+      0.9809138178825378
+     ]
+    ],
+    [
+     [
+      0.9615232944488525,
+      -0.19649507105350494,
+      0.19199633598327637
+     ],
+     [
+      0.19377170503139496,
+      0.9804897904396057,
+      0.03304959833621979
+     ],
+     [
+      -0.1947445273399353,
+      0.0054254960268735886,
+      0.9808390140533447
+     ]
+    ],
+    [
+     [
+      0.8791218996047974,
+      -0.46730750799179077,
+      -0.09363989531993866
+     ],
+     [
+      0.4726097583770752,
+      0.8294135332107544,
+      0.297847718000412
+     ],
+     [
+      -0.061520278453826904,
+      -0.3060995638370514,
+      0.9500096440315247
+     ]
+    ],
+    [
+     [
+      0.7205754518508911,
+      -0.6857277750968933,
+      0.1027061939239502
+     ],
+     [
+      0.6716956496238708,
+      0.7270951271057129,
+      0.1419776976108551
+     ],
+     [
+      -0.17203521728515625,
+      -0.033318351954221725,
+      0.9845271706581116
+     ]
+    ],
+    [
+     [
+      0.9127185940742493,
+      -0.18641114234924316,
+      -0.3635872006416321
+     ],
+     [
+      -0.0763787254691124,
+      0.7963341474533081,
+      -0.6000152230262756
+     ],
+     [
+      0.40138643980026245,
+      0.5754154324531555,
+      0.7125911116600037
+     ]
+    ],
+    [
+     [
+      0.9346985220909119,
+      0.3469849228858948,
+      0.07707268744707108
+     ],
+     [
+      -0.35321658849716187,
+      0.8825240135192871,
+      0.3104665279388428
+     ],
+     [
+      0.0397086963057518,
+      -0.3174159526824951,
+      0.9474546909332275
+     ]
+    ],
+    [
+     [
+      0.9038639068603516,
+      -0.42599955201148987,
+      -0.03942583501338959
+     ],
+     [
+      0.4111316502094269,
+      0.8903976678848267,
+      -0.1953529268503189
+     ],
+     [
+      0.11832492053508759,
+      0.16036327183246613,
+      0.9799402356147766
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.8970076441764832,
+      -0.3551546633243561,
+      -0.26313960552215576
+     ],
+     [
+      0.33999934792518616,
+      0.93480384349823,
+      -0.1026751771569252
+     ],
+     [
+      0.28244948387145996,
+      0.002633132040500641,
+      0.9592785835266113
+     ]
+    ],
+    [
+     [
+      0.4993230700492859,
+      -0.8495214581489563,
+      0.17026405036449432
+     ],
+     [
+      0.8661285042762756,
+      0.4944853186607361,
+      -0.07284045219421387
+     ],
+     [
+      -0.022313550114631653,
+      0.18384146690368652,
+      0.9827026128768921
+     ]
+    ],
+    [
+     [
+      0.9429964423179626,
+      -0.3172678053379059,
+      0.10049319267272949
+     ],
+     [
+      0.28977635502815247,
+      0.9312537908554077,
+      0.22089815139770508
+     ],
+     [
+      -0.16366854310035706,
+      -0.1791856288909912,
+      0.9701057076454163
+     ]
+    ],
+    [
+     [
+      0.9587610960006714,
+      -0.2648995816707611,
+      -0.10298215597867966
+     ],
+     [
+      0.27446553111076355,
+      0.9570424556732178,
+      0.09347947686910629
+     ],
+     [
+      0.0737956240773201,
+      -0.11788954585790634,
+      0.9902809262275696
+     ]
+    ],
+    [
+     [
+      0.7186301946640015,
+      -0.6629143953323364,
+      -0.21003606915473938
+     ],
+     [
+      0.6943490505218506,
+      0.7005787491798401,
+      0.16452628374099731
+     ],
+     [
+      0.03807998448610306,
+      -0.26407188177108765,
+      0.963750958442688
+     ]
+    ],
+    [
+     [
+      0.8152424693107605,
+      -0.5718212723731995,
+      0.09165259450674057
+     ],
+     [
+      0.5778476595878601,
+      0.8136841654777527,
+      -0.06332606822252274
+     ],
+     [
+      -0.03836507350206375,
+      0.10458732396364212,
+      0.9937754273414612
+     ]
+    ],
+    [
+     [
+      0.8347653150558472,
+      -0.24306771159172058,
+      0.4940494894981384
+     ],
+     [
+      0.09106680750846863,
+      0.9458751678466797,
+      0.31149160861968994
+     ],
+     [
+      -0.5430226922035217,
+      -0.21503089368343353,
+      0.8117191791534424
+     ]
+    ],
+    [
+     [
+      0.9291739463806152,
+      -0.3308161497116089,
+      -0.16491353511810303
+     ],
+     [
+      0.3595578670501709,
+      0.9123900532722473,
+      0.19560804963111877
+     ],
+     [
+      0.08575516939163208,
+      -0.2410498559474945,
+      0.9667166471481323
+     ]
+    ],
+    [
+     [
+      0.9136672616004944,
+      -0.362212598323822,
+      0.1844293773174286
+     ],
+     [
+      0.35512930154800415,
+      0.932095468044281,
+      0.07128296792507172
+     ],
+     [
+      -0.1977253556251526,
+      0.00036736205220222473,
+      0.9802573919296265
+     ]
+    ],
+    [
+     [
+      0.9579804539680481,
+      -0.21291755139827728,
+      0.1921968162059784
+     ],
+     [
+      0.20940445363521576,
+      0.977064847946167,
+      0.03865252062678337
+     ],
+     [
+      -0.1960185468196869,
+      0.003218509256839752,
+      0.9805949330329895
+     ]
+    ],
+    [
+     [
+      0.8940384984016418,
+      -0.4389701783657074,
+      -0.08944457769393921
+     ],
+     [
+      0.4449103772640228,
+      0.846644401550293,
+      0.2919725477695465
+     ],
+     [
+      -0.05243948474526405,
+      -0.3008294999599457,
+      0.9522351026535034
+     ]
+    ],
+    [
+     [
+      0.7242552042007446,
+      -0.6814461350440979,
+      0.10528798401355743
+     ],
+     [
+      0.6685060858726501,
+      0.7313563823699951,
+      0.1349720060825348
+     ],
+     [
+      -0.16897918283939362,
+      -0.02736852690577507,
+      0.985239565372467
+     ]
+    ],
+    [
+     [
+      0.9164642095565796,
+      -0.17137140035629272,
+      -0.3615593910217285
+     ],
+     [
+      -0.08092102408409119,
+      0.8055759072303772,
+      -0.5869406461715698
+     ],
+     [
+      0.3918483853340149,
+      0.5671678781509399,
+      0.7244139313697815
+     ]
+    ],
+    [
+     [
+      0.9428741335868835,
+      0.32282552123069763,
+      0.0822925865650177
+     ],
+     [
+      -0.3318987190723419,
+      0.8888445496559143,
+      0.31590917706489563
+     ],
+     [
+      0.02883823588490486,
+      -0.32517537474632263,
+      0.9452139139175415
+     ]
+    ],
+    [
+     [
+      0.905806839466095,
+      -0.4182490110397339,
+      -0.06768837571144104
+     ],
+     [
+      0.3963368535041809,
+      0.8929167985916138,
+      -0.2135806679725647
+     ],
+     [
+      0.14976999163627625,
+      0.1666354238986969,
+      0.9745776653289795
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.1842103898525238,
+    0.3495365381240845,
+    0.31678593158721924
+   ],
+   [
+    0.179355651140213,
+    0.3401963412761688,
+    0.3179246187210083
+   ],
+   [
+    0.18281622231006622,
+    0.3146016299724579,
+    0.3253494203090668
+   ],
+   [
+    0.14708290994167328,
+    0.1676972359418869,
+    0.33964720368385315
+   ],
+   [
+    0.13130412995815277,
+    0.10971713066101074,
+    0.43593505024909973
+   ],
+   [
+    0.13412995636463165,
+    0.11543287336826324,
+    0.459909588098526
+   ],
+   [
+    0.11963856965303421,
+    0.09364776313304901,
+    0.410800963640213
+   ],
+   [
+    0.10904256254434586,
+    0.08106592297554016,
+    0.41022589802742004
+   ],
+   [
+    0.11206692457199097,
+    0.07921222597360611,
+    0.41812723875045776
+   ],
+   [
+    0.11826582252979279,
+    0.08702494204044342,
+    0.4331796169281006
+   ],
+   [
+    0.10707006603479385,
+    0.09937376528978348,
+    0.3917660713195801
+   ],
+   [
+    0.11362767219543457,
+    0.11379875242710114,
+    0.38997703790664673
+   ],
+   [
+    0.12514415383338928,
+    0.1241876482963562,
+    0.32017287611961365
+   ],
+   [
+    0.16084563732147217,
+    0.2134060263633728,
+    0.3151496946811676
+   ],
+   [
+    0.14278309047222137,
+    0.28176772594451904,
+    0.28452393412590027
+   ],
+   [
+    0.1776672899723053,
+    0.29146063327789307,
+    0.30271798372268677
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.497556209564209,
+    -0.44227609038352966,
+    -3.159665107727051,
+    -1.9660263061523438,
+    -0.4654710292816162,
+    -3.081815719604492,
+    -1.7518264055252075,
+    0.7205543518066406,
+    0.5272806882858276,
+    1.487107276916504
+   ],
+   [
+    -2.586453437805176,
+    -0.5749790668487549,
+    -3.4939072132110596,
+    -2.00248646736145,
+    -0.41256892681121826,
+    -3.3322839736938477,
+    -1.758196473121643,
+    0.7582861185073853,
+    0.6255033016204834,
+    1.4463045597076416
+   ],
+   [
+    -2.463308095932007,
+    -0.6607742309570312,
+    -3.25054931640625,
+    -1.8438215255737305,
+    -0.3948040008544922,
+    -3.308248281478882,
+    -1.7348757982254028,
+    0.8253198862075806,
+    0.7136317491531372,
+    1.4914329051971436
+   ],
+   [
+    -2.387376308441162,
+    -0.6999447345733643,
+    -3.4054136276245117,
+    -1.7590692043304443,
+    -0.27497124671936035,
+    -3.3903567790985107,
+    -1.7525192499160767,
+    0.9303508996963501,
+    0.8036119937896729,
+    1.4366652965545654
+   ],
+   [
+    -2.16739821434021,
+    -0.6910085678100586,
+    -3.280247449874878,
+    -1.6099741458892822,
+    -0.02549922466278076,
+    -3.1672680377960205,
+    -1.5861307382583618,
+    1.0957629680633545,
+    0.8110165596008301,
+    1.206088662147522
+   ],
+   [
+    -2.326707601547241,
+    -0.7825875282287598,
+    -3.448331117630005,
+    -1.6408348083496094,
+    0.10574877262115479,
+    -3.280721664428711,
+    -1.9293936491012573,
+    1.1186103820800781,
+    0.7457969188690186,
+    1.138837218284607
+   ],
+   [
+    -0.2994728088378906,
+    -0.03466334939002991,
+    -2.122600793838501,
+    -1.1464650630950928,
+    -0.24229001998901367,
+    -1.9202300310134888,
+    -1.8245309591293335,
+    0.2395310401916504,
+    -0.015416234731674194,
+    1.0512452125549316
+   ],
+   [
+    -2.0363845825195312,
+    -0.7367343902587891,
+    -2.9926438331604004,
+    -1.3725332021713257,
+    -0.11419087648391724,
+    -3.0509450435638428,
+    -1.7362438440322876,
+    0.7633092403411865,
+    0.6744533777236938,
+    1.2379541397094727
+   ],
+   [
+    -2.2258596420288086,
+    -0.7955498695373535,
+    -3.3381540775299072,
+    -1.5291526317596436,
+    -0.11822742223739624,
+    -3.3009414672851562,
+    -1.8939741849899292,
+    0.7500559091567993,
+    0.676303505897522,
+    1.2083029747009277
+   ],
+   [
+    -2.234614133834839,
+    -0.8280365467071533,
+    -3.10937762260437,
+    -1.3453130722045898,
+    -0.10826128721237183,
+    -3.0307767391204834,
+    -1.8141473531723022,
+    0.8034344911575317,
+    0.7681653499603271,
+    1.2386653423309326
+   ],
+   [
+    -1.8038606643676758,
+    -0.5169738531112671,
+    -2.201594591140747,
+    -1.0241974592208862,
+    -0.18803495168685913,
+    -2.2772276401519775,
+    -1.5612354278564453,
+    0.7347767949104309,
+    0.5535675287246704,
+    1.2288460731506348
+   ],
+   [
+    -2.16558837890625,
+    -0.7608113288879395,
+    -3.219327211380005,
+    -1.3328088521957397,
+    -0.09693878889083862,
+    -3.0821239948272705,
+    -1.8796898126602173,
+    0.8812767863273621,
+    0.6951119899749756,
+    1.2188254594802856
+   ],
+   [
+    -1.9015398025512695,
+    -0.5495272874832153,
+    -2.3319125175476074,
+    -1.0995208024978638,
+    -0.38676363229751587,
+    -2.419541597366333,
+    -1.5527387857437134,
+    0.7795243263244629,
+    0.723328709602356,
+    1.4253535270690918
+   ],
+   [
+    -2.3466458320617676,
+    -0.619475245475769,
+    -3.541203260421753,
+    -1.8126037120819092,
+    -0.2863232493400574,
+    -3.4236910343170166,
+    -1.9307729005813599,
+    0.6682150363922119,
+    0.6866053342819214,
+    1.505648136138916
+   ],
+   [
+    -2.5349783897399902,
+    -0.7655003070831299,
+    -3.8686635494232178,
+    -2.0005807876586914,
+    -0.2897299528121948,
+    -3.881701707839966,
+    -1.7603269815444946,
+    0.871749758720398,
+    0.8864530324935913,
+    1.461808443069458
+   ],
+   [
+    -2.6287808418273926,
+    -0.7612440586090088,
+    -3.8622961044311523,
+    -2.0251646041870117,
+    -0.3153250813484192,
+    -3.8741772174835205,
+    -1.8646990060806274,
+    0.7489557862281799,
+    0.8370970487594604,
+    1.457742691040039
+   ]
+  ]
+ ]
+}

test/add_remove_lid/1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d6e622e07a102de069125ccd8bea36892cdf13994045ed982e717bdf5387f1
+size 1310048

test/add_remove_lid/1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea9b51274b7e2cc1a2cdfcd9e196eec70c9cbdc67f789664b188890724283cc
+size 5358928

test/add_remove_lid/1/cam_space/0/0_10.json

@@ -0,0 +1,3219 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.7035619020462036,
+     -0.703372597694397,
+     0.10132962465286255
+    ],
+    [
+     -0.45439139008522034,
+     -0.5549048185348511,
+     -0.6968567967414856
+    ],
+    [
+     0.5463781952857971,
+     0.4442386031150818,
+     -0.7100163698196411
+    ]
+   ],
+   [
+    [
+     0.6979691982269287,
+     -0.7083125710487366,
+     0.10551019012928009
+    ],
+    [
+     -0.4543071389198303,
+     -0.5518462657928467,
+     -0.6993361711502075
+    ],
+    [
+     0.5535739660263062,
+     0.44018110632896423,
+     -0.7069631814956665
+    ]
+   ],
+   [
+    [
+     0.6832247972488403,
+     -0.723110020160675,
+     0.10156670212745667
+    ],
+    [
+     -0.4713408350944519,
+     -0.5429617166519165,
+     -0.6950039863586426
+    ],
+    [
+     0.557711124420166,
+     0.426971435546875,
+     -0.7117962837219238
+    ]
+   ],
+   [
+    [
+     0.6468566060066223,
+     -0.7563852071762085,
+     0.09725220501422882
+    ],
+    [
+     -0.5087649822235107,
+     -0.5230157375335693,
+     -0.6838223934173584
+    ],
+    [
+     0.5680975317955017,
+     0.39285656809806824,
+     -0.7231385707855225
+    ]
+   ],
+   [
+    [
+     0.5702261924743652,
+     -0.8156394362449646,
+     0.09784843027591705
+    ],
+    [
+     -0.583980143070221,
+     -0.48624956607818604,
+     -0.6500219106674194
+    ],
+    [
+     0.5777623057365417,
+     0.3135179877281189,
+     -0.7535895109176636
+    ]
+   ],
+   [
+    [
+     0.2708168029785156,
+     -0.9537127017974854,
+     0.1307293027639389
+    ],
+    [
+     -0.7778927087783813,
+     -0.2968134880065918,
+     -0.5538812875747681
+    ],
+    [
+     0.5670459270477295,
+     0.04830697178840637,
+     -0.8222682476043701
+    ]
+   ],
+   [
+    [
+     0.27264535427093506,
+     -0.9591955542564392,
+     0.07488968968391418
+    ],
+    [
+     -0.7515378594398499,
+     -0.2609255313873291,
+     -0.6058950424194336
+    ],
+    [
+     0.6007124185562134,
+     0.10891205072402954,
+     -0.7920118570327759
+    ]
+   ],
+   [
+    [
+     0.3434348702430725,
+     -0.8991625905036926,
+     0.27121788263320923
+    ],
+    [
+     -0.7242767214775085,
+     -0.4374101161956787,
+     -0.5330062508583069
+    ],
+    [
+     0.597892701625824,
+     -0.013383805751800537,
+     -0.8014645576477051
+    ]
+   ],
+   [
+    [
+     0.3874545693397522,
+     -0.8640825152397156,
+     0.32131046056747437
+    ],
+    [
+     -0.6495956778526306,
+     -0.5032050609588623,
+     -0.5699214339256287
+    ],
+    [
+     0.6541441082954407,
+     0.012096881866455078,
+     -0.7562735080718994
+    ]
+   ],
+   [
+    [
+     0.4922648072242737,
+     -0.8289972543716431,
+     0.2654035985469818
+    ],
+    [
+     -0.5800317525863647,
+     -0.5397530794143677,
+     -0.6101065874099731
+    ],
+    [
+     0.649029016494751,
+     0.14639152586460114,
+     -0.7465461492538452
+    ]
+   ],
+   [
+    [
+     0.6113824844360352,
+     -0.7594101428985596,
+     0.222503200173378
+    ],
+    [
+     -0.5163090229034424,
+     -0.5958876609802246,
+     -0.6150959134101868
+    ],
+    [
+     0.5996969938278198,
+     0.26117849349975586,
+     -0.7564055919647217
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9236131310462952,
+      0.3265087306499481,
+      0.20082546770572662
+     ],
+     [
+      -0.3168550431728363,
+      0.9451443552970886,
+      -0.07940436899662018
+     ],
+     [
+      -0.2157352715730667,
+      0.00970635935664177,
+      0.9764036536216736
+     ]
+    ],
+    [
+     [
+      0.8167321681976318,
+      0.5697078108787537,
+      -0.09155131876468658
+     ],
+     [
+      -0.5765755772590637,
+      0.811974287033081,
+      -0.0908752903342247
+     ],
+     [
+      0.022564958781003952,
+      0.12700703740119934,
+      0.991645097732544
+     ]
+    ],
+    [
+     [
+      0.9626113176345825,
+      0.2533026933670044,
+      -0.09600604325532913
+     ],
+     [
+      -0.24075378477573395,
+      0.9624512791633606,
+      0.1254001408815384
+     ],
+     [
+      0.12416533380746841,
+      -0.09759777784347534,
+      0.9874500632286072
+     ]
+    ],
+    [
+     [
+      0.8738431334495544,
+      0.46827444434165955,
+      0.13083279132843018
+     ],
+     [
+      -0.4817701280117035,
+      0.8702037334442139,
+      0.10316506028175354
+     ],
+     [
+      -0.06554161757230759,
+      -0.15318140387535095,
+      0.9860221743583679
+     ]
+    ],
+    [
+     [
+      0.7502472400665283,
+      0.6351670026779175,
+      0.18355385959148407
+     ],
+     [
+      -0.6592803001403809,
+      0.7396137118339539,
+      0.1353553682565689
+     ],
+     [
+      -0.049785688519477844,
+      -0.22256343066692352,
+      0.9736461639404297
+     ]
+    ],
+    [
+     [
+      0.683083176612854,
+      0.7201569676399231,
+      -0.12153749167919159
+     ],
+     [
+      -0.727178156375885,
+      0.6861114501953125,
+      -0.02151815965771675
+     ],
+     [
+      0.06789182126522064,
+      0.10307809710502625,
+      0.9923535585403442
+     ]
+    ],
+    [
+     [
+      0.8009918928146362,
+      0.5202938318252563,
+      -0.2961524724960327
+     ],
+     [
+      -0.2685582637786865,
+      0.7543863654136658,
+      0.5989805459976196
+     ],
+     [
+      0.5350592732429504,
+      -0.4002443850040436,
+      0.7439866065979004
+     ]
+    ],
+    [
+     [
+      0.7622743844985962,
+      0.6273618340492249,
+      0.15923234820365906
+     ],
+     [
+      -0.6426275372505188,
+      0.7042040824890137,
+      0.30187174677848816
+     ],
+     [
+      0.07725073397159576,
+      -0.3324361741542816,
+      0.9399566650390625
+     ]
+    ],
+    [
+     [
+      0.6667570471763611,
+      0.7451424598693848,
+      -0.01406128704547882
+     ],
+     [
+      -0.6705460548400879,
+      0.6080288290977478,
+      0.42505165934562683
+     ],
+     [
+      0.32527369260787964,
+      -0.2739774286746979,
+      0.9050598740577698
+     ]
+    ],
+    [
+     [
+      0.8498191237449646,
+      0.497765451669693,
+      -0.1733119785785675
+     ],
+     [
+      -0.47488364577293396,
+      0.8657549619674683,
+      0.15796782076358795
+     ],
+     [
+      0.22867661714553833,
+      -0.051941052079200745,
+      0.9721158146858215
+     ]
+    ],
+    [
+     [
+      0.7510626316070557,
+      0.6531292200088501,
+      0.09657741338014603
+     ],
+     [
+      -0.634456992149353,
+      0.6735070943832397,
+      0.3792790174484253
+     ],
+     [
+      0.1826726198196411,
+      -0.34613651037216187,
+      0.9202283620834351
+     ]
+    ],
+    [
+     [
+      0.468137264251709,
+      0.8827151656150818,
+      -0.04076177626848221
+     ],
+     [
+      -0.8642318844795227,
+      0.46697819232940674,
+      0.1871756911277771
+     ],
+     [
+      0.1842576563358307,
+      -0.05239630490541458,
+      0.9814803600311279
+     ]
+    ],
+    [
+     [
+      0.9116085767745972,
+      0.07737068831920624,
+      0.4037122130393982
+     ],
+     [
+      0.18036095798015594,
+      0.8072509169578552,
+      -0.5619749426841736
+     ],
+     [
+      -0.3693774342536926,
+      0.5851151347160339,
+      0.7219422459602356
+     ]
+    ],
+    [
+     [
+      0.9586911797523499,
+      -0.26256123185157776,
+      0.10942056775093079
+     ],
+     [
+      0.2175818681716919,
+      0.9246751666069031,
+      0.3124644160270691
+     ],
+     [
+      -0.1832195222377777,
+      -0.27574896812438965,
+      0.943606436252594
+     ]
+    ],
+    [
+     [
+      0.7754561901092529,
+      0.5756437182426453,
+      0.2594263255596161
+     ],
+     [
+      -0.4480913281440735,
+      0.7911975383758545,
+      -0.41619789600372314
+     ],
+     [
+      -0.44483914971351624,
+      0.20649653673171997,
+      0.8714799284934998
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.925959587097168,
+      0.32188281416893005,
+      0.1974596232175827
+     ],
+     [
+      -0.3120809495449066,
+      0.9467003345489502,
+      -0.0797744169831276
+     ],
+     [
+      -0.2126130908727646,
+      0.012244507670402527,
+      0.9770597219467163
+     ]
+    ],
+    [
+     [
+      0.8111990690231323,
+      0.5776011943817139,
+      -0.09128466248512268
+     ],
+     [
+      -0.5843263864517212,
+      0.8067260980606079,
+      -0.08806626498699188
+     ],
+     [
+      0.02277454361319542,
+      0.12477931380271912,
+      0.9919230937957764
+     ]
+    ],
+    [
+     [
+      0.9620521068572998,
+      0.2575311064720154,
+      -0.09018565714359283
+     ],
+     [
+      -0.24550007283687592,
+      0.9611892700195312,
+      0.12587669491767883
+     ],
+     [
+      0.11910265684127808,
+      -0.09895935654640198,
+      0.9879380464553833
+     ]
+    ],
+    [
+     [
+      0.8835418820381165,
+      0.45157551765441895,
+      0.12423084676265717
+     ],
+     [
+      -0.4639285206794739,
+      0.8802170753479004,
+      0.09994135051965714
+     ],
+     [
+      -0.06421904265880585,
+      -0.14593659341335297,
+      0.9872074127197266
+     ]
+    ],
+    [
+     [
+      0.7533405423164368,
+      0.629743218421936,
+      0.1894771158695221
+     ],
+     [
+      -0.6555880308151245,
+      0.741844892501831,
+      0.14096301794052124
+     ],
+     [
+      -0.05179213732481003,
+      -0.230412095785141,
+      0.9717139005661011
+     ]
+    ],
+    [
+     [
+      0.6934632062911987,
+      0.7108356356620789,
+      -0.11756473779678345
+     ],
+     [
+      -0.7178637385368347,
+      0.6955981254577637,
+      -0.028546683490276337
+     ],
+     [
+      0.061485812067985535,
+      0.10419153422117233,
+      0.9926548600196838
+     ]
+    ],
+    [
+     [
+      0.797325611114502,
+      0.5261045694351196,
+      -0.29578012228012085
+     ],
+     [
+      -0.2741333842277527,
+      0.7522785663604736,
+      0.5991058945655823
+     ],
+     [
+      0.5377013683319092,
+      -0.3965992331504822,
+      0.7440338134765625
+     ]
+    ],
+    [
+     [
+      0.7677603960037231,
+      0.6234578490257263,
+      0.14779794216156006
+     ],
+     [
+      -0.6360380053520203,
+      0.7136921882629395,
+      0.29342636466026306
+     ],
+     [
+      0.07745673507452011,
+      -0.3192862570285797,
+      0.9444875717163086
+     ]
+    ],
+    [
+     [
+      0.6803286075592041,
+      0.7326793670654297,
+      -0.01827557384967804
+     ],
+     [
+      -0.6596795320510864,
+      0.623028576374054,
+      0.4203074276447296
+     ],
+     [
+      0.31933677196502686,
+      -0.2738911211490631,
+      0.9071977138519287
+     ]
+    ],
+    [
+     [
+      0.8535856008529663,
+      0.4918859899044037,
+      -0.17158034443855286
+     ],
+     [
+      -0.469181627035141,
+      0.8690054416656494,
+      0.15715622901916504
+     ],
+     [
+      0.22640720009803772,
+      -0.053643956780433655,
+      0.9725544452667236
+     ]
+    ],
+    [
+     [
+      0.7586053013801575,
+      0.6444647312164307,
+      0.09582915157079697
+     ],
+     [
+      -0.6273103952407837,
+      0.6826946139335632,
+      0.37471285462379456
+     ],
+     [
+      0.17606717348098755,
+      -0.34437379240989685,
+      0.9221751689910889
+     ]
+    ],
+    [
+     [
+      0.48245370388031006,
+      0.8744498491287231,
+      -0.05075354129076004
+     ],
+     [
+      -0.8566615581512451,
+      0.48313671350479126,
+      0.18085877597332
+     ],
+     [
+      0.18267282843589783,
+      -0.04377739131450653,
+      0.9821986556053162
+     ]
+    ],
+    [
+     [
+      0.9133667945861816,
+      0.06963187456130981,
+      0.4011390805244446
+     ],
+     [
+      0.17919296026229858,
+      0.8159518241882324,
+      -0.5496476292610168
+     ],
+     [
+      -0.3655831813812256,
+      0.5739111304283142,
+      0.732785701751709
+     ]
+    ],
+    [
+     [
+      0.9590550661087036,
+      -0.2608773708343506,
+      0.11025585979223251
+     ],
+     [
+      0.21614918112754822,
+      0.9257510900497437,
+      0.31026506423950195
+     ],
+     [
+      -0.18301060795783997,
+      -0.2737295627593994,
+      0.9442347288131714
+     ]
+    ],
+    [
+     [
+      0.7795290946960449,
+      0.5665451288223267,
+      0.26713472604751587
+     ],
+     [
+      -0.4437474012374878,
+      0.800508975982666,
+      -0.4028320014476776
+     ],
+     [
+      -0.4420662522315979,
+      0.19547894597053528,
+      0.8754229545593262
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9256935715675354,
+      0.32404422760009766,
+      0.19515833258628845
+     ],
+     [
+      -0.31436431407928467,
+      0.9459618926048279,
+      -0.0795685276389122
+     ],
+     [
+      -0.21039608120918274,
+      0.012305252254009247,
+      0.9775387644767761
+     ]
+    ],
+    [
+     [
+      0.8078415393829346,
+      0.5823280811309814,
+      -0.09102779626846313
+     ],
+     [
+      -0.5890129804611206,
+      0.803219199180603,
+      -0.08889637887477875
+     ],
+     [
+      0.021348413079977036,
+      0.12543074786663055,
+      0.9918726682662964
+     ]
+    ],
+    [
+     [
+      0.9596720337867737,
+      0.26522156596183777,
+      -0.09320493042469025
+     ],
+     [
+      -0.25292906165122986,
+      0.9593067765235901,
+      0.12552852928638458
+     ],
+     [
+      0.12270498275756836,
+      -0.09689197689294815,
+      0.9877020716667175
+     ]
+    ],
+    [
+     [
+      0.8830124735832214,
+      0.4524534046649933,
+      0.12479965388774872
+     ],
+     [
+      -0.4648519456386566,
+      0.8797902464866638,
+      0.09940709173679352
+     ],
+     [
+      -0.06482045352458954,
+      -0.14579105377197266,
+      0.9871895909309387
+     ]
+    ],
+    [
+     [
+      0.7441167831420898,
+      0.6412898898124695,
+      0.18718308210372925
+     ],
+     [
+      -0.6663886904716492,
+      0.7322799563407898,
+      0.14032916724681854
+     ],
+     [
+      -0.04707876592874527,
+      -0.2291579693555832,
+      0.9722501039505005
+     ]
+    ],
+    [
+     [
+      0.683396577835083,
+      0.7206013798713684,
+      -0.1170588955283165
+     ],
+     [
+      -0.727334201335907,
+      0.6858583688735962,
+      -0.024152018129825592
+     ],
+     [
+      0.06288184970617294,
+      0.10164634138345718,
+      0.9928312301635742
+     ]
+    ],
+    [
+     [
+      0.79398113489151,
+      0.529962956905365,
+      -0.29788118600845337
+     ],
+     [
+      -0.27736806869506836,
+      0.7517961263656616,
+      0.5982219576835632
+     ],
+     [
+      0.5409814119338989,
+      -0.39235419034957886,
+      0.7439067959785461
+     ]
+    ],
+    [
+     [
+      0.7596936821937561,
+      0.6325954794883728,
+      0.15062697231769562
+     ],
+     [
+      -0.6441403031349182,
+      0.7002956867218018,
+      0.307683527469635
+     ],
+     [
+      0.08915577083826065,
+      -0.3307701349258423,
+      0.9394904971122742
+     ]
+    ],
+    [
+     [
+      0.6767845153808594,
+      0.7360021471977234,
+      -0.016235724091529846
+     ],
+     [
+      -0.6616414189338684,
+      0.6177806854248047,
+      0.4249444007873535
+     ],
+     [
+      0.32279008626937866,
+      -0.2768535614013672,
+      0.905073881149292
+     ]
+    ],
+    [
+     [
+      0.8533622026443481,
+      0.4919187128543854,
+      -0.17259463667869568
+     ],
+     [
+      -0.4693281352519989,
+      0.8690575957298279,
+      0.15642887353897095
+     ],
+     [
+      0.22694498300552368,
+      -0.05248698219656944,
+      0.9724922180175781
+     ]
+    ],
+    [
+     [
+      0.7467633485794067,
+      0.6581439971923828,
+      0.09586958587169647
+     ],
+     [
+      -0.6389336585998535,
+      0.669876217842102,
+      0.37819263339042664
+     ],
+     [
+      0.18468447029590607,
+      -0.3436746895313263,
+      0.9207493662834167
+     ]
+    ],
+    [
+     [
+      0.48234307765960693,
+      0.8747246265411377,
+      -0.0469246432185173
+     ],
+     [
+      -0.8562811613082886,
+      0.4821150302886963,
+      0.18533113598823547
+     ],
+     [
+      0.18473678827285767,
+      -0.0492125079035759,
+      0.9815551042556763
+     ]
+    ],
+    [
+     [
+      0.9150153398513794,
+      0.06329378485679626,
+      0.3984229564666748
+     ],
+     [
+      0.1814655214548111,
+      0.8174830675125122,
+      -0.5466184020042419
+     ],
+     [
+      -0.36030155420303345,
+      0.5724642872810364,
+      0.7365238666534424
+     ]
+    ],
+    [
+     [
+      0.9602687954902649,
+      -0.25619879364967346,
+      0.11066195368766785
+     ],
+     [
+      0.2109764814376831,
+      0.925998330116272,
+      0.3130751848220825
+     ],
+     [
+      -0.18268227577209473,
+      -0.2772892713546753,
+      0.9432591795921326
+     ]
+    ],
+    [
+     [
+      0.787916898727417,
+      0.5562143325805664,
+      0.2642207741737366
+     ],
+     [
+      -0.4365386962890625,
+      0.8071632385253906,
+      -0.39739328622817993
+     ],
+     [
+      -0.4343051314353943,
+      0.19777029752731323,
+      0.8787866830825806
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9301627278327942,
+      0.3112757205963135,
+      0.19469137489795685
+     ],
+     [
+      -0.30116409063339233,
+      0.9501836895942688,
+      -0.080319344997406
+     ],
+     [
+      -0.20999403297901154,
+      0.016076020896434784,
+      0.9775704741477966
+     ]
+    ],
+    [
+     [
+      0.8048453330993652,
+      0.5868947505950928,
+      -0.08819601684808731
+     ],
+     [
+      -0.5930827856063843,
+      0.8008373975753784,
+      -0.0831402838230133
+     ],
+     [
+      0.021836072206497192,
+      0.11922261118888855,
+      0.9926273822784424
+     ]
+    ],
+    [
+     [
+      0.9562966823577881,
+      0.27889734506607056,
+      -0.087823286652565
+     ],
+     [
+      -0.2676910161972046,
+      0.9559046626091003,
+      0.12077979743480682
+     ],
+     [
+      0.11763586103916168,
+      -0.09199181199073792,
+      0.9887868165969849
+     ]
+    ],
+    [
+     [
+      0.8908373713493347,
+      0.4368855357170105,
+      0.1246587485074997
+     ],
+     [
+      -0.4489606022834778,
+      0.888567328453064,
+      0.09424687176942825
+     ],
+     [
+      -0.06959259510040283,
+      -0.1399255096912384,
+      0.9877133965492249
+     ]
+    ],
+    [
+     [
+      0.7403128743171692,
+      0.6461179256439209,
+      0.1856572926044464
+     ],
+     [
+      -0.6708347797393799,
+      0.7279999256134033,
+      0.14141032099723816
+     ],
+     [
+      -0.04379076510667801,
+      -0.22923323512077332,
+      0.9723860025405884
+     ]
+    ],
+    [
+     [
+      0.6855483055114746,
+      0.7190210223197937,
+      -0.11415931582450867
+     ],
+     [
+      -0.7254931330680847,
+      0.6877827644348145,
+      -0.024792704731225967
+     ],
+     [
+      0.06069032847881317,
+      0.0998183935880661,
+      0.9931530356407166
+     ]
+    ],
+    [
+     [
+      0.7871108055114746,
+      0.5453067421913147,
+      -0.28826579451560974
+     ],
+     [
+      -0.292275607585907,
+      0.7412840127944946,
+      0.604212760925293
+     ],
+     [
+      0.5431680679321289,
+      -0.3913293778896332,
+      0.7428524494171143
+     ]
+    ],
+    [
+     [
+      0.7558868527412415,
+      0.6387694478034973,
+      0.14355744421482086
+     ],
+     [
+      -0.6473248600959778,
+      0.6963564157485962,
+      0.30993276834487915
+     ],
+     [
+      0.09800839424133301,
+      -0.32720237970352173,
+      0.9398579597473145
+     ]
+    ],
+    [
+     [
+      0.6842025518417358,
+      0.7290523648262024,
+      -0.01869802176952362
+     ],
+     [
+      -0.6546446681022644,
+      0.6252678632736206,
+      0.42483001947402954
+     ],
+     [
+      0.3214145302772522,
+      -0.27842921018600464,
+      0.9050800204277039
+     ]
+    ],
+    [
+     [
+      0.8529596924781799,
+      0.49434351921081543,
+      -0.1675836443901062
+     ],
+     [
+      -0.4713718295097351,
+      0.8673925995826721,
+      0.1594950407743454
+     ],
+     [
+      0.22420614957809448,
+      -0.05704864487051964,
+      0.9728705286979675
+     ]
+    ],
+    [
+     [
+      0.7415620684623718,
+      0.6638751029968262,
+      0.09672433137893677
+     ],
+     [
+      -0.6451612710952759,
+      0.6661384701728821,
+      0.3742012083530426
+     ],
+     [
+      0.18399104475975037,
+      -0.33989623188972473,
+      0.9222894906997681
+     ]
+    ],
+    [
+     [
+      0.49240410327911377,
+      0.8687047958374023,
+      -0.05375958979129791
+     ],
+     [
+      -0.8500183820724487,
+      0.49325186014175415,
+      0.18485504388809204
+     ],
+     [
+      0.18710148334503174,
+      -0.04532673954963684,
+      0.9812943339347839
+     ]
+    ],
+    [
+     [
+      0.9194914102554321,
+      0.046728722751140594,
+      0.3903229832649231
+     ],
+     [
+      0.18449667096138,
+      0.8254674673080444,
+      -0.5334458351135254
+     ],
+     [
+      -0.34712618589401245,
+      0.5625121593475342,
+      0.7503889203071594
+     ]
+    ],
+    [
+     [
+      0.9638991355895996,
+      -0.24000805616378784,
+      0.1153019517660141
+     ],
+     [
+      0.19332528114318848,
+      0.9285929203033447,
+      0.31676575541496277
+     ],
+     [
+      -0.18309490382671356,
+      -0.28303948044776917,
+      0.9414695501327515
+     ]
+    ],
+    [
+     [
+      0.800060510635376,
+      0.5358588099479675,
+      0.2697378098964691
+     ],
+     [
+      -0.4189628064632416,
+      0.8208860158920288,
+      -0.38809311389923096
+     ],
+     [
+      -0.4293871223926544,
+      0.19748789072036743,
+      0.8812634348869324
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9448326826095581,
+      0.26353374123573303,
+      0.1945279836654663
+     ],
+     [
+      -0.25246962904930115,
+      0.9642844796180725,
+      -0.08009100705385208
+     ],
+     [
+      -0.20868700742721558,
+      0.026560194790363312,
+      0.9776217341423035
+     ]
+    ],
+    [
+     [
+      0.8009673357009888,
+      0.5940518379211426,
+      -0.07452354580163956
+     ],
+     [
+      -0.5983600616455078,
+      0.7985197305679321,
+      -0.06581480801105499
+     ],
+     [
+      0.020411113277077675,
+      0.09730742871761322,
+      0.9950450658798218
+     ]
+    ],
+    [
+     [
+      0.9458565711975098,
+      0.3159433901309967,
+      -0.07439863681793213
+     ],
+     [
+      -0.3073160946369171,
+      0.9454594850540161,
+      0.10799591988325119
+     ],
+     [
+      0.10446149110794067,
+      -0.07928474992513657,
+      0.9913635849952698
+     ]
+    ],
+    [
+     [
+      0.9097800850868225,
+      0.39363232254981995,
+      0.13173367083072662
+     ],
+     [
+      -0.40622732043266296,
+      0.9095591902732849,
+      0.08764398097991943
+     ],
+     [
+      -0.08532007038593292,
+      -0.13325056433677673,
+      0.9874030351638794
+     ]
+    ],
+    [
+     [
+      0.7361440658569336,
+      0.650443971157074,
+      0.18712174892425537
+     ],
+     [
+      -0.6756126284599304,
+      0.7227237820625305,
+      0.14566372334957123
+     ],
+     [
+      -0.04049123823642731,
+      -0.2336512953042984,
+      0.9714769721031189
+     ]
+    ],
+    [
+     [
+      0.6956706047058105,
+      0.7104791402816772,
+      -0.10612184554338455
+     ],
+     [
+      -0.7164775133132935,
+      0.6969243288040161,
+      -0.030928242951631546
+     ],
+     [
+      0.05198501795530319,
+      0.09754978120326996,
+      0.9938720464706421
+     ]
+    ],
+    [
+     [
+      0.7757178544998169,
+      0.5701648592948914,
+      -0.2705067992210388
+     ],
+     [
+      -0.31547296047210693,
+      0.7215867042541504,
+      0.6162706017494202
+     ],
+     [
+      0.5465699434280396,
+      -0.39271456003189087,
+      0.739619255065918
+     ]
+    ],
+    [
+     [
+      0.749542772769928,
+      0.6492681503295898,
+      0.12898284196853638
+     ],
+     [
+      -0.6531215906143188,
+      0.6936368942260742,
+      0.30380937457084656
+     ],
+     [
+      0.10778647661209106,
+      -0.3119595944881439,
+      0.943961501121521
+     ]
+    ],
+    [
+     [
+      0.6997870206832886,
+      0.7139267325401306,
+      -0.024630606174468994
+     ],
+     [
+      -0.6397407650947571,
+      0.6416666507720947,
+      0.4230787754058838
+     ],
+     [
+      0.3178519010543823,
+      -0.2803078889846802,
+      0.9057580828666687
+     ]
+    ],
+    [
+     [
+      0.8549697399139404,
+      0.4943069815635681,
+      -0.15712189674377441
+     ],
+     [
+      -0.4715130925178528,
+      0.8669206500053406,
+      0.16162921488285065
+     ],
+     [
+      0.21610665321350098,
+      -0.06410306692123413,
+      0.9742631912231445
+     ]
+    ],
+    [
+     [
+      0.7442858219146729,
+      0.6604720950126648,
+      0.09907209128141403
+     ],
+     [
+      -0.6445921063423157,
+      0.6715900897979736,
+      0.3653324246406555
+     ],
+     [
+      0.1747560203075409,
+      -0.3357728123664856,
+      0.9255900382995605
+     ]
+    ],
+    [
+     [
+      0.514602541923523,
+      0.8545242547988892,
+      -0.07051704823970795
+     ],
+     [
+      -0.8359211683273315,
+      0.5182995796203613,
+      0.18055835366249084
+     ],
+     [
+      0.1908404380083084,
+      -0.033969081938266754,
+      0.9810331463813782
+     ]
+    ],
+    [
+     [
+      0.9273655414581299,
+      0.02135595679283142,
+      0.3735466003417969
+     ],
+     [
+      0.18788966536521912,
+      0.8367792963981628,
+      -0.5142935514450073
+     ],
+     [
+      -0.3235592842102051,
+      0.5471236705780029,
+      0.7719877362251282
+     ]
+    ],
+    [
+     [
+      0.9690694808959961,
+      -0.2159317135810852,
+      0.11948973685503006
+     ],
+     [
+      0.1672217845916748,
+      0.930618405342102,
+      0.32555529475212097
+     ],
+     [
+      -0.18149706721305847,
+      -0.2955044209957123,
+      0.937942385673523
+     ]
+    ],
+    [
+     [
+      0.8185428977012634,
+      0.5014169812202454,
+      0.2803007960319519
+     ],
+     [
+      -0.3907553553581238,
+      0.843679666519165,
+      -0.36812350153923035
+     ],
+     [
+      -0.42106741666793823,
+      0.19179585576057434,
+      0.8865193724632263
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9797554016113281,
+      0.05239337310194969,
+      0.19322092831134796
+     ],
+     [
+      -0.0350479893386364,
+      0.9951307773590088,
+      -0.09212150424718857
+     ],
+     [
+      -0.19710664451122284,
+      0.08348453789949417,
+      0.9768210053443909
+     ]
+    ],
+    [
+     [
+      0.86165452003479,
+      0.5067775845527649,
+      -0.02698129415512085
+     ],
+     [
+      -0.506450355052948,
+      0.8620741963386536,
+      0.01833346113562584
+     ],
+     [
+      0.0325508639216423,
+      -0.002132425084710121,
+      0.9994677901268005
+     ]
+    ],
+    [
+     [
+      0.9036167860031128,
+      0.42669376730918884,
+      -0.037537746131420135
+     ],
+     [
+      -0.425824373960495,
+      0.9043372273445129,
+      0.0291164331138134
+     ],
+     [
+      0.04637058079242706,
+      -0.010325613431632519,
+      0.9988709092140198
+     ]
+    ],
+    [
+     [
+      0.9701867699623108,
+      0.17556576430797577,
+      0.1670757681131363
+     ],
+     [
+      -0.18776364624500275,
+      0.9803720712661743,
+      0.06012866273522377
+     ],
+     [
+      -0.1532398909330368,
+      -0.08970678597688675,
+      0.9841088652610779
+     ]
+    ],
+    [
+     [
+      0.7636141180992126,
+      0.6199012994766235,
+      0.18059861660003662
+     ],
+     [
+      -0.6448214054107666,
+      0.7465284466743469,
+      0.1640143096446991
+     ],
+     [
+      -0.03314933925867081,
+      -0.2416974902153015,
+      0.9697852730751038
+     ]
+    ],
+    [
+     [
+      0.7273769974708557,
+      0.6819563508033752,
+      -0.07653949409723282
+     ],
+     [
+      -0.6860303282737732,
+      0.725364089012146,
+      -0.05665122717618942
+     ],
+     [
+      0.016885334625840187,
+      0.09371521323919296,
+      0.9954558610916138
+     ]
+    ],
+    [
+     [
+      0.7570106983184814,
+      0.6048136949539185,
+      -0.24725545942783356
+     ],
+     [
+      -0.3590542674064636,
+      0.70121169090271,
+      0.6159401535987854
+     ],
+     [
+      0.5459074378013611,
+      -0.3774951696395874,
+      0.7479856610298157
+     ]
+    ],
+    [
+     [
+      0.7654175758361816,
+      0.6362903118133545,
+      0.09628402441740036
+     ],
+     [
+      -0.6341921091079712,
+      0.7204148769378662,
+      0.2807183861732483
+     ],
+     [
+      0.10925392061471939,
+      -0.27592933177948,
+      0.9549484848976135
+     ]
+    ],
+    [
+     [
+      0.7120020389556885,
+      0.6999157667160034,
+      -0.05631226301193237
+     ],
+     [
+      -0.6271418333053589,
+      0.6699392199516296,
+      0.39733436703681946
+     ],
+     [
+      0.3158263862133026,
+      -0.24758711457252502,
+      0.915944516658783
+     ]
+    ],
+    [
+     [
+      0.8762261867523193,
+      0.46797025203704834,
+      -0.11502838134765625
+     ],
+     [
+      -0.45029187202453613,
+      0.8801112771034241,
+      0.1504705399274826
+     ],
+     [
+      0.17165350914001465,
+      -0.08004987239837646,
+      0.9818997383117676
+     ]
+    ],
+    [
+     [
+      0.7872825264930725,
+      0.6091396808624268,
+      0.0955774262547493
+     ],
+     [
+      -0.6023784875869751,
+      0.7267459630966187,
+      0.3301219344139099
+     ],
+     [
+      0.1316298544406891,
+      -0.31747299432754517,
+      0.9390870332717896
+     ]
+    ],
+    [
+     [
+      0.5579894781112671,
+      0.8210489749908447,
+      -0.12052492052316666
+     ],
+     [
+      -0.8057411909103394,
+      0.5707880854606628,
+      0.15805742144584656
+     ],
+     [
+      0.19856709241867065,
+      0.008917488157749176,
+      0.9800467491149902
+     ]
+    ],
+    [
+     [
+      0.9483833909034729,
+      -0.030025072395801544,
+      0.3157014846801758
+     ],
+     [
+      0.18286198377609253,
+      0.865116536617279,
+      -0.46704915165901184
+     ],
+     [
+      -0.25909537076950073,
+      0.5006714463233948,
+      0.8259525895118713
+     ]
+    ],
+    [
+     [
+      0.9838899374008179,
+      -0.14275749027729034,
+      0.10761474072933197
+     ],
+     [
+      0.09895170480012894,
+      0.9362027049064636,
+      0.3372434079647064
+     ],
+     [
+      -0.14889322221279144,
+      -0.3211617171764374,
+      0.935246467590332
+     ]
+    ],
+    [
+     [
+      0.8441924452781677,
+      0.41614800691604614,
+      0.33787572383880615
+     ],
+     [
+      -0.301047146320343,
+      0.889593780040741,
+      -0.34350186586380005
+     ],
+     [
+      -0.4435197710990906,
+      0.1882651448249817,
+      0.8762685060501099
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.977155327796936,
+      0.034330010414123535,
+      0.20973524451255798
+     ],
+     [
+      -0.014299897477030754,
+      0.9952513575553894,
+      -0.09628219157457352
+     ],
+     [
+      -0.21204465627670288,
+      0.09108345955610275,
+      0.9730060696601868
+     ]
+    ],
+    [
+     [
+      0.8384803533554077,
+      0.5440798401832581,
+      -0.030461404472589493
+     ],
+     [
+      -0.543517529964447,
+      0.8390212655067444,
+      0.02513871341943741
+     ],
+     [
+      0.039235230535268784,
+      -0.004522011615335941,
+      0.9992197751998901
+     ]
+    ],
+    [
+     [
+      0.9077732563018799,
+      0.4192964434623718,
+      -0.011758970096707344
+     ],
+     [
+      -0.41899311542510986,
+      0.9077277779579163,
+      0.021795732900500298
+     ],
+     [
+      0.019812816753983498,
+      -0.01485865656286478,
+      0.9996932744979858
+     ]
+    ],
+    [
+     [
+      0.9803894758224487,
+      0.11912554502487183,
+      0.15698900818824768
+     ],
+     [
+      -0.12867498397827148,
+      0.990317165851593,
+      0.05210262909531593
+     ],
+     [
+      -0.14926216006278992,
+      -0.07128142565488815,
+      0.9862250089645386
+     ]
+    ],
+    [
+     [
+      0.7830666899681091,
+      0.5873387455940247,
+      0.20454765856266022
+     ],
+     [
+      -0.6199061274528503,
+      0.763650119304657,
+      0.18042977154254913
+     ],
+     [
+      -0.05022944509983063,
+      -0.2680888772010803,
+      0.9620838761329651
+     ]
+    ],
+    [
+     [
+      0.7847589254379272,
+      0.6163685917854309,
+      -0.06513930857181549
+     ],
+     [
+      -0.6197848916053772,
+      0.7796318531036377,
+      -0.08967134356498718
+     ],
+     [
+      -0.004485916346311569,
+      0.11074274778366089,
+      0.9938389658927917
+     ]
+    ],
+    [
+     [
+      0.7493921518325806,
+      0.6317877769470215,
+      -0.19813033938407898
+     ],
+     [
+      -0.3926234245300293,
+      0.6649579405784607,
+      0.6353564262390137
+     ],
+     [
+      0.5331587791442871,
+      -0.3983405530452728,
+      0.746368944644928
+     ]
+    ],
+    [
+     [
+      0.798375129699707,
+      0.6018440127372742,
+      0.019516201689839363
+     ],
+     [
+      -0.5985339283943176,
+      0.7895984053611755,
+      0.13524605333805084
+     ],
+     [
+      0.06598706543445587,
+      -0.11965819448232651,
+      0.9906198382377625
+     ]
+    ],
+    [
+     [
+      0.7781282067298889,
+      0.6269587278366089,
+      -0.03793683648109436
+     ],
+     [
+      -0.56378173828125,
+      0.723791241645813,
+      0.39783957600593567
+     ],
+     [
+      0.27688735723495483,
+      -0.2881821095943451,
+      0.9166703224182129
+     ]
+    ],
+    [
+     [
+      0.8798438906669617,
+      0.4649151563644409,
+      -0.09863409399986267
+     ],
+     [
+      -0.44601428508758545,
+      0.8794004917144775,
+      0.16651125252246857
+     ],
+     [
+      0.16415247321128845,
+      -0.1025116890668869,
+      0.9810939431190491
+     ]
+    ],
+    [
+     [
+      0.8381025791168213,
+      0.5347555875778198,
+      0.10779884457588196
+     ],
+     [
+      -0.5402846336364746,
+      0.7864090204238892,
+      0.2994217276573181
+     ],
+     [
+      0.07534345984458923,
+      -0.30918818712234497,
+      0.9480116367340088
+     ]
+    ],
+    [
+     [
+      0.6024140119552612,
+      0.7802668213844299,
+      -0.16816985607147217
+     ],
+     [
+      -0.7749871611595154,
+      0.6222019195556641,
+      0.11072374135255814
+     ],
+     [
+      0.19102966785430908,
+      0.06362792104482651,
+      0.9795198440551758
+     ]
+    ],
+    [
+     [
+      0.9462041258811951,
+      -0.07221772521734238,
+      0.31540825963020325
+     ],
+     [
+      0.2038843333721161,
+      0.8899883031845093,
+      -0.40786266326904297
+     ],
+     [
+      -0.25125476717948914,
+      0.45022815465927124,
+      0.8568346500396729
+     ]
+    ],
+    [
+     [
+      0.9881791472434998,
+      -0.12372343242168427,
+      0.09052345901727676
+     ],
+     [
+      0.08630137145519257,
+      0.9369857311248779,
+      0.3385407030582428
+     ],
+     [
+      -0.126704603433609,
+      -0.3267265856266022,
+      0.9365872740745544
+     ]
+    ],
+    [
+     [
+      0.8725923299789429,
+      0.3380410671234131,
+      0.35257747769355774
+     ],
+     [
+      -0.24884039163589478,
+      0.928789496421814,
+      -0.2746425271034241
+     ],
+     [
+      -0.42031070590019226,
+      0.15191543102264404,
+      0.8945728540420532
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9698934555053711,
+      0.05175953730940819,
+      0.23796570301055908
+     ],
+     [
+      -0.027079176157712936,
+      0.9940146207809448,
+      -0.10583803057670593
+     ],
+     [
+      -0.24201950430870056,
+      0.09620769321918488,
+      0.9654898643493652
+     ]
+    ],
+    [
+     [
+      0.7813020944595337,
+      0.6210349202156067,
+      -0.06231144070625305
+     ],
+     [
+      -0.6213110089302063,
+      0.7833752632141113,
+      0.01719999499619007
+     ],
+     [
+      0.05949503928422928,
+      0.025276394560933113,
+      0.9979085326194763
+     ]
+    ],
+    [
+     [
+      0.9365158677101135,
+      0.3506101667881012,
+      -0.0032493844628334045
+     ],
+     [
+      -0.350079745054245,
+      0.9355354309082031,
+      0.04709220305085182
+     ],
+     [
+      0.01955091953277588,
+      -0.04296505078673363,
+      0.9988852739334106
+     ]
+    ],
+    [
+     [
+      0.9826785922050476,
+      0.12240362167358398,
+      0.13914063572883606
+     ],
+     [
+      -0.13164865970611572,
+      0.9895228147506714,
+      0.05927203223109245
+     ],
+     [
+      -0.13042771816253662,
+      -0.0765630304813385,
+      0.9884971976280212
+     ]
+    ],
+    [
+     [
+      0.8131586909294128,
+      0.5414412617683411,
+      0.21357515454292297
+     ],
+     [
+      -0.5770711302757263,
+      0.7978302836418152,
+      0.17451564967632294
+     ],
+     [
+      -0.07590676099061966,
+      -0.26515698432922363,
+      0.9612127542495728
+     ]
+    ],
+    [
+     [
+      0.859645664691925,
+      0.506746768951416,
+      -0.06493896245956421
+     ],
+     [
+      -0.5108875036239624,
+      0.8522167205810547,
+      -0.11278603225946426
+     ],
+     [
+      -0.0018118806183338165,
+      0.1301325261592865,
+      0.9914949536323547
+     ]
+    ],
+    [
+     [
+      0.7489191293716431,
+      0.6420316100120544,
+      -0.16405953466892242
+     ],
+     [
+      -0.386788547039032,
+      0.6245540380477905,
+      0.6784738898277283
+     ],
+     [
+      0.5380657911300659,
+      -0.44466570019721985,
+      0.7160709500312805
+     ]
+    ],
+    [
+     [
+      0.831725001335144,
+      0.5535372495651245,
+      -0.042778778821229935
+     ],
+     [
+      -0.555091142654419,
+      0.8276703357696533,
+      -0.08267781138420105
+     ],
+     [
+      -0.010358519852161407,
+      0.09251132607460022,
+      0.995657742023468
+     ]
+    ],
+    [
+     [
+      0.8833849430084229,
+      0.4668007493019104,
+      0.041571155190467834
+     ],
+     [
+      -0.43745893239974976,
+      0.789524495601654,
+      0.4304425120353699
+     ],
+     [
+      0.16810943186283112,
+      -0.39843207597732544,
+      0.9016602039337158
+     ]
+    ],
+    [
+     [
+      0.8835039138793945,
+      0.4579767882823944,
+      -0.09837738424539566
+     ],
+     [
+      -0.43528661131858826,
+      0.8802799582481384,
+      0.18876656889915466
+     ],
+     [
+      0.17305034399032593,
+      -0.12395364791154861,
+      0.9770818948745728
+     ]
+    ],
+    [
+     [
+      0.907858669757843,
+      0.3997942805290222,
+      0.1263217031955719
+     ],
+     [
+      -0.41919565200805664,
+      0.871418833732605,
+      0.2547631859779358
+     ],
+     [
+      -0.008226253092288971,
+      -0.2842424511909485,
+      0.9587171077728271
+     ]
+    ],
+    [
+     [
+      0.6924346685409546,
+      0.697470486164093,
+      -0.18457843363285065
+     ],
+     [
+      -0.7005283236503601,
+      0.7111581563949585,
+      0.059279583394527435
+     ],
+     [
+      0.17261023819446564,
+      0.08825518935918808,
+      0.9810283780097961
+     ]
+    ],
+    [
+     [
+      0.9347178936004639,
+      -0.05980423092842102,
+      0.3503226339817047
+     ],
+     [
+      0.21305936574935913,
+      0.883253276348114,
+      -0.4176953136920929
+     ],
+     [
+      -0.2844436466693878,
+      0.4650668203830719,
+      0.8383344411849976
+     ]
+    ],
+    [
+     [
+      0.9910870790481567,
+      -0.12030290812253952,
+      0.05721522122621536
+     ],
+     [
+      0.09191327542066574,
+      0.9284162521362305,
+      0.35999342799186707
+     ],
+     [
+      -0.0964277908205986,
+      -0.3515259921550751,
+      0.93119877576828
+     ]
+    ],
+    [
+     [
+      0.8879877328872681,
+      0.3033602833747864,
+      0.34561583399772644
+     ],
+     [
+      -0.2068672627210617,
+      0.9347282648086548,
+      -0.28894466161727905
+     ],
+     [
+      -0.4107111990451813,
+      0.18508270382881165,
+      0.8927825689315796
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9601238965988159,
+      0.09405560791492462,
+      0.263278603553772
+     ],
+     [
+      -0.06092554330825806,
+      0.9894684553146362,
+      -0.13130193948745728
+     ],
+     [
+      -0.27285557985305786,
+      0.11002574861049652,
+      0.9557427167892456
+     ]
+    ],
+    [
+     [
+      0.7220691442489624,
+      0.6851676106452942,
+      -0.09571607410907745
+     ],
+     [
+      -0.6869704127311707,
+      0.7264655828475952,
+      0.017871133983135223
+     ],
+     [
+      0.08177916705608368,
+      0.0528499111533165,
+      0.9952482581138611
+     ]
+    ],
+    [
+     [
+      0.9417065382003784,
+      0.3364023268222809,
+      -0.004718211013823748
+     ],
+     [
+      -0.3360406458377838,
+      0.9411882758140564,
+      0.035231705754995346
+     ],
+     [
+      0.01629275269806385,
+      -0.031592417508363724,
+      0.9993680119514465
+     ]
+    ],
+    [
+     [
+      0.9887182116508484,
+      0.08100959658622742,
+      0.1259908527135849
+     ],
+     [
+      -0.085551917552948,
+      0.9958494305610657,
+      0.031060777604579926
+     ],
+     [
+      -0.1229517012834549,
+      -0.041489116847515106,
+      0.9915450215339661
+     ]
+    ],
+    [
+     [
+      0.8290542960166931,
+      0.5167391896247864,
+      0.2136576771736145
+     ],
+     [
+      -0.5531126856803894,
+      0.8139305114746094,
+      0.17771734297275543
+     ],
+     [
+      -0.08206898719072342,
+      -0.2655141055583954,
+      0.9606075882911682
+     ]
+    ],
+    [
+     [
+      0.8941879868507385,
+      0.4434153735637665,
+      -0.061730869114398956
+     ],
+     [
+      -0.44763967394828796,
+      0.8876463770866394,
+      -0.10817858576774597
+     ],
+     [
+      0.006827130913734436,
+      0.1243651807308197,
+      0.9922130107879639
+     ]
+    ],
+    [
+     [
+      0.7335513830184937,
+      0.6667361259460449,
+      -0.13177745044231415
+     ],
+     [
+      -0.40505290031433105,
+      0.584586501121521,
+      0.702987015247345
+     ],
+     [
+      0.5457421541213989,
+      -0.46230024099349976,
+      0.6988876461982727
+     ]
+    ],
+    [
+     [
+      0.8727409839630127,
+      0.48128366470336914,
+      -0.08178716897964478
+     ],
+     [
+      -0.48402249813079834,
+      0.8312454223632812,
+      -0.27341052889823914
+     ],
+     [
+      -0.06360280513763428,
+      0.27820339798927307,
+      0.9584140777587891
+     ]
+    ],
+    [
+     [
+      0.9535662531852722,
+      0.28551599383354187,
+      0.09587474912405014
+     ],
+     [
+      -0.29443374276161194,
+      0.8166913390159607,
+      0.4963104724884033
+     ],
+     [
+      0.06340449303388596,
+      -0.5014936923980713,
+      0.8628348708152771
+     ]
+    ],
+    [
+     [
+      0.8824355006217957,
+      0.46289896965026855,
+      -0.0838577002286911
+     ],
+     [
+      -0.43970298767089844,
+      0.8749518990516663,
+      0.2027817964553833
+     ],
+     [
+      0.16723893582820892,
+      -0.14206936955451965,
+      0.9756267070770264
+     ]
+    ],
+    [
+     [
+      0.9554885625839233,
+      0.26326918601989746,
+      0.1331573724746704
+     ],
+     [
+      -0.28776878118515015,
+      0.9311586618423462,
+      0.2239033579826355
+     ],
+     [
+      -0.06504378467798233,
+      -0.2522556185722351,
+      0.9654721021652222
+     ]
+    ],
+    [
+     [
+      0.7711952924728394,
+      0.6109837293624878,
+      -0.17876455187797546
+     ],
+     [
+      -0.6178407669067383,
+      0.7860204577445984,
+      0.021087918430566788
+     ],
+     [
+      0.15339696407318115,
+      0.09418511390686035,
+      0.9836658835411072
+     ]
+    ],
+    [
+     [
+      0.926298975944519,
+      -0.10459055751562119,
+      0.361982136964798
+     ],
+     [
+      0.24764955043792725,
+      0.893042802810669,
+      -0.37569165229797363
+     ],
+     [
+      -0.28397175669670105,
+      0.4376475214958191,
+      0.8531264066696167
+     ]
+    ],
+    [
+     [
+      0.9958860874176025,
+      -0.06122218072414398,
+      0.06680376827716827
+     ],
+     [
+      0.030383333563804626,
+      0.9201681613922119,
+      0.39034271240234375
+     ],
+     [
+      -0.0853683352470398,
+      -0.3867071270942688,
+      0.9182428121566772
+     ]
+    ],
+    [
+     [
+      0.9356378316879272,
+      0.17468741536140442,
+      0.30670198798179626
+     ],
+     [
+      -0.09177571535110474,
+      0.9594556093215942,
+      -0.26649972796440125
+     ],
+     [
+      -0.34082111716270447,
+      0.22119945287704468,
+      0.9137350916862488
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.953386664390564,
+      0.15526330471038818,
+      0.25874146819114685
+     ],
+     [
+      -0.12157674878835678,
+      0.9824361205101013,
+      -0.14155688881874084
+     ],
+     [
+      -0.27617552876472473,
+      0.10350150614976883,
+      0.9555179476737976
+     ]
+    ],
+    [
+     [
+      0.6890316009521484,
+      0.71700119972229,
+      -0.10556867718696594
+     ],
+     [
+      -0.7197130918502808,
+      0.694074273109436,
+      0.016548722982406616
+     ],
+     [
+      0.08513796329498291,
+      0.06457657366991043,
+      0.9942743182182312
+     ]
+    ],
+    [
+     [
+      0.9306646585464478,
+      0.36538660526275635,
+      -0.018865427002310753
+     ],
+     [
+      -0.3653331398963928,
+      0.9308553338050842,
+      0.006330000702291727
+     ],
+     [
+      0.019873881712555885,
+      0.0010010581463575363,
+      0.9998019933700562
+     ]
+    ],
+    [
+     [
+      0.9875161647796631,
+      0.1013360247015953,
+      0.12059378623962402
+     ],
+     [
+      -0.10173527151346207,
+      0.9948074221611023,
+      -0.00285758962854743
+     ],
+     [
+      -0.120257169008255,
+      -0.009446725249290466,
+      0.9926978349685669
+     ]
+    ],
+    [
+     [
+      0.826745331287384,
+      0.5288107395172119,
+      0.1919672191143036
+     ],
+     [
+      -0.5590614080429077,
+      0.8103535175323486,
+      0.17543530464172363
+     ],
+     [
+      -0.06278925389051437,
+      -0.25236180424690247,
+      0.9655936360359192
+     ]
+    ],
+    [
+     [
+      0.8986340165138245,
+      0.4343063533306122,
+      -0.06192687153816223
+     ],
+     [
+      -0.4377867877483368,
+      0.8968847990036011,
+      -0.0627729743719101
+     ],
+     [
+      0.028278566896915436,
+      0.08352069556713104,
+      0.9961047172546387
+     ]
+    ],
+    [
+     [
+      0.7014424800872803,
+      0.7094327807426453,
+      -0.068436399102211
+     ],
+     [
+      -0.46807748079299927,
+      0.530949056148529,
+      0.7063968777656555
+     ],
+     [
+      0.5374773740768433,
+      -0.4634632468223572,
+      0.7044997811317444
+     ]
+    ],
+    [
+     [
+      0.8975633978843689,
+      0.43027397990226746,
+      -0.09614706039428711
+     ],
+     [
+      -0.43630966544151306,
+      0.8355315923690796,
+      -0.3339473307132721
+     ],
+     [
+      -0.06335492432117462,
+      0.34168878197669983,
+      0.9376752972602844
+     ]
+    ],
+    [
+     [
+      0.9860096573829651,
+      0.14394612610340118,
+      0.08405052125453949
+     ],
+     [
+      -0.16644801199436188,
+      0.8231924772262573,
+      0.5428160429000854
+     ],
+     [
+      0.008946504443883896,
+      -0.549211859703064,
+      0.835635244846344
+     ]
+    ],
+    [
+     [
+      0.8712872266769409,
+      0.48747026920318604,
+      -0.056844256818294525
+     ],
+     [
+      -0.4687296748161316,
+      0.8608748912811279,
+      0.19795674085617065
+     ],
+     [
+      0.14543381333351135,
+      -0.1458325982093811,
+      0.9785611033439636
+     ]
+    ],
+    [
+     [
+      0.9704703092575073,
+      0.21502910554409027,
+      0.10931545495986938
+     ],
+     [
+      -0.23459269106388092,
+      0.9468293786048889,
+      0.22018270194530487
+     ],
+     [
+      -0.056157395243644714,
+      -0.2393253892660141,
+      0.9693140387535095
+     ]
+    ],
+    [
+     [
+      0.8202385306358337,
+      0.5516741275787354,
+      -0.1512100249528885
+     ],
+     [
+      -0.553550124168396,
+      0.8321505188941956,
+      0.033283062279224396
+     ],
+     [
+      0.14419089257717133,
+      0.05640228092670441,
+      0.9879411458969116
+     ]
+    ],
+    [
+     [
+      0.9258758425712585,
+      -0.18130993843078613,
+      0.33148252964019775
+     ],
+     [
+      0.2960777282714844,
+      0.8931955695152283,
+      -0.3384370505809784
+     ],
+     [
+      -0.23471671342849731,
+      0.41149529814720154,
+      0.8806700110435486
+     ]
+    ],
+    [
+     [
+      0.9873673915863037,
+      0.08099225163459778,
+      0.13618335127830505
+     ],
+     [
+      -0.1331559270620346,
+      0.8899832963943481,
+      0.4361184239387512
+     ],
+     [
+      -0.08587870001792908,
+      -0.44874274730682373,
+      0.8895250558853149
+     ]
+    ],
+    [
+     [
+      0.9670969843864441,
+      0.0008670873939990997,
+      0.25440657138824463
+     ],
+     [
+      0.07963326573371887,
+      0.9487112760543823,
+      -0.3059500753879547
+     ],
+     [
+      -0.2416236847639084,
+      0.31614258885383606,
+      0.9174267649650574
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9504520893096924,
+      0.20743055641651154,
+      0.23154579102993011
+     ],
+     [
+      -0.18173624575138092,
+      0.9750460982322693,
+      -0.1275029182434082
+     ],
+     [
+      -0.25221583247184753,
+      0.07910515367984772,
+      0.9644322395324707
+     ]
+    ],
+    [
+     [
+      0.7071919441223145,
+      0.7033293843269348,
+      -0.0721617043018341
+     ],
+     [
+      -0.7046533226966858,
+      0.7094892263412476,
+      0.009415224194526672
+     ],
+     [
+      0.05781995877623558,
+      0.04419061914086342,
+      0.9973484873771667
+     ]
+    ],
+    [
+     [
+      0.9117605686187744,
+      0.4078207015991211,
+      -0.04873323813080788
+     ],
+     [
+      -0.40913450717926025,
+      0.9122427701950073,
+      -0.02054459974169731
+     ],
+     [
+      0.03607803210616112,
+      0.03867020457983017,
+      0.9986005425453186
+     ]
+    ],
+    [
+     [
+      0.9768932461738586,
+      0.17343764007091522,
+      0.12489572167396545
+     ],
+     [
+      -0.17157642543315887,
+      0.9848383665084839,
+      -0.02559080347418785
+     ],
+     [
+      -0.12744051218032837,
+      0.003570319153368473,
+      0.9918397665023804
+     ]
+    ],
+    [
+     [
+      0.811188280582428,
+      0.5626855492591858,
+      0.1592436283826828
+     ],
+     [
+      -0.5841088891029358,
+      0.7927221059799194,
+      0.17438046634197235
+     ],
+     [
+      -0.02811458706855774,
+      -0.23447100818157196,
+      0.9717164635658264
+     ]
+    ],
+    [
+     [
+      0.8897790908813477,
+      0.4528920352458954,
+      -0.05640885606408119
+     ],
+     [
+      -0.4536575376987457,
+      0.8911756873130798,
+      -0.0008614566177129745
+     ],
+     [
+      0.04988005384802818,
+      0.026356806978583336,
+      0.9984073638916016
+     ]
+    ],
+    [
+     [
+      0.6501896977424622,
+      0.7592010498046875,
+      -0.029446423053741455
+     ],
+     [
+      -0.5430235862731934,
+      0.49146097898483276,
+      0.6808755397796631
+     ],
+     [
+      0.5313931703567505,
+      -0.4267081320285797,
+      0.7318069934844971
+     ]
+    ],
+    [
+     [
+      0.9088253378868103,
+      0.4030427932739258,
+      -0.10767070949077606
+     ],
+     [
+      -0.4170759320259094,
+      0.8721470832824707,
+      -0.25574827194213867
+     ],
+     [
+      -0.009172797203063965,
+      0.27733737230300903,
+      0.9607288241386414
+     ]
+    ],
+    [
+     [
+      0.9986249804496765,
+      0.03840569034218788,
+      0.0356818288564682
+     ],
+     [
+      -0.05162292346358299,
+      0.8389089703559875,
+      0.5418181419372559
+     ],
+     [
+      -0.009124907664954662,
+      -0.5429151058197021,
+      0.8397380113601685
+     ]
+    ],
+    [
+     [
+      0.856871485710144,
+      0.5138034820556641,
+      -0.04215721786022186
+     ],
+     [
+      -0.5012320280075073,
+      0.8494417667388916,
+      0.16497020423412323
+     ],
+     [
+      0.12057235836982727,
+      -0.12022771686315536,
+      0.9853971600532532
+     ]
+    ],
+    [
+     [
+      0.9653882384300232,
+      0.25462570786476135,
+      0.05649162828922272
+     ],
+     [
+      -0.26055940985679626,
+      0.9319146871566772,
+      0.25227731466293335
+     ],
+     [
+      0.01159091480076313,
+      -0.25826495885849,
+      0.9660046100616455
+     ]
+    ],
+    [
+     [
+      0.8486624956130981,
+      0.5176277160644531,
+      -0.10878221690654755
+     ],
+     [
+      -0.5102149248123169,
+      0.8553576469421387,
+      0.08968865126371384
+     ],
+     [
+      0.13947302103042603,
+      -0.020613081753253937,
+      0.9900112748146057
+     ]
+    ],
+    [
+     [
+      0.9314724206924438,
+      -0.2572615146636963,
+      0.257246196269989
+     ],
+     [
+      0.3355768322944641,
+      0.8806684017181396,
+      -0.33438199758529663
+     ],
+     [
+      -0.14052501320838928,
+      0.3977934718132019,
+      0.9066493511199951
+     ]
+    ],
+    [
+     [
+      0.9384777545928955,
+      0.2598620653152466,
+      0.22744500637054443
+     ],
+     [
+      -0.3400231599807739,
+      0.8104383945465088,
+      0.4770469665527344
+     ],
+     [
+      -0.06036376953125,
+      -0.5250345468521118,
+      0.8489375710487366
+     ]
+    ],
+    [
+     [
+      0.9487776160240173,
+      -0.16604742407798767,
+      0.2687923014163971
+     ],
+     [
+      0.26723939180374146,
+      0.8755912780761719,
+      -0.4023965299129486
+     ],
+     [
+      -0.1685352921485901,
+      0.4536167085170746,
+      0.8751158714294434
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.0861821100115776,
+    0.2722271978855133,
+    0.3272266685962677
+   ],
+   [
+    0.08604312688112259,
+    0.26832398772239685,
+    0.3229527175426483
+   ],
+   [
+    0.08419273048639297,
+    0.26398539543151855,
+    0.3243751525878906
+   ],
+   [
+    0.07755562663078308,
+    0.252800852060318,
+    0.31858983635902405
+   ],
+   [
+    0.07771991193294525,
+    0.2517954111099243,
+    0.3221697211265564
+   ],
+   [
+    0.10309795290231705,
+    0.18244341015815735,
+    0.2603265345096588
+   ],
+   [
+    0.15271231532096863,
+    0.08767284452915192,
+    0.33189570903778076
+   ],
+   [
+    0.16816693544387817,
+    0.07308326661586761,
+    0.3862568140029907
+   ],
+   [
+    0.23910310864448547,
+    0.08027401566505432,
+    0.5392853617668152
+   ],
+   [
+    0.22231774032115936,
+    0.07918404042720795,
+    0.5147141814231873
+   ],
+   [
+    0.1777399778366089,
+    0.04385140538215637,
+    0.3721317946910858
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.7596800327301025,
+    -0.8309645652770996,
+    -4.411593437194824,
+    -2.1955580711364746,
+    -0.3233709931373596,
+    -3.9698140621185303,
+    -1.9307278394699097,
+    0.7479353547096252,
+    0.6238471269607544,
+    1.3989472389221191
+   ],
+   [
+    -2.736487865447998,
+    -0.8885080814361572,
+    -4.433862209320068,
+    -2.187225341796875,
+    -0.26987361907958984,
+    -4.014015197753906,
+    -1.935348391532898,
+    0.7994306087493896,
+    0.6518454551696777,
+    1.3669331073760986
+   ],
+   [
+    -2.6729576587677,
+    -0.9117834568023682,
+    -4.343505382537842,
+    -2.1243374347686768,
+    -0.24157065153121948,
+    -3.9937803745269775,
+    -1.9465852975845337,
+    0.8237729668617249,
+    0.6577839851379395,
+    1.3815357685089111
+   ],
+   [
+    -2.6716504096984863,
+    -0.9517769813537598,
+    -4.423642635345459,
+    -2.2073814868927,
+    -0.2244548797607422,
+    -4.000235080718994,
+    -1.9653640985488892,
+    0.7693339586257935,
+    0.6395961046218872,
+    1.371112585067749
+   ],
+   [
+    -2.6684322357177734,
+    -0.9478573799133301,
+    -4.344560146331787,
+    -2.173926591873169,
+    -0.25788414478302,
+    -4.016976356506348,
+    -1.9981766939163208,
+    0.7179437875747681,
+    0.6325619220733643,
+    1.4019124507904053
+   ],
+   [
+    -2.555568218231201,
+    -0.7226574420928955,
+    -3.8666203022003174,
+    -1.907731056213379,
+    -0.21522879600524902,
+    -3.9113008975982666,
+    -1.7470914125442505,
+    0.7073805332183838,
+    0.6672650575637817,
+    1.3011789321899414
+   ],
+   [
+    -2.304631471633911,
+    -0.7354393005371094,
+    -3.191711187362671,
+    -1.6374014616012573,
+    -0.15168648958206177,
+    -3.52414870262146,
+    -1.5103591680526733,
+    0.6742022633552551,
+    0.7841907739639282,
+    1.27555513381958
+   ],
+   [
+    -2.8374133110046387,
+    -0.6054471731185913,
+    -3.9639370441436768,
+    -2.0974111557006836,
+    -0.2320549488067627,
+    -4.068256855010986,
+    -1.8796666860580444,
+    0.6952089071273804,
+    0.8772677183151245,
+    1.4868574142456055
+   ],
+   [
+    -2.580822706222534,
+    -0.3865087330341339,
+    -3.3280210494995117,
+    -1.9757070541381836,
+    -0.22134029865264893,
+    -3.76163911819458,
+    -1.7024840116500854,
+    0.6638908386230469,
+    0.7386300563812256,
+    1.4809324741363525
+   ],
+   [
+    -2.2793326377868652,
+    -0.5485628843307495,
+    -3.459326982498169,
+    -1.9593403339385986,
+    -0.2075977325439453,
+    -3.536926031112671,
+    -1.663930058479309,
+    0.7731196880340576,
+    0.5700503587722778,
+    1.260591983795166
+   ],
+   [
+    -0.5129173994064331,
+    0.023969024419784546,
+    -1.6663724184036255,
+    -1.206343173980713,
+    -0.44943052530288696,
+    -1.1713907718658447,
+    -0.7684671878814697,
+    0.9015339612960815,
+    0.5136673450469971,
+    1.348567008972168
+   ]
+  ]
+ ]
+}

test/add_remove_lid/1/cam_space/0/33_41.json

@@ -0,0 +1,2637 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.17524361610412598,
+     -0.844093382358551,
+     0.5067504644393921
+    ],
+    [
+     -0.5029101967811584,
+     -0.5192446708679199,
+     -0.6909893751144409
+    ],
+    [
+     0.8463870286941528,
+     -0.1337585151195526,
+     -0.5154974460601807
+    ]
+   ],
+   [
+    [
+     0.4243180751800537,
+     -0.8105488419532776,
+     0.40368902683258057
+    ],
+    [
+     -0.5108652710914612,
+     -0.5823712348937988,
+     -0.6323453783988953
+    ],
+    [
+     0.7476435899734497,
+     0.06208491325378418,
+     -0.6611919403076172
+    ]
+   ],
+   [
+    [
+     0.6070963740348816,
+     -0.7584579586982727,
+     0.23701365292072296
+    ],
+    [
+     -0.5220677256584167,
+     -0.6055684089660645,
+     -0.6006098985671997
+    ],
+    [
+     0.599065363407135,
+     0.24089092016220093,
+     -0.7636047601699829
+    ]
+   ],
+   [
+    [
+     0.6797590851783752,
+     -0.7292633056640625,
+     0.07811896502971649
+    ],
+    [
+     -0.5413964986801147,
+     -0.5707745552062988,
+     -0.6173379421234131
+    ],
+    [
+     0.494790256023407,
+     0.3773477375507355,
+     -0.7828097343444824
+    ]
+   ],
+   [
+    [
+     0.6506580114364624,
+     -0.7593533992767334,
+     0.005162477493286133
+    ],
+    [
+     -0.6049003601074219,
+     -0.52239990234375,
+     -0.6009944081306458
+    ],
+    [
+     0.45906394720077515,
+     0.3879190981388092,
+     -0.7992368936538696
+    ]
+   ],
+   [
+    [
+     0.6141720414161682,
+     -0.7854598164558411,
+     0.07645708322525024
+    ],
+    [
+     -0.6109854578971863,
+     -0.5345815420150757,
+     -0.5838831663131714
+    ],
+    [
+     0.4994892477989197,
+     0.31189054250717163,
+     -0.8082295656204224
+    ]
+   ],
+   [
+    [
+     0.6260185241699219,
+     -0.7683368921279907,
+     0.1332639902830124
+    ],
+    [
+     -0.5747902393341064,
+     -0.5701336860656738,
+     -0.586995542049408
+    ],
+    [
+     0.5269885659217834,
+     0.290871262550354,
+     -0.7985467910766602
+    ]
+   ],
+   [
+    [
+     0.6551769375801086,
+     -0.7346574068069458,
+     0.1761297732591629
+    ],
+    [
+     -0.509335994720459,
+     -0.6017285585403442,
+     -0.6152231693267822
+    ],
+    [
+     0.557960569858551,
+     0.31337082386016846,
+     -0.7684261798858643
+    ]
+   ],
+   [
+    [
+     0.6462867259979248,
+     -0.7476481795310974,
+     0.15275989472866058
+    ],
+    [
+     -0.4828956723213196,
+     -0.55570387840271,
+     -0.6767606735229492
+    ],
+    [
+     0.5908681750297546,
+     0.36361441016197205,
+     -0.7201802730560303
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9619603753089905,
+      0.15376296639442444,
+      0.22580796480178833
+     ],
+     [
+      -0.13674360513687134,
+      0.9865762591362,
+      -0.08926602452993393
+     ],
+     [
+      -0.23650258779525757,
+      0.05499257892370224,
+      0.9700733423233032
+     ]
+    ],
+    [
+     [
+      0.804655909538269,
+      0.5898243188858032,
+      -0.06808903813362122
+     ],
+     [
+      -0.592618465423584,
+      0.80488520860672,
+      -0.031035015359520912
+     ],
+     [
+      0.036498650908470154,
+      0.06532333046197891,
+      0.9971964359283447
+     ]
+    ],
+    [
+     [
+      0.9163990020751953,
+      0.3969598114490509,
+      -0.05133950710296631
+     ],
+     [
+      -0.39070752263069153,
+      0.914989709854126,
+      0.10070507228374481
+     ],
+     [
+      0.08695098757743835,
+      -0.07222729921340942,
+      0.9935908317565918
+     ]
+    ],
+    [
+     [
+      0.9699096083641052,
+      0.19700060784816742,
+      0.14305981993675232
+     ],
+     [
+      -0.2073739618062973,
+      0.9763272404670715,
+      0.061491336673498154
+     ],
+     [
+      -0.1275593638420105,
+      -0.08930791914463043,
+      0.9878019690513611
+     ]
+    ],
+    [
+     [
+      0.7500147819519043,
+      0.6280186176300049,
+      0.20753446221351624
+     ],
+     [
+      -0.6603900194168091,
+      0.7285411357879639,
+      0.18196934461593628
+     ],
+     [
+      -0.03691726177930832,
+      -0.2735333740711212,
+      0.9611538052558899
+     ]
+    ],
+    [
+     [
+      0.7195815443992615,
+      0.6880897283554077,
+      -0.09346089512109756
+     ],
+     [
+      -0.6939895153045654,
+      0.7172760963439941,
+      -0.06239759922027588
+     ],
+     [
+      0.024102121591567993,
+      0.10976104438304901,
+      0.9936657547950745
+     ]
+    ],
+    [
+     [
+      0.8057723045349121,
+      0.47149887681007385,
+      -0.3583572506904602
+     ],
+     [
+      -0.24838975071907043,
+      0.8183702230453491,
+      0.5182400941848755
+     ],
+     [
+      0.5376184582710266,
+      -0.32857123017311096,
+      0.7765355110168457
+     ]
+    ],
+    [
+     [
+      0.8127107620239258,
+      0.5744614005088806,
+      0.0974436029791832
+     ],
+     [
+      -0.5782985091209412,
+      0.7748162746429443,
+      0.25540268421173096
+     ],
+     [
+      0.0712181106209755,
+      -0.26392000913619995,
+      0.9619117379188538
+     ]
+    ],
+    [
+     [
+      0.7014752626419067,
+      0.6993521451950073,
+      -0.13725535571575165
+     ],
+     [
+      -0.6401064395904541,
+      0.7029143571853638,
+      0.31012120842933655
+     ],
+     [
+      0.313362717628479,
+      -0.12968432903289795,
+      0.9407368302345276
+     ]
+    ],
+    [
+     [
+      0.9079853296279907,
+      0.3869895040988922,
+      -0.1606294810771942
+     ],
+     [
+      -0.3731842339038849,
+      0.9212218523025513,
+      0.1099262535572052
+     ],
+     [
+      0.1905156970024109,
+      -0.03986703231930733,
+      0.9808743000030518
+     ]
+    ],
+    [
+     [
+      0.8184376358985901,
+      0.5654968619346619,
+      0.10184859484434128
+     ],
+     [
+      -0.5637387633323669,
+      0.7559652924537659,
+      0.33273881673812866
+     ],
+     [
+      0.1111687496304512,
+      -0.3297419548034668,
+      0.937502920627594
+     ]
+    ],
+    [
+     [
+      0.5175396203994751,
+      0.8458635210990906,
+      -0.12910324335098267
+     ],
+     [
+      -0.8356160521507263,
+      0.5320963859558105,
+      0.13645264506340027
+     ],
+     [
+      0.1841156780719757,
+      0.037261076271533966,
+      0.9821980595588684
+     ]
+    ],
+    [
+     [
+      0.9405922889709473,
+      0.027822885662317276,
+      0.3383963406085968
+     ],
+     [
+      0.15113255381584167,
+      0.8581562638282776,
+      -0.49063920974731445
+     ],
+     [
+      -0.30404791235923767,
+      0.5126341581344604,
+      0.8029701709747314
+     ]
+    ],
+    [
+     [
+      0.9562956094741821,
+      -0.232122004032135,
+      0.17781485617160797
+     ],
+     [
+      0.17840716242790222,
+      0.9449983835220337,
+      0.2741330564022064
+     ],
+     [
+      -0.23166705667972565,
+      -0.2304287850856781,
+      0.945110023021698
+     ]
+    ],
+    [
+     [
+      0.6834800243377686,
+      0.62127286195755,
+      0.3832429349422455
+     ],
+     [
+      -0.43488091230392456,
+      0.7682260274887085,
+      -0.46979501843452454
+     ],
+     [
+      -0.5862880945205688,
+      0.15443047881126404,
+      0.7952468395233154
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9637010097503662,
+      0.13644005358219147,
+      0.22948743402957916
+     ],
+     [
+      -0.11870856583118439,
+      0.9888928532600403,
+      -0.08943857997655869
+     ],
+     [
+      -0.23914147913455963,
+      0.058949925005435944,
+      0.9691936373710632
+     ]
+    ],
+    [
+     [
+      0.8210510611534119,
+      0.5657634735107422,
+      -0.07607130706310272
+     ],
+     [
+      -0.5687514543533325,
+      0.822158932685852,
+      -0.024009766057133675
+     ],
+     [
+      0.048958852887153625,
+      0.06297890841960907,
+      0.9968132376670837
+     ]
+    ],
+    [
+     [
+      0.9416722059249878,
+      0.3351050317287445,
+      -0.03095320612192154
+     ],
+     [
+      -0.3299337327480316,
+      0.9374206066131592,
+      0.11129410564899445
+     ],
+     [
+      0.06631138175725937,
+      -0.09459005296230316,
+      0.9933053255081177
+     ]
+    ],
+    [
+     [
+      0.9797395467758179,
+      0.158584862947464,
+      0.12231635302305222
+     ],
+     [
+      -0.16565772891044617,
+      0.9849181175231934,
+      0.049938712269067764
+     ],
+     [
+      -0.11255206912755966,
+      -0.06918957829475403,
+      0.9912340044975281
+     ]
+    ],
+    [
+     [
+      0.8013906478881836,
+      0.5615349411964417,
+      0.2060377448797226
+     ],
+     [
+      -0.5954093337059021,
+      0.7817940711975098,
+      0.18516384065151215
+     ],
+     [
+      -0.05710311233997345,
+      -0.271065354347229,
+      0.9608656167984009
+     ]
+    ],
+    [
+     [
+      0.779932975769043,
+      0.6202620267868042,
+      -0.0835440456867218
+     ],
+     [
+      -0.6257652044296265,
+      0.7751928567886353,
+      -0.08656778931617737
+     ],
+     [
+      0.011068042367696762,
+      0.1197960376739502,
+      0.99273681640625
+     ]
+    ],
+    [
+     [
+      0.8145517706871033,
+      0.4398007094860077,
+      -0.37826016545295715
+     ],
+     [
+      -0.22061529755592346,
+      0.8379378318786621,
+      0.4991883933544159
+     ],
+     [
+      0.5365018844604492,
+      -0.32316479086875916,
+      0.7795705199241638
+     ]
+    ],
+    [
+     [
+      0.8313815593719482,
+      0.5472272038459778,
+      0.09668046236038208
+     ],
+     [
+      -0.5547193884849548,
+      0.806913435459137,
+      0.20292149484157562
+     ],
+     [
+      0.03303137421607971,
+      -0.22233571112155914,
+      0.9744104743003845
+     ]
+    ],
+    [
+     [
+      0.7648202180862427,
+      0.627410888671875,
+      -0.1463066041469574
+     ],
+     [
+      -0.5806856155395508,
+      0.7697115540504456,
+      0.2652326822280884
+     ],
+     [
+      0.2790237367153168,
+      -0.11789719015359879,
+      0.9530194401741028
+     ]
+    ],
+    [
+     [
+      0.9262983798980713,
+      0.33664754033088684,
+      -0.16923287510871887
+     ],
+     [
+      -0.3242497742176056,
+      0.9409787058830261,
+      0.09706246107816696
+     ],
+     [
+      0.19192036986351013,
+      -0.03503508120775223,
+      0.9807849526405334
+     ]
+    ],
+    [
+     [
+      0.8662077188491821,
+      0.4880344867706299,
+      0.1072685718536377
+     ],
+     [
+      -0.49620312452316284,
+      0.814824104309082,
+      0.29974010586738586
+     ],
+     [
+      0.05887848138809204,
+      -0.3128642141819,
+      0.9479711651802063
+     ]
+    ],
+    [
+     [
+      0.5905352830886841,
+      0.7937895059585571,
+      -0.14548662304878235
+     ],
+     [
+      -0.7887383699417114,
+      0.605853796005249,
+      0.10408173501491547
+     ],
+     [
+      0.17076259851455688,
+      0.05328693613409996,
+      0.9838702082633972
+     ]
+    ],
+    [
+     [
+      0.9350664019584656,
+      0.037039387971162796,
+      0.35253220796585083
+     ],
+     [
+      0.14745159447193146,
+      0.8637546896934509,
+      -0.48185670375823975
+     ],
+     [
+      -0.32234901189804077,
+      0.502549409866333,
+      0.8022064566612244
+     ]
+    ],
+    [
+     [
+      0.9537550210952759,
+      -0.2641029357910156,
+      0.14353057742118835
+     ],
+     [
+      0.2178305834531784,
+      0.9363239407539368,
+      0.2754040062427521
+     ],
+     [
+      -0.20712611079216003,
+      -0.23140260577201843,
+      0.950553297996521
+     ]
+    ],
+    [
+     [
+      0.7162090539932251,
+      0.590757429599762,
+      0.3715510070323944
+     ],
+     [
+      -0.4468057453632355,
+      0.7971277236938477,
+      -0.4061428904533386
+     ],
+     [
+      -0.5361055135726929,
+      0.12487208843231201,
+      0.8348639607429504
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9654852151870728,
+      0.09855490177869797,
+      0.2410917431116104
+     ],
+     [
+      -0.07871972769498825,
+      0.9927724599838257,
+      -0.0905873253941536
+     ],
+     [
+      -0.24827705323696136,
+      0.06848204880952835,
+      0.9662653207778931
+     ]
+    ],
+    [
+     [
+      0.8334662914276123,
+      0.5462740063667297,
+      -0.08317878842353821
+     ],
+     [
+      -0.5485606789588928,
+      0.8360915184020996,
+      -0.0056724827736616135
+     ],
+     [
+      0.06644634902477264,
+      0.0503564327955246,
+      0.9965184926986694
+     ]
+    ],
+    [
+     [
+      0.9606073498725891,
+      0.27790549397468567,
+      -0.001424487680196762
+     ],
+     [
+      -0.2761784493923187,
+      0.955183744430542,
+      0.10653416812419891
+     ],
+     [
+      0.030967075377702713,
+      -0.10194408893585205,
+      0.9943079948425293
+     ]
+    ],
+    [
+     [
+      0.9900561571121216,
+      0.0991804301738739,
+      0.09975982457399368
+     ],
+     [
+      -0.10243235528469086,
+      0.9943455457687378,
+      0.0280088372528553
+     ],
+     [
+      -0.09641780704259872,
+      -0.03794895485043526,
+      0.9946172833442688
+     ]
+    ],
+    [
+     [
+      0.8560861349105835,
+      0.4742794334888458,
+      0.2053668051958084
+     ],
+     [
+      -0.5103511810302734,
+      0.8384817838668823,
+      0.19102349877357483
+     ],
+     [
+      -0.08159781992435455,
+      -0.2683417499065399,
+      0.959861695766449
+     ]
+    ],
+    [
+     [
+      0.8477671146392822,
+      0.5266481637954712,
+      -0.06271104514598846
+     ],
+     [
+      -0.5302613973617554,
+      0.8392711877822876,
+      -0.12019472569227219
+     ],
+     [
+      -0.010668758302927017,
+      0.13515038788318634,
+      0.9907676577568054
+     ]
+    ],
+    [
+     [
+      0.8289323449134827,
+      0.4073221981525421,
+      -0.3833533823490143
+     ],
+     [
+      -0.2013472020626068,
+      0.8567023277282715,
+      0.4748899042606354
+     ],
+     [
+      0.521852970123291,
+      -0.31646445393562317,
+      0.7921614646911621
+     ]
+    ],
+    [
+     [
+      0.860912561416626,
+      0.5006822943687439,
+      0.0902596265077591
+     ],
+     [
+      -0.5083778500556946,
+      0.8534420132637024,
+      0.11484185606241226
+     ],
+     [
+      -0.019532080739736557,
+      -0.1447547972202301,
+      0.9892747402191162
+     ]
+    ],
+    [
+     [
+      0.8294046521186829,
+      0.5430527329444885,
+      -0.13107888400554657
+     ],
+     [
+      -0.5109896063804626,
+      0.8322985172271729,
+      0.21486949920654297
+     ],
+     [
+      0.22578223049640656,
+      -0.11123380810022354,
+      0.9678065180778503
+     ]
+    ],
+    [
+     [
+      0.9434623718261719,
+      0.28677859902381897,
+      -0.16624312102794647
+     ],
+     [
+      -0.2754758894443512,
+      0.957274317741394,
+      0.0879712626338005
+     ],
+     [
+      0.1843685358762741,
+      -0.03720160573720932,
+      0.9821528792381287
+     ]
+    ],
+    [
+     [
+      0.9181851148605347,
+      0.3766739070415497,
+      0.12269026041030884
+     ],
+     [
+      -0.3959016501903534,
+      0.8834902048110962,
+      0.2504134774208069
+     ],
+     [
+      -0.014071434736251831,
+      -0.27849918603897095,
+      0.9603333473205566
+     ]
+    ],
+    [
+     [
+      0.6729360818862915,
+      0.7207291722297668,
+      -0.16645288467407227
+     ],
+     [
+      -0.7224578261375427,
+      0.6886965036392212,
+      0.061252906918525696
+     ],
+     [
+      0.15878227353096008,
+      0.07903587818145752,
+      0.9841450452804565
+     ]
+    ],
+    [
+     [
+      0.9291514754295349,
+      0.01690448820590973,
+      0.369312584400177
+     ],
+     [
+      0.15656474232673645,
+      0.8869600296020508,
+      -0.4344990849494934
+     ],
+     [
+      -0.33491045236587524,
+      0.4615367650985718,
+      0.8214735388755798
+     ]
+    ],
+    [
+     [
+      0.9519637823104858,
+      -0.2743830382823944,
+      0.13593734800815582
+     ],
+     [
+      0.23057426512241364,
+      0.9344360828399658,
+      0.27141237258911133
+     ],
+     [
+      -0.2014957219362259,
+      -0.22703108191490173,
+      0.9528149366378784
+     ]
+    ],
+    [
+     [
+      0.7653989791870117,
+      0.5301002860069275,
+      0.36490827798843384
+     ],
+     [
+      -0.43539825081825256,
+      0.844090461730957,
+      -0.31295323371887207
+     ],
+     [
+      -0.47391217947006226,
+      0.08065365254878998,
+      0.8768706917762756
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9663199186325073,
+      0.05175182223320007,
+      0.252086341381073
+     ],
+     [
+      -0.030786670744419098,
+      0.9957835078239441,
+      -0.08641419559717178
+     ],
+     [
+      -0.25549548864364624,
+      0.07574286311864853,
+      0.9638386964797974
+     ]
+    ],
+    [
+     [
+      0.8507838249206543,
+      0.5194376707077026,
+      -0.07969610393047333
+     ],
+     [
+      -0.5203214883804321,
+      0.8539011478424072,
+      0.010882699862122536
+     ],
+     [
+      0.07370547950267792,
+      0.03220876306295395,
+      0.9967597723007202
+     ]
+    ],
+    [
+     [
+      0.9672298431396484,
+      0.2530040144920349,
+      0.021340342238545418
+     ],
+     [
+      -0.2538982033729553,
+      0.9633051156997681,
+      0.08705701678991318
+     ],
+     [
+      0.0014685150235891342,
+      -0.08962241560220718,
+      0.9959747195243835
+     ]
+    ],
+    [
+     [
+      0.994073212146759,
+      0.05922162905335426,
+      0.09116584807634354
+     ],
+     [
+      -0.06050292029976845,
+      0.9981034398078918,
+      0.011353171430528164
+     ],
+     [
+      -0.09032059460878372,
+      -0.016801685094833374,
+      0.9957709908485413
+     ]
+    ],
+    [
+     [
+      0.890198826789856,
+      0.40730518102645874,
+      0.20407986640930176
+     ],
+     [
+      -0.4447341561317444,
+      0.8740805387496948,
+      0.19543467462062836
+     ],
+     [
+      -0.09878071397542953,
+      -0.26473701000213623,
+      0.9592480063438416
+     ]
+    ],
+    [
+     [
+      0.8855016827583313,
+      0.46265700459480286,
+      -0.04283988103270531
+     ],
+     [
+      -0.4637012779712677,
+      0.8741098642349243,
+      -0.14461365342140198
+     ],
+     [
+      -0.0294597577303648,
+      0.14792054891586304,
+      0.9885603785514832
+     ]
+    ],
+    [
+     [
+      0.8362851142883301,
+      0.40580809116363525,
+      -0.3687099516391754
+     ],
+     [
+      -0.20773828029632568,
+      0.8568422198295593,
+      0.4718751907348633
+     ],
+     [
+      0.5074170231819153,
+      -0.3180270195007324,
+      0.8008662462234497
+     ]
+    ],
+    [
+     [
+      0.8791468143463135,
+      0.47068077325820923,
+      0.07456876337528229
+     ],
+     [
+      -0.4737784266471863,
+      0.8801199793815613,
+      0.030378233641386032
+     ],
+     [
+      -0.051331013441085815,
+      -0.062035996466875076,
+      0.9967530369758606
+     ]
+    ],
+    [
+     [
+      0.8599904775619507,
+      0.5000782012939453,
+      -0.10167665034532547
+     ],
+     [
+      -0.47442513704299927,
+      0.8568809628486633,
+      0.20168231427669525
+     ],
+     [
+      0.1879817247390747,
+      -0.12520690262317657,
+      0.9741591811180115
+     ]
+    ],
+    [
+     [
+      0.9495145082473755,
+      0.2716042995452881,
+      -0.15701372921466827
+     ],
+     [
+      -0.26091188192367554,
+      0.9615679383277893,
+      0.08551082015037537
+     ],
+     [
+      0.174204483628273,
+      -0.040227025747299194,
+      0.9838874936103821
+     ]
+    ],
+    [
+     [
+      0.9472986459732056,
+      0.29032108187675476,
+      0.13542145490646362
+     ],
+     [
+      -0.3144049346446991,
+      0.9236331582069397,
+      0.2192060798406601
+     ],
+     [
+      -0.06143961101770401,
+      -0.2502307891845703,
+      0.9662348031997681
+     ]
+    ],
+    [
+     [
+      0.7165906429290771,
+      0.6741026043891907,
+      -0.1791187971830368
+     ],
+     [
+      -0.6807178854942322,
+      0.7318854331970215,
+      0.031095702201128006
+     ],
+     [
+      0.15205614268779755,
+      0.09964647889137268,
+      0.9833359122276306
+     ]
+    ],
+    [
+     [
+      0.9274521470069885,
+      -0.028938084840774536,
+      0.3728204369544983
+     ],
+     [
+      0.17784656584262848,
+      0.9111588001251221,
+      -0.3716990649700165
+     ],
+     [
+      -0.32894235849380493,
+      0.41103795170783997,
+      0.8502027988433838
+     ]
+    ],
+    [
+     [
+      0.9579798579216003,
+      -0.25791409611701965,
+      0.12551872432231903
+     ],
+     [
+      0.21705622971057892,
+      0.9379066228866577,
+      0.27058783173561096
+     ],
+     [
+      -0.18751324713230133,
+      -0.2319730818271637,
+      0.9544774889945984
+     ]
+    ],
+    [
+     [
+      0.8103550672531128,
+      0.4512781500816345,
+      0.3737281858921051
+     ],
+     [
+      -0.38975369930267334,
+      0.8914061188697815,
+      -0.23127293586730957
+     ],
+     [
+      -0.43751201033592224,
+      0.04175123572349548,
+      0.8982427716255188
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9655731916427612,
+      -0.005156334489583969,
+      0.26008033752441406
+     ],
+     [
+      0.028597045689821243,
+      0.995847761631012,
+      -0.08642566204071045
+     ],
+     [
+      -0.2585548162460327,
+      0.09088782966136932,
+      0.9617114067077637
+     ]
+    ],
+    [
+     [
+      0.8665820360183716,
+      0.49408671259880066,
+      -0.07009884715080261
+     ],
+     [
+      -0.4936131536960602,
+      0.8693181276321411,
+      0.02513960562646389
+     ],
+     [
+      0.07335934042930603,
+      0.012816181406378746,
+      0.9972231984138489
+     ]
+    ],
+    [
+     [
+      0.9676981568336487,
+      0.24936693906784058,
+      0.03710060939192772
+     ],
+     [
+      -0.25139856338500977,
+      0.9655160307884216,
+      0.06765781342983246
+     ],
+     [
+      -0.018949612975120544,
+      -0.07479937374591827,
+      0.9970185160636902
+     ]
+    ],
+    [
+     [
+      0.9929587841033936,
+      0.05703194439411163,
+      0.10382789373397827
+     ],
+     [
+      -0.05983921140432358,
+      0.9979164600372314,
+      0.024124113842844963
+     ],
+     [
+      -0.10223571956157684,
+      -0.030167231336236,
+      0.9943026900291443
+     ]
+    ],
+    [
+     [
+      0.8953676223754883,
+      0.39112839102745056,
+      0.21292126178741455
+     ],
+     [
+      -0.43065157532691956,
+      0.882213294506073,
+      0.190365269780159
+     ],
+     [
+      -0.11338469386100769,
+      -0.26214176416397095,
+      0.9583452343940735
+     ]
+    ],
+    [
+     [
+      0.8956550359725952,
+      0.44309890270233154,
+      -0.03828148543834686
+     ],
+     [
+      -0.4429875612258911,
+      0.881141722202301,
+      -0.16538232564926147
+     ],
+     [
+      -0.039549313485622406,
+      0.16508373618125916,
+      0.9854862689971924
+     ]
+    ],
+    [
+     [
+      0.8302392363548279,
+      0.46424442529678345,
+      -0.30851247906684875
+     ],
+     [
+      -0.25019800662994385,
+      0.8049650192260742,
+      0.53798907995224
+     ],
+     [
+      0.4981001913547516,
+      -0.369470477104187,
+      0.784466564655304
+     ]
+    ],
+    [
+     [
+      0.8728042840957642,
+      0.4873017966747284,
+      0.027379855513572693
+     ],
+     [
+      -0.4827933609485626,
+      0.8702348470687866,
+      -0.09798911213874817
+     ],
+     [
+      -0.07157717645168304,
+      0.07230649888515472,
+      0.9948107600212097
+     ]
+    ],
+    [
+     [
+      0.8686253428459167,
+      0.4935843050479889,
+      -0.043180324137210846
+     ],
+     [
+      -0.4652359187602997,
+      0.8424957990646362,
+      0.27158138155937195
+     ],
+     [
+      0.17042753100395203,
+      -0.21581342816352844,
+      0.9614463448524475
+     ]
+    ],
+    [
+     [
+      0.9371689558029175,
+      0.31903019547462463,
+      -0.14118798077106476
+     ],
+     [
+      -0.3048367202281952,
+      0.9456360340118408,
+      0.11334474384784698
+     ],
+     [
+      0.16967283189296722,
+      -0.06318388879299164,
+      0.9834728837013245
+     ]
+    ],
+    [
+     [
+      0.9553105235099792,
+      0.25899142026901245,
+      0.1424965262413025
+     ],
+     [
+      -0.2847065329551697,
+      0.9358140826225281,
+      0.20783215761184692
+     ],
+     [
+      -0.07952352613210678,
+      -0.2391139268875122,
+      0.9677295684814453
+     ]
+    ],
+    [
+     [
+      0.7127704620361328,
+      0.6736112833023071,
+      -0.195464089512825
+     ],
+     [
+      -0.683542013168335,
+      0.7295873165130615,
+      0.02174178510904312
+     ],
+     [
+      0.15725363790988922,
+      0.1181110069155693,
+      0.980469822883606
+     ]
+    ],
+    [
+     [
+      0.9258427023887634,
+      -0.04942101985216141,
+      0.37466368079185486
+     ],
+     [
+      0.19086483120918274,
+      0.9168256521224976,
+      -0.3507155179977417
+     ],
+     [
+      -0.32616856694221497,
+      0.3962175250053406,
+      0.8582690358161926
+     ]
+    ],
+    [
+     [
+      0.9684476256370544,
+      -0.23912683129310608,
+      0.07019681483507156
+     ],
+     [
+      0.2103784680366516,
+      0.9354233741760254,
+      0.2841196656227112
+     ],
+     [
+      -0.13360437750816345,
+      -0.260387122631073,
+      0.9562156796455383
+     ]
+    ],
+    [
+     [
+      0.8469607830047607,
+      0.3696644604206085,
+      0.382106751203537
+     ],
+     [
+      -0.32774344086647034,
+      0.9289361238479614,
+      -0.17222629487514496
+     ],
+     [
+      -0.41861870884895325,
+      0.020635932683944702,
+      0.9079275727272034
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9629883170127869,
+      -0.01681007444858551,
+      0.2690185308456421
+     ],
+     [
+      0.04149622097611427,
+      0.9954009652137756,
+      -0.08634205162525177
+     ],
+     [
+      -0.26632988452911377,
+      0.09430964291095734,
+      0.9592570662498474
+     ]
+    ],
+    [
+     [
+      0.87594074010849,
+      0.47694534063339233,
+      -0.07246316224336624
+     ],
+     [
+      -0.4763050079345703,
+      0.8788657188415527,
+      0.0269923135638237
+     ],
+     [
+      0.07655925303697586,
+      0.010870903730392456,
+      0.9970057606697083
+     ]
+    ],
+    [
+     [
+      0.9728627800941467,
+      0.22489625215530396,
+      0.0544029176235199
+     ],
+     [
+      -0.22822391986846924,
+      0.9713989496231079,
+      0.06555846333503723
+     ],
+     [
+      -0.03810308128595352,
+      -0.07619543373584747,
+      0.9963645935058594
+     ]
+    ],
+    [
+     [
+      0.9921819567680359,
+      0.06646032631397247,
+      0.10563147068023682
+     ],
+     [
+      -0.07009255886077881,
+      0.9970571398735046,
+      0.03104971908032894
+     ],
+     [
+      -0.10325704514980316,
+      -0.038210950791835785,
+      0.9939204454421997
+     ]
+    ],
+    [
+     [
+      0.8937031030654907,
+      0.38737553358078003,
+      0.22635133564472198
+     ],
+     [
+      -0.43068361282348633,
+      0.8820884823799133,
+      0.19087053835391998
+     ],
+     [
+      -0.12572331726551056,
+      -0.2680674195289612,
+      0.9551615118980408
+     ]
+    ],
+    [
+     [
+      0.9112999439239502,
+      0.4104311466217041,
+      -0.03284400701522827
+     ],
+     [
+      -0.40908122062683105,
+      0.8934671878814697,
+      -0.18538862466812134
+     ],
+     [
+      -0.04674422740936279,
+      0.18238049745559692,
+      0.9821162223815918
+     ]
+    ],
+    [
+     [
+      0.8266386985778809,
+      0.4985255002975464,
+      -0.2610378563404083
+     ],
+     [
+      -0.2788410186767578,
+      0.7657957077026367,
+      0.5794864892959595
+     ],
+     [
+      0.48879048228263855,
+      -0.4062378704547882,
+      0.7720457315444946
+     ]
+    ],
+    [
+     [
+      0.869233250617981,
+      0.4941588342189789,
+      -0.015512131154537201
+     ],
+     [
+      -0.4877311885356903,
+      0.8519456386566162,
+      -0.19054387509822845
+     ],
+     [
+      -0.08094343543052673,
+      0.1731928139925003,
+      0.9815561175346375
+     ]
+    ],
+    [
+     [
+      0.882219672203064,
+      0.4708273708820343,
+      -0.003168433904647827
+     ],
+     [
+      -0.4441053569316864,
+      0.8343464732170105,
+      0.32655227184295654
+     ],
+     [
+      0.15639330446720123,
+      -0.28668373823165894,
+      0.9451738595962524
+     ]
+    ],
+    [
+     [
+      0.9252914786338806,
+      0.3554345667362213,
+      -0.13229495286941528
+     ],
+     [
+      -0.3374725878238678,
+      0.9308013319969177,
+      0.14043213427066803
+     ],
+     [
+      0.1730547547340393,
+      -0.08529473841190338,
+      0.9812119603157043
+     ]
+    ],
+    [
+     [
+      0.9565601348876953,
+      0.24546930193901062,
+      0.1572818011045456
+     ],
+     [
+      -0.274299293756485,
+      0.9405461549758911,
+      0.20033183693885803
+     ],
+     [
+      -0.09875547140836716,
+      -0.234771728515625,
+      0.9670209884643555
+     ]
+    ],
+    [
+     [
+      0.7127621173858643,
+      0.6659374237060547,
+      -0.22022153437137604
+     ],
+     [
+      -0.6828478574752808,
+      0.7305600643157959,
+      -0.0009117648005485535
+     ],
+     [
+      0.16027788817882538,
+      0.15102767944335938,
+      0.9754494428634644
+     ]
+    ],
+    [
+     [
+      0.9224589467048645,
+      -0.07604815810918808,
+      0.3785316050052643
+     ],
+     [
+      0.20764267444610596,
+      0.9242711067199707,
+      -0.3203239440917969
+     ],
+     [
+      -0.3255057632923126,
+      0.374085009098053,
+      0.8683930039405823
+     ]
+    ],
+    [
+     [
+      0.9742599725723267,
+      -0.2178768366575241,
+      0.05785472318530083
+     ],
+     [
+      0.19327346980571747,
+      0.9394160509109497,
+      0.28309503197669983
+     ],
+     [
+      -0.11602950096130371,
+      -0.2646263539791107,
+      0.9573453068733215
+     ]
+    ],
+    [
+     [
+      0.8550348281860352,
+      0.3273550868034363,
+      0.40218663215637207
+     ],
+     [
+      -0.2953355312347412,
+      0.9448993802070618,
+      -0.14121659100055695
+     ],
+     [
+      -0.4262538552284241,
+      0.0019651055335998535,
+      0.9046014547348022
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.964289128780365,
+      -0.03619985282421112,
+      0.26236632466316223
+     ],
+     [
+      0.06009839475154877,
+      0.9946819543838501,
+      -0.0836421549320221
+     ],
+     [
+      -0.25794318318367004,
+      0.09642301499843597,
+      0.9613364934921265
+     ]
+    ],
+    [
+     [
+      0.9000444412231445,
+      0.4307839274406433,
+      -0.06591840833425522
+     ],
+     [
+      -0.4293222427368164,
+      0.9024471044540405,
+      0.03565991669893265
+     ],
+     [
+      0.07484959810972214,
+      -0.0037952736020088196,
+      0.997187614440918
+     ]
+    ],
+    [
+     [
+      0.9740329384803772,
+      0.21651382744312286,
+      0.06619389355182648
+     ],
+     [
+      -0.21975363790988922,
+      0.9744566679000854,
+      0.04628748446702957
+     ],
+     [
+      -0.054481204599142075,
+      -0.05963188409805298,
+      0.9967325925827026
+     ]
+    ],
+    [
+     [
+      0.9931741952896118,
+      0.0538395531475544,
+      0.10347139835357666
+     ],
+     [
+      -0.0559253953397274,
+      0.9982839822769165,
+      0.017362264916300774
+     ],
+     [
+      -0.10235905647277832,
+      -0.02303043194115162,
+      0.9944809079170227
+     ]
+    ],
+    [
+     [
+      0.9108145833015442,
+      0.3511298596858978,
+      0.21708205342292786
+     ],
+     [
+      -0.3930771052837372,
+      0.8983317613601685,
+      0.1961897909641266
+     ],
+     [
+      -0.12612363696098328,
+      -0.26402249932289124,
+      0.9562348127365112
+     ]
+    ],
+    [
+     [
+      0.9286448955535889,
+      0.3705677092075348,
+      -0.017269082367420197
+     ],
+     [
+      -0.36686453223228455,
+      0.910466194152832,
+      -0.19094958901405334
+     ],
+     [
+      -0.05503683537244797,
+      0.18365976214408875,
+      0.9814479351043701
+     ]
+    ],
+    [
+     [
+      0.8250897526741028,
+      0.5055241584777832,
+      -0.25233355164527893
+     ],
+     [
+      -0.3018946051597595,
+      0.7719637155532837,
+      0.5594030618667603
+     ],
+     [
+      0.4775840938091278,
+      -0.3853795826435089,
+      0.7895543575286865
+     ]
+    ],
+    [
+     [
+      0.8793506622314453,
+      0.4752015173435211,
+      -0.030429046601057053
+     ],
+     [
+      -0.47005799412727356,
+      0.8560707569122314,
+      -0.21491466462612152
+     ],
+     [
+      -0.07607835531234741,
+      0.20328877866268158,
+      0.9761586785316467
+     ]
+    ],
+    [
+     [
+      0.9043457508087158,
+      0.42680054903030396,
+      6.695091724395752e-05
+     ],
+     [
+      -0.40275490283966064,
+      0.8533436059951782,
+      0.3310486674308777
+     ],
+     [
+      0.1412346214056015,
+      -0.2994094491004944,
+      0.9436136484146118
+     ]
+    ],
+    [
+     [
+      0.9249403476715088,
+      0.359035849571228,
+      -0.12481410056352615
+     ],
+     [
+      -0.3429117798805237,
+      0.9298266172409058,
+      0.13354384899139404
+     ],
+     [
+      0.16400250792503357,
+      -0.08071987330913544,
+      0.9831517934799194
+     ]
+    ],
+    [
+     [
+      0.9650943279266357,
+      0.20555751025676727,
+      0.16229304671287537
+     ],
+     [
+      -0.23514248430728912,
+      0.9529457092285156,
+      0.19131766259670258
+     ],
+     [
+      -0.11532968282699585,
+      -0.2228015810251236,
+      0.9680178165435791
+     ]
+    ],
+    [
+     [
+      0.7444612979888916,
+      0.630353569984436,
+      -0.2200719267129898
+     ],
+     [
+      -0.6491230726242065,
+      0.7604795098304749,
+      -0.017612531781196594
+     ],
+     [
+      0.15625806152820587,
+      0.15596561133861542,
+      0.9753246307373047
+     ]
+    ],
+    [
+     [
+      0.9267968535423279,
+      -0.11360406875610352,
+      0.35796889662742615
+     ],
+     [
+      0.22410848736763,
+      0.9321424961090088,
+      -0.2844041585922241
+     ],
+     [
+      -0.3013685643672943,
+      0.34380877017974854,
+      0.8893663883209229
+     ]
+    ],
+    [
+     [
+      0.9814584851264954,
+      -0.18029212951660156,
+      0.06506907194852829
+     ],
+     [
+      0.15483486652374268,
+      0.9458465576171875,
+      0.2853076159954071
+     ],
+     [
+      -0.1129840686917305,
+      -0.26994261145591736,
+      0.9562246799468994
+     ]
+    ],
+    [
+     [
+      0.8718056678771973,
+      0.27639472484588623,
+      0.404426634311676
+     ],
+     [
+      -0.2491436004638672,
+      0.9610373973846436,
+      -0.11972717940807343
+     ],
+     [
+      -0.42176109552383423,
+      0.003618519753217697,
+      0.9066997766494751
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9674345254898071,
+      -0.03192663937807083,
+      0.2510998845100403
+     ],
+     [
+      0.05428110808134079,
+      0.9951026439666748,
+      -0.08260909467935562
+     ],
+     [
+      -0.24723272025585175,
+      0.09354887157678604,
+      0.9644296765327454
+     ]
+    ],
+    [
+     [
+      0.916040301322937,
+      0.3960374593734741,
+      -0.06343837082386017
+     ],
+     [
+      -0.3944063186645508,
+      0.9181916117668152,
+      0.03698359802365303
+     ],
+     [
+      0.07289546728134155,
+      -0.008857972919940948,
+      0.9973002672195435
+     ]
+    ],
+    [
+     [
+      0.9756539463996887,
+      0.2074691206216812,
+      0.07110525667667389
+     ],
+     [
+      -0.21004275977611542,
+      0.9772075414657593,
+      0.03078065812587738
+     ],
+     [
+      -0.06309856474399567,
+      -0.04496641457080841,
+      0.9969937801361084
+     ]
+    ],
+    [
+     [
+      0.9943826794624329,
+      0.04191208258271217,
+      0.09719289839267731
+     ],
+     [
+      -0.041974764317274094,
+      0.9991176724433899,
+      -0.0014005752746015787
+     ],
+     [
+      -0.09716583788394928,
+      -0.0026869408320635557,
+      0.9952645897865295
+     ]
+    ],
+    [
+     [
+      0.9247012138366699,
+      0.32045263051986694,
+      0.20551833510398865
+     ],
+     [
+      -0.3602978587150574,
+      0.9110061526298523,
+      0.2006320059299469
+     ],
+     [
+      -0.12293541431427002,
+      -0.25957247614860535,
+      0.957866907119751
+     ]
+    ],
+    [
+     [
+      0.9414706230163574,
+      0.3370610475540161,
+      -0.0047849006950855255
+     ],
+     [
+      -0.3321676254272461,
+      0.9251973032951355,
+      -0.18350636959075928
+     ],
+     [
+      -0.05742587521672249,
+      0.17435523867607117,
+      0.9830068945884705
+     ]
+    ],
+    [
+     [
+      0.827674925327301,
+      0.5003716945648193,
+      -0.25413066148757935
+     ],
+     [
+      -0.31470561027526855,
+      0.7887486219406128,
+      0.5280492901802063
+     ],
+     [
+      0.46466612815856934,
+      -0.35707682371139526,
+      0.8102972507476807
+     ]
+    ],
+    [
+     [
+      0.8910122513771057,
+      0.4528369903564453,
+      -0.032184213399887085
+     ],
+     [
+      -0.44927501678466797,
+      0.8693814277648926,
+      -0.20573753118515015
+     ],
+     [
+      -0.06518520414829254,
+      0.1977742314338684,
+      0.9780778288841248
+     ]
+    ],
+    [
+     [
+      0.9253536462783813,
+      0.37910252809524536,
+      -0.0013584978878498077
+     ],
+     [
+      -0.35809069871902466,
+      0.8752310276031494,
+      0.3251793682575226
+     ],
+     [
+      0.12446533143520355,
+      -0.30041947960853577,
+      0.9456513524055481
+     ]
+    ],
+    [
+     [
+      0.9295806288719177,
+      0.3488704562187195,
+      -0.119034543633461
+     ],
+     [
+      -0.3353530168533325,
+      0.9344427585601807,
+      0.11981245875358582
+     ],
+     [
+      0.15302999317646027,
+      -0.07145674526691437,
+      0.9856346845626831
+     ]
+    ],
+    [
+     [
+      0.9712675213813782,
+      0.17181196808815002,
+      0.164681538939476
+     ],
+     [
+      -0.20136848092079163,
+      0.9621005654335022,
+      0.1838838756084442
+     ],
+     [
+      -0.12684674561023712,
+      -0.21176210045814514,
+      0.9690545201301575
+     ]
+    ],
+    [
+     [
+      0.7784160375595093,
+      0.5916262269020081,
+      -0.20987355709075928
+     ],
+     [
+      -0.6097955107688904,
+      0.7920273542404175,
+      -0.02901957929134369
+     ],
+     [
+      0.14905685186386108,
+      0.15056924521923065,
+      0.9772977828979492
+     ]
+    ],
+    [
+     [
+      0.929865837097168,
+      -0.14677351713180542,
+      0.33735308051109314
+     ],
+     [
+      0.2394525408744812,
+      0.9376112222671509,
+      -0.25208669900894165
+     ],
+     [
+      -0.2793063819408417,
+      0.31518685817718506,
+      0.9069979190826416
+     ]
+    ],
+    [
+     [
+      0.9845503568649292,
+      -0.14863815903663635,
+      0.09255937486886978
+     ],
+     [
+      0.11666884273290634,
+      0.9510315656661987,
+      0.28622961044311523
+     ],
+     [
+      -0.13057152926921844,
+      -0.2710086703300476,
+      0.9536799192428589
+     ]
+    ],
+    [
+     [
+      0.8799634575843811,
+      0.2519800066947937,
+      0.4027039110660553
+     ],
+     [
+      -0.2227303683757782,
+      0.9676190614700317,
+      -0.11876243352890015
+     ],
+     [
+      -0.41958972811698914,
+      0.014812227338552475,
+      0.9075930118560791
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.967922568321228,
+      -0.05320468917489052,
+      0.24555076658725739
+     ],
+     [
+      0.07701853662729263,
+      0.9931017160415649,
+      -0.0884147584438324
+     ],
+     [
+      -0.23915280401706696,
+      0.10449060797691345,
+      0.9653432965278625
+     ]
+    ],
+    [
+     [
+      0.9397692084312439,
+      0.33532342314720154,
+      -0.06627219170331955
+     ],
+     [
+      -0.33212777972221375,
+      0.9416417479515076,
+      0.0547904334962368
+     ],
+     [
+      0.08077717572450638,
+      -0.029479529708623886,
+      0.9962961673736572
+     ]
+    ],
+    [
+     [
+      0.9746366739273071,
+      0.20596319437026978,
+      0.08753552287817001
+     ],
+     [
+      -0.20550626516342163,
+      0.9785513281822205,
+      -0.014298503287136555
+     ],
+     [
+      -0.08860296756029129,
+      -0.004053252749145031,
+      0.9960587620735168
+     ]
+    ],
+    [
+     [
+      0.9958798289299011,
+      -0.017498277127742767,
+      0.08897852152585983
+     ],
+     [
+      0.020809553563594818,
+      0.999119758605957,
+      -0.03642384335398674
+     ],
+     [
+      -0.08826284855604172,
+      0.038125377148389816,
+      0.9953673481941223
+     ]
+    ],
+    [
+     [
+      0.9448826909065247,
+      0.26598554849624634,
+      0.190914586186409
+     ],
+     [
+      -0.30373311042785645,
+      0.9298177361488342,
+      0.20781055092811584
+     ],
+     [
+      -0.12224115431308746,
+      -0.2543436586856842,
+      0.9593572616577148
+     ]
+    ],
+    [
+     [
+      0.9608424305915833,
+      0.27658578753471375,
+      0.016796335577964783
+     ],
+     [
+      -0.269812673330307,
+      0.9476747512817383,
+      -0.17062734067440033
+     ],
+     [
+      -0.06311056017875671,
+      0.1594141274690628,
+      0.9851924777030945
+     ]
+    ],
+    [
+     [
+      0.8388184905052185,
+      0.4839680790901184,
+      -0.24931597709655762
+     ],
+     [
+      -0.32692545652389526,
+      0.8139833211898804,
+      0.4801570773124695
+     ],
+     [
+      0.43531978130340576,
+      -0.3212568759918213,
+      0.841005802154541
+     ]
+    ],
+    [
+     [
+      0.9079113602638245,
+      0.4178691804409027,
+      -0.032898157835006714
+     ],
+     [
+      -0.41344067454338074,
+      0.8798324465751648,
+      -0.23443901538848877
+     ],
+     [
+      -0.06901997327804565,
+      0.22645127773284912,
+      0.9715740084648132
+     ]
+    ],
+    [
+     [
+      0.9410052299499512,
+      0.3380352258682251,
+      -0.015535369515419006
+     ],
+     [
+      -0.31869661808013916,
+      0.9007353782653809,
+      0.29514098167419434
+     ],
+     [
+      0.113761305809021,
+      -0.27277815341949463,
+      0.9553273916244507
+     ]
+    ],
+    [
+     [
+      0.9406521916389465,
+      0.3242923319339752,
+      -0.10003972053527832
+     ],
+     [
+      -0.31424906849861145,
+      0.9436205625534058,
+      0.104056715965271
+     ],
+     [
+      0.12814432382583618,
+      -0.0664437860250473,
+      0.9895272850990295
+     ]
+    ],
+    [
+     [
+      0.9801803827285767,
+      0.10228567570447922,
+      0.16965854167938232
+     ],
+     [
+      -0.13097824156284332,
+      0.9771127104759216,
+      0.167617067694664
+     ],
+     [
+      -0.14863067865371704,
+      -0.18651653826236725,
+      0.971143901348114
+     ]
+    ],
+    [
+     [
+      0.816159188747406,
+      0.5414336323738098,
+      -0.2018260508775711
+     ],
+     [
+      -0.5603336691856384,
+      0.8268966674804688,
+      -0.04762421175837517
+     ],
+     [
+      0.14110393822193146,
+      0.1519588679075241,
+      0.9782628417015076
+     ]
+    ],
+    [
+     [
+      0.9314460158348083,
+      -0.18599958717823029,
+      0.3127498924732208
+     ],
+     [
+      0.2577912211418152,
+      0.9438956379890442,
+      -0.20640912652015686
+     ],
+     [
+      -0.2568112313747406,
+      0.2728831171989441,
+      0.9271368980407715
+     ]
+    ],
+    [
+     [
+      0.9879206418991089,
+      -0.10083717852830887,
+      0.11766328662633896
+     ],
+     [
+      0.0635407492518425,
+      0.956145703792572,
+      0.2859160304069519
+     ],
+     [
+      -0.14133420586585999,
+      -0.2749859094619751,
+      0.95100337266922
+     ]
+    ],
+    [
+     [
+      0.8942062258720398,
+      0.19810058176517487,
+      0.4014366567134857
+     ],
+     [
+      -0.17048804461956024,
+      0.979878842830658,
+      -0.10378497838973999
+     ],
+     [
+      -0.4139191210269928,
+      0.024365026503801346,
+      0.9099875688552856
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    -0.03098178654909134,
+    0.2597271203994751,
+    0.3430955708026886
+   ],
+   [
+    -0.0005127489566802979,
+    0.2637050151824951,
+    0.3276790976524353
+   ],
+   [
+    0.05089955031871796,
+    0.273446261882782,
+    0.33646461367607117
+   ],
+   [
+    0.09517219662666321,
+    0.2641375958919525,
+    0.3242489993572235
+   ],
+   [
+    0.19174200296401978,
+    0.22036036849021912,
+    0.35757920145988464
+   ],
+   [
+    0.2560957670211792,
+    0.09518289566040039,
+    0.37487339973449707
+   ],
+   [
+    0.27382075786590576,
+    0.04713695868849754,
+    0.4132803976535797
+   ],
+   [
+    0.26278889179229736,
+    0.05968257039785385,
+    0.3860282599925995
+   ],
+   [
+    0.33171960711479187,
+    0.060002610087394714,
+    0.45950353145599365
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.7304651737213135,
+    -1.0264849662780762,
+    -4.330191135406494,
+    -2.0266571044921875,
+    -0.20463764667510986,
+    -3.979753255844116,
+    -2.00925874710083,
+    0.6390573978424072,
+    0.6410335302352905,
+    1.3586711883544922
+   ],
+   [
+    -2.6219096183776855,
+    -1.0765361785888672,
+    -4.4384765625,
+    -2.0759665966033936,
+    -0.19873446226119995,
+    -4.181864261627197,
+    -1.982207179069519,
+    0.807661771774292,
+    0.7854382991790771,
+    1.2596540451049805
+   ],
+   [
+    -2.677375555038452,
+    -0.975684642791748,
+    -4.556154727935791,
+    -2.16165828704834,
+    -0.2702261805534363,
+    -4.291886806488037,
+    -2.031818389892578,
+    0.9041091799736023,
+    0.7917641401290894,
+    1.2871793508529663
+   ],
+   [
+    -2.58528470993042,
+    -0.892181396484375,
+    -4.296485424041748,
+    -1.9897265434265137,
+    -0.256666898727417,
+    -4.138543605804443,
+    -1.9875015020370483,
+    0.8653929829597473,
+    0.7065123319625854,
+    1.2058683633804321
+   ],
+   [
+    -2.6282918453216553,
+    -0.8146347999572754,
+    -4.223430156707764,
+    -2.052095413208008,
+    -0.2743910551071167,
+    -4.330066204071045,
+    -1.9726003408432007,
+    0.573637843132019,
+    0.6488965749740601,
+    1.3327691555023193
+   ],
+   [
+    -2.5978119373321533,
+    -0.41205480694770813,
+    -3.888611078262329,
+    -2.1043694019317627,
+    -0.34299135208129883,
+    -4.095727443695068,
+    -1.9052320718765259,
+    0.4532936215400696,
+    0.667797327041626,
+    1.4388108253479004
+   ],
+   [
+    -2.4414663314819336,
+    -0.30742064118385315,
+    -3.653129816055298,
+    -2.0553622245788574,
+    -0.41437095403671265,
+    -4.003131866455078,
+    -1.6891734600067139,
+    0.41784074902534485,
+    0.5623620748519897,
+    1.3554325103759766
+   ],
+   [
+    -2.3393118381500244,
+    -0.2785177528858185,
+    -3.3239128589630127,
+    -1.9798939228057861,
+    -0.31626248359680176,
+    -3.2697594165802,
+    -1.6066980361938477,
+    0.6589182019233704,
+    0.5274802446365356,
+    1.264192819595337
+   ],
+   [
+    -2.361262559890747,
+    -0.3708830177783966,
+    -3.4579203128814697,
+    -1.8894662857055664,
+    -0.2641218304634094,
+    -3.4295923709869385,
+    -1.6986719369888306,
+    0.6100698709487915,
+    0.3893998861312866,
+    1.3177788257598877
+   ]
+  ]
+ ]
+}

test/add_remove_lid/1/cam_space/0/43_43.json

@@ -0,0 +1,309 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.5854174494743347,
+     -0.7954033017158508,
+     0.15690812468528748
+    ],
+    [
+     -0.5577182173728943,
+     -0.5355738401412964,
+     -0.6341226100921631
+    ],
+    [
+     0.5884189605712891,
+     0.28371596336364746,
+     -0.7571451663970947
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9374879002571106,
+      0.2465677261352539,
+      0.2456030249595642
+     ],
+     [
+      -0.2471623718738556,
+      0.9685428142547607,
+      -0.02890711836516857
+     ],
+     [
+      -0.2450045943260193,
+      -0.03360375389456749,
+      0.9689393639564514
+     ]
+    ],
+    [
+     [
+      0.760252833366394,
+      0.6489502787590027,
+      -0.029650382697582245
+     ],
+     [
+      -0.6488161683082581,
+      0.7562321424484253,
+      -0.084560327231884
+     ],
+     [
+      -0.03245287761092186,
+      0.08352487534284592,
+      0.9959771037101746
+     ]
+    ],
+    [
+     [
+      0.9116515517234802,
+      0.40792009234428406,
+      -0.04992688074707985
+     ],
+     [
+      -0.4018286168575287,
+      0.9102566838264465,
+      0.09983259439468384
+     ],
+     [
+      0.0861700028181076,
+      -0.07095049321651459,
+      0.9937508702278137
+     ]
+    ],
+    [
+     [
+      0.8583227396011353,
+      0.4816656708717346,
+      0.17686226963996887
+     ],
+     [
+      -0.5034829378128052,
+      0.8570621013641357,
+      0.10931389033794403
+     ],
+     [
+      -0.09892919659614563,
+      -0.18287374079227448,
+      0.9781463146209717
+     ]
+    ],
+    [
+     [
+      0.6930333375930786,
+      0.671759307384491,
+      0.26161855459213257
+     ],
+     [
+      -0.7191300988197327,
+      0.6696504354476929,
+      0.18552660942077637
+     ],
+     [
+      -0.05056376755237579,
+      -0.31671392917633057,
+      0.9471724033355713
+     ]
+    ],
+    [
+     [
+      0.5816491842269897,
+      0.8089361786842346,
+      -0.08547830581665039
+     ],
+     [
+      -0.8133144974708557,
+      0.576495349407196,
+      -0.07856669276952744
+     ],
+     [
+      -0.014277588576078415,
+      0.11521898955106735,
+      0.9932374954223633
+     ]
+    ],
+    [
+     [
+      0.73842453956604,
+      0.6082602143287659,
+      -0.2911164164543152
+     ],
+     [
+      -0.3569742441177368,
+      0.7188546657562256,
+      0.5965043306350708
+     ],
+     [
+      0.5721002221107483,
+      -0.33655235171318054,
+      0.7479531168937683
+     ]
+    ],
+    [
+     [
+      0.7446637153625488,
+      0.6603545546531677,
+      0.09699371457099915
+     ],
+     [
+      -0.637852132320404,
+      0.6613093018531799,
+      0.3947336971759796
+     ],
+     [
+      0.19652137160301208,
+      -0.3558115065097809,
+      0.9136615991592407
+     ]
+    ],
+    [
+     [
+      0.5520367622375488,
+      0.8262673020362854,
+      -0.11197152733802795
+     ],
+     [
+      -0.7263008952140808,
+      0.5424583554267883,
+      0.422168105840683
+     ],
+     [
+      0.4095636308193207,
+      -0.15172728896141052,
+      0.8995757102966309
+     ]
+    ],
+    [
+     [
+      0.8169044852256775,
+      0.5460507273674011,
+      -0.18572998046875
+     ],
+     [
+      -0.5239617228507996,
+      0.8371870517730713,
+      0.1567862629890442
+     ],
+     [
+      0.24110397696495056,
+      -0.030763991177082062,
+      0.9700115919113159
+     ]
+    ],
+    [
+     [
+      0.714442253112793,
+      0.6882014870643616,
+      0.1262972056865692
+     ],
+     [
+      -0.6670382618904114,
+      0.6154097318649292,
+      0.41991767287254333
+     ],
+     [
+      0.21126344799995422,
+      -0.38425198197364807,
+      0.8987314105033875
+     ]
+    ],
+    [
+     [
+      0.3290802240371704,
+      0.9396812915802002,
+      -0.0933026671409607
+     ],
+     [
+      -0.9248456954956055,
+      0.34067654609680176,
+      0.16911563277244568
+     ],
+     [
+      0.19070082902908325,
+      0.03063792735338211,
+      0.9811699986457825
+     ]
+    ],
+    [
+     [
+      0.931377649307251,
+      -0.12745094299316406,
+      0.34101602435112
+     ],
+     [
+      0.24097120761871338,
+      0.9179723858833313,
+      -0.31505489349365234
+     ],
+     [
+      -0.27288928627967834,
+      0.3756101131439209,
+      0.8856909871101379
+     ]
+    ],
+    [
+     [
+      0.990033745765686,
+      -0.13950054347515106,
+      0.019306395202875137
+     ],
+     [
+      0.12782998383045197,
+      0.9476871490478516,
+      0.29248690605163574
+     ],
+     [
+      -0.0590985007584095,
+      -0.28710395097732544,
+      0.956074595451355
+     ]
+    ],
+    [
+     [
+      0.8633538484573364,
+      0.31766965985298157,
+      0.3920536935329437
+     ],
+     [
+      -0.27118119597435,
+      0.9473229050636292,
+      -0.17041145265102386
+     ],
+     [
+      -0.42553600668907166,
+      0.0408078134059906,
+      0.9040209054946899
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.21319037675857544,
+    0.1513160765171051,
+    0.34397855401039124
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.479480743408203,
+    -0.6758363246917725,
+    -4.049422740936279,
+    -2.109297752380371,
+    -0.2331920862197876,
+    -4.280097961425781,
+    -1.980279803276062,
+    0.5873032212257385,
+    0.7724393606185913,
+    1.3047257661819458
+   ]
+  ]
+ ]
+}

test/add_remove_lid/10.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ab7f7711ebbeb322ca892b1d1bee0894c9e0379e380475d8bcbc4de2f6509b
+size 1338176

test/add_remove_lid/10.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9870c136cdf0c86a5ca73eecbc314bac244013c8d733ae608514ecc64cf10fee
+size 5459897

test/add_remove_lid/10/cam_space/0/25_38.json

@@ -0,0 +1,4092 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.022683680057525635,
+     -0.9577270746231079,
+     0.28678271174430847
+    ],
+    [
+     -0.8357266187667847,
+     -0.17559754848480225,
+     -0.5203139781951904
+    ],
+    [
+     0.5486770868301392,
+     -0.22786925733089447,
+     -0.804381251335144
+    ]
+   ],
+   [
+    [
+     0.010594964027404785,
+     -0.9396829009056091,
+     0.3418828845024109
+    ],
+    [
+     -0.835717499256134,
+     -0.19605576992034912,
+     -0.5129703283309937
+    ],
+    [
+     0.5490575432777405,
+     -0.28028252720832825,
+     -0.7873866558074951
+    ]
+   ],
+   [
+    [
+     -0.008449435234069824,
+     -0.9300702214241028,
+     0.36728474497795105
+    ],
+    [
+     -0.833576500415802,
+     -0.1963292360305786,
+     -0.5163382887840271
+    ],
+    [
+     0.5523395538330078,
+     -0.3105226755142212,
+     -0.7736258506774902
+    ]
+   ],
+   [
+    [
+     -0.03425562381744385,
+     -0.9278205633163452,
+     0.37145066261291504
+    ],
+    [
+     -0.8335607051849365,
+     -0.17852115631103516,
+     -0.5227874517440796
+    ],
+    [
+     0.5513647794723511,
+     -0.32753509283065796,
+     -0.7672793865203857
+    ]
+   ],
+   [
+    [
+     -0.04372072219848633,
+     -0.9084287881851196,
+     0.41574737429618835
+    ],
+    [
+     -0.813582181930542,
+     -0.20913875102996826,
+     -0.5425360202789307
+    ],
+    [
+     0.5798041224479675,
+     -0.361964613199234,
+     -0.7299377918243408
+    ]
+   ],
+   [
+    [
+     -0.05240273475646973,
+     -0.879212498664856,
+     0.47353941202163696
+    ],
+    [
+     -0.7613896131515503,
+     -0.2716550827026367,
+     -0.5886337161064148
+    ],
+    [
+     0.6461734175682068,
+     -0.39139384031295776,
+     -0.6551878452301025
+    ]
+   ],
+   [
+    [
+     -0.027264952659606934,
+     -0.8870812058448792,
+     0.4608076810836792
+    ],
+    [
+     -0.7365922331809998,
+     -0.2938110828399658,
+     -0.6091856360435486
+    ],
+    [
+     0.6757874488830566,
+     -0.3560367226600647,
+     -0.6454063653945923
+    ]
+   ],
+   [
+    [
+     0.00987696647644043,
+     -0.9029704332351685,
+     0.42958927154541016
+    ],
+    [
+     -0.7018871307373047,
+     -0.3122525215148926,
+     -0.6401976943016052
+    ],
+    [
+     0.7122198343276978,
+     -0.2951998710632324,
+     -0.6368675231933594
+    ]
+   ],
+   [
+    [
+     0.17757421731948853,
+     -0.9344311952590942,
+     0.3087165355682373
+    ],
+    [
+     -0.6885286569595337,
+     -0.34210455417633057,
+     -0.6394474506378174
+    ],
+    [
+     0.7031328678131104,
+     -0.09901076555252075,
+     -0.7041316032409668
+    ]
+   ],
+   [
+    [
+     0.3760131001472473,
+     -0.9094728231430054,
+     0.17740724980831146
+    ],
+    [
+     -0.6932061910629272,
+     -0.4031411409378052,
+     -0.5974465012550354
+    ],
+    [
+     0.6148815155029297,
+     0.10166788101196289,
+     -0.7820384502410889
+    ]
+   ],
+   [
+    [
+     0.5649226903915405,
+     -0.8228845596313477,
+     0.06101985275745392
+    ],
+    [
+     -0.6559587717056274,
+     -0.4927257299423218,
+     -0.5717863440513611
+    ],
+    [
+     0.5005801916122437,
+     0.28298860788345337,
+     -0.8181302547454834
+    ]
+   ],
+   [
+    [
+     0.45911461114883423,
+     -0.8858067393302917,
+     0.06753078103065491
+    ],
+    [
+     -0.6678171753883362,
+     -0.39426112174987793,
+     -0.6313309669494629
+    ],
+    [
+     0.5858619213104248,
+     0.2447551190853119,
+     -0.7725679874420166
+    ]
+   ],
+   [
+    [
+     0.40254509449005127,
+     -0.9141916036605835,
+     0.04702445864677429
+    ],
+    [
+     -0.6792945861816406,
+     -0.33275842666625977,
+     -0.6540879011154175
+    ],
+    [
+     0.6136093139648438,
+     0.2313564568758011,
+     -0.7549556493759155
+    ]
+   ],
+   [
+    [
+     0.4128991365432739,
+     -0.9082554578781128,
+     0.06772324442863464
+    ],
+    [
+     -0.6675072908401489,
+     -0.3523639440536499,
+     -0.6559526324272156
+    ],
+    [
+     0.6196357011795044,
+     0.2256365418434143,
+     -0.7517578601837158
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9574160575866699,
+      -0.23119547963142395,
+      0.1729251891374588
+     ],
+     [
+      0.24865514039993286,
+      0.964681088924408,
+      -0.08695387095212936
+     ],
+     [
+      -0.14671431481838226,
+      0.126249760389328,
+      0.9810891151428223
+     ]
+    ],
+    [
+     [
+      0.9046357870101929,
+      0.4259432554244995,
+      0.014370029792189598
+     ],
+     [
+      -0.423090398311615,
+      0.893498957157135,
+      0.15051285922527313
+     ],
+     [
+      0.051270321011543274,
+      -0.14223913848400116,
+      0.988503634929657
+     ]
+    ],
+    [
+     [
+      0.8562598824501038,
+      0.5089816451072693,
+      -0.08807207643985748
+     ],
+     [
+      -0.5143170952796936,
+      0.8559020757675171,
+      -0.053940482437610626
+     ],
+     [
+      0.04792635142803192,
+      0.09148404747247696,
+      0.9946525692939758
+     ]
+    ],
+    [
+     [
+      0.9591069221496582,
+      0.19015121459960938,
+      0.20965798199176788
+     ],
+     [
+      -0.21900594234466553,
+      0.967797040939331,
+      0.12411792576313019
+     ],
+     [
+      -0.17930521070957184,
+      -0.16495870053768158,
+      0.969865083694458
+     ]
+    ],
+    [
+     [
+      0.8509443402290344,
+      0.5179358124732971,
+      0.0873858779668808
+     ],
+     [
+      -0.5242162346839905,
+      0.847886860370636,
+      0.07927928864955902
+     ],
+     [
+      -0.03303176164627075,
+      -0.11327135562896729,
+      0.9930148720741272
+     ]
+    ],
+    [
+     [
+      0.9256666302680969,
+      0.3738197386264801,
+      -0.05831078439950943
+     ],
+     [
+      -0.37508389353752136,
+      0.9269121289253235,
+      -0.012083349749445915
+     ],
+     [
+      0.049531981348991394,
+      0.0330565869808197,
+      0.9982253313064575
+     ]
+    ],
+    [
+     [
+      0.8310059309005737,
+      0.469322144985199,
+      -0.2986067235469818
+     ],
+     [
+      -0.3556193709373474,
+      0.8610106110572815,
+      0.36358708143234253
+     ],
+     [
+      0.4277430474758148,
+      -0.19595269858837128,
+      0.8824049234390259
+     ]
+    ],
+    [
+     [
+      0.9219774007797241,
+      0.36931347846984863,
+      0.11646968126296997
+     ],
+     [
+      -0.3859175443649292,
+      0.9011464715003967,
+      0.19749091565608978
+     ],
+     [
+      -0.03202018141746521,
+      -0.22702984511852264,
+      0.9733612537384033
+     ]
+    ],
+    [
+     [
+      0.9624641537666321,
+      0.2615135908126831,
+      -0.07261810451745987
+     ],
+     [
+      -0.2248833179473877,
+      0.918201208114624,
+      0.326089084148407
+     ],
+     [
+      0.1519547402858734,
+      -0.29751843214035034,
+      0.9425457715988159
+     ]
+    ],
+    [
+     [
+      0.8803669810295105,
+      0.46935132145881653,
+      -0.06828822940587997
+     ],
+     [
+      -0.4659619629383087,
+      0.8827588558197021,
+      0.0601351335644722
+     ],
+     [
+      0.0885065421462059,
+      -0.021121276542544365,
+      0.9958516359329224
+     ]
+    ],
+    [
+     [
+      0.9594695568084717,
+      0.28062814474105835,
+      0.0258084237575531
+     ],
+     [
+      -0.276939332485199,
+      0.9219590425491333,
+      0.2707325518131256
+     ],
+     [
+      0.052180856466293335,
+      -0.2669070065021515,
+      0.9623085856437683
+     ]
+    ],
+    [
+     [
+      0.8803631663322449,
+      0.4671787917613983,
+      -0.08188211917877197
+     ],
+     [
+      -0.44557908177375793,
+      0.8737978935241699,
+      0.19477316737174988
+     ],
+     [
+      0.16254231333732605,
+      -0.13498616218566895,
+      0.9774245619773865
+     ]
+    ],
+    [
+     [
+      0.9819742441177368,
+      0.15192103385925293,
+      0.11245687305927277
+     ],
+     [
+      -0.011161789298057556,
+      0.6405333876609802,
+      -0.7678492069244385
+     ],
+     [
+      -0.1886848360300064,
+      0.7527529001235962,
+      0.6306830048561096
+     ]
+    ],
+    [
+     [
+      0.9905853271484375,
+      -0.02806801348924637,
+      -0.13398833572864532
+     ],
+     [
+      0.09419721364974976,
+      0.8499611616134644,
+      0.5183559656143188
+     ],
+     [
+      0.09933565557003021,
+      -0.5260971784591675,
+      0.8446030020713806
+     ]
+    ],
+    [
+     [
+      0.9463523626327515,
+      0.2703837454319,
+      0.1769457459449768
+     ],
+     [
+      -0.13780996203422546,
+      0.8330016136169434,
+      -0.5358327627182007
+     ],
+     [
+      -0.2922765612602234,
+      0.48270174860954285,
+      0.8255746364593506
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9588879942893982,
+      -0.21778902411460876,
+      0.18193896114826202
+     ],
+     [
+      0.23530733585357666,
+      0.9685607552528381,
+      -0.08074954152107239
+     ],
+     [
+      -0.15863259136676788,
+      0.12024132907390594,
+      0.9799886345863342
+     ]
+    ],
+    [
+     [
+      0.8740121126174927,
+      0.48543134331703186,
+      0.021428372710943222
+     ],
+     [
+      -0.483255535364151,
+      0.8638042211532593,
+      0.142500102519989
+     ],
+     [
+      0.050664108246564865,
+      -0.1349022090435028,
+      0.9895628094673157
+     ]
+    ],
+    [
+     [
+      0.8448532819747925,
+      0.5270172953605652,
+      -0.0920640304684639
+     ],
+     [
+      -0.5324532389640808,
+      0.8450558185577393,
+      -0.048725467175245285
+     ],
+     [
+      0.05212008208036423,
+      0.09018565714359283,
+      0.9945602416992188
+     ]
+    ],
+    [
+     [
+      0.9524528980255127,
+      0.22055234014987946,
+      0.2102145254611969
+     ],
+     [
+      -0.25088217854499817,
+      0.9592028260231018,
+      0.13033843040466309
+     ],
+     [
+      -0.17289191484451294,
+      -0.17688030004501343,
+      0.9689281582832336
+     ]
+    ],
+    [
+     [
+      0.8291125297546387,
+      0.5522342324256897,
+      0.08723418414592743
+     ],
+     [
+      -0.5584264397621155,
+      0.8255501985549927,
+      0.08140477538108826
+     ],
+     [
+      -0.027061697095632553,
+      -0.11620759963989258,
+      0.9928562045097351
+     ]
+    ],
+    [
+     [
+      0.9156702160835266,
+      0.3976282775402069,
+      -0.058650046586990356
+     ],
+     [
+      -0.3987344205379486,
+      0.9170311689376831,
+      -0.00804211013019085
+     ],
+     [
+      0.05058615654706955,
+      0.030749710276722908,
+      0.9982461929321289
+     ]
+    ],
+    [
+     [
+      0.8186264634132385,
+      0.492453932762146,
+      -0.2955332398414612
+     ],
+     [
+      -0.37123966217041016,
+      0.8463431000709534,
+      0.3819482922554016
+     ],
+     [
+      0.43821442127227783,
+      -0.2029593586921692,
+      0.8756572604179382
+     ]
+    ],
+    [
+     [
+      0.9121682643890381,
+      0.3967638909816742,
+      0.10260355472564697
+     ],
+     [
+      -0.4096347391605377,
+      0.8901699781417847,
+      0.19949129223823547
+     ],
+     [
+      -0.012183669954538345,
+      -0.22399961948394775,
+      0.974513053894043
+     ]
+    ],
+    [
+     [
+      0.9589605331420898,
+      0.2748427987098694,
+      -0.06968551874160767
+     ],
+     [
+      -0.23334656655788422,
+      0.904612123966217,
+      0.3566879630088806
+     ],
+     [
+      0.16107147932052612,
+      -0.32578879594802856,
+      0.9316209554672241
+     ]
+    ],
+    [
+     [
+      0.8666340708732605,
+      0.4936036765575409,
+      -0.07280682027339935
+     ],
+     [
+      -0.489220529794693,
+      0.8693171143531799,
+      0.070363849401474
+     ],
+     [
+      0.09802407026290894,
+      -0.02536112070083618,
+      0.994860827922821
+     ]
+    ],
+    [
+     [
+      0.9460984468460083,
+      0.32310158014297485,
+      0.02242872305214405
+     ],
+     [
+      -0.31559330224990845,
+      0.9041173458099365,
+      0.28804972767829895
+     ],
+     [
+      0.07279113680124283,
+      -0.2796017825603485,
+      0.9573527574539185
+     ]
+    ],
+    [
+     [
+      0.86948561668396,
+      0.487334668636322,
+      -0.0806204304099083
+     ],
+     [
+      -0.4650615453720093,
+      0.8626484870910645,
+      0.19888520240783691
+     ],
+     [
+      0.1664707362651825,
+      -0.1354343593120575,
+      0.9767010807991028
+     ]
+    ],
+    [
+     [
+      0.9839736223220825,
+      0.13643015921115875,
+      0.1148160845041275
+     ],
+     [
+      -0.0004370063543319702,
+      0.6457409858703613,
+      -0.7635564208030701
+     ],
+     [
+      -0.17831356823444366,
+      0.7512691617012024,
+      0.6354517936706543
+     ]
+    ],
+    [
+     [
+      0.9929161071777344,
+      -0.003239832818508148,
+      -0.11877311021089554
+     ],
+     [
+      0.06588313728570938,
+      0.8468925952911377,
+      0.5276669263839722
+     ],
+     [
+      0.09887851029634476,
+      -0.5317541360855103,
+      0.8411067724227905
+     ]
+    ],
+    [
+     [
+      0.9469251036643982,
+      0.2637375295162201,
+      0.18378068506717682
+     ],
+     [
+      -0.12299615144729614,
+      0.8254741430282593,
+      -0.5508760213851929
+     ],
+     [
+      -0.29699286818504333,
+      0.49903404712677,
+      0.8141009211540222
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9640406966209412,
+      -0.1803869754076004,
+      0.19515658915042877
+     ],
+     [
+      0.19850565493106842,
+      0.9770311713218689,
+      -0.07749592512845993
+     ],
+     [
+      -0.1766948252916336,
+      0.11344891041517258,
+      0.9777055978775024
+     ]
+    ],
+    [
+     [
+      0.807824432849884,
+      0.588911235332489,
+      0.024561595171689987
+     ],
+     [
+      -0.5874589085578918,
+      0.8010338544845581,
+      0.11505090445280075
+     ],
+     [
+      0.04808009788393974,
+      -0.10736986249685287,
+      0.9930558800697327
+     ]
+    ],
+    [
+     [
+      0.8349505662918091,
+      0.541519045829773,
+      -0.09805431216955185
+     ],
+     [
+      -0.5457731485366821,
+      0.8376637101173401,
+      -0.021241195499897003
+     ],
+     [
+      0.07063402980566025,
+      0.07125075906515121,
+      0.9949543476104736
+     ]
+    ],
+    [
+     [
+      0.936557412147522,
+      0.2766551375389099,
+      0.21522565186023712
+     ],
+     [
+      -0.31162095069885254,
+      0.938307523727417,
+      0.14990468323230743
+     ],
+     [
+      -0.160475954413414,
+      -0.20746316015720367,
+      0.9649904370307922
+     ]
+    ],
+    [
+     [
+      0.7889399528503418,
+      0.6061936616897583,
+      0.10051384568214417
+     ],
+     [
+      -0.6138243675231934,
+      0.7849936485290527,
+      0.08369368314743042
+     ],
+     [
+      -0.028168153017759323,
+      -0.12772713601589203,
+      0.9914092421531677
+     ]
+    ],
+    [
+     [
+      0.8938788175582886,
+      0.44382402300834656,
+      -0.06325244903564453
+     ],
+     [
+      -0.44543132185935974,
+      0.8952169418334961,
+      -0.013324879109859467
+     ],
+     [
+      0.0507107675075531,
+      0.04008544608950615,
+      0.9979085922241211
+     ]
+    ],
+    [
+     [
+      0.8019373416900635,
+      0.5281821489334106,
+      -0.279141902923584
+     ],
+     [
+      -0.38359275460243225,
+      0.8134616613388062,
+      0.437191903591156
+     ],
+     [
+      0.4579881429672241,
+      -0.2435237169265747,
+      0.8549520969390869
+     ]
+    ],
+    [
+     [
+      0.8903768062591553,
+      0.4462544023990631,
+      0.08992337435483932
+     ],
+     [
+      -0.45498380064964294,
+      0.8659501671791077,
+      0.20765374600887299
+     ],
+     [
+      0.014797225594520569,
+      -0.22580374777317047,
+      0.9740604162216187
+     ]
+    ],
+    [
+     [
+      0.9382249712944031,
+      0.33957439661026,
+      -0.06650654971599579
+     ],
+     [
+      -0.28967905044555664,
+      0.8759263157844543,
+      0.38579681515693665
+     ],
+     [
+      0.1892615407705307,
+      -0.3426986634731293,
+      0.920183539390564
+     ]
+    ],
+    [
+     [
+      0.8416324853897095,
+      0.5340814590454102,
+      -0.08007378876209259
+     ],
+     [
+      -0.5263477563858032,
+      0.8443991541862488,
+      0.09973986446857452
+     ],
+     [
+      0.12088346481323242,
+      -0.04179764911532402,
+      0.9917863607406616
+     ]
+    ],
+    [
+     [
+      0.9185009598731995,
+      0.3942044675350189,
+      0.030965350568294525
+     ],
+     [
+      -0.3837035000324249,
+      0.8696300983428955,
+      0.3106688857078552
+     ],
+     [
+      0.0955386534333229,
+      -0.29723119735717773,
+      0.9500136971473694
+     ]
+    ],
+    [
+     [
+      0.8364328145980835,
+      0.5420661568641663,
+      -0.08089763671159744
+     ],
+     [
+      -0.517867386341095,
+      0.8300055265426636,
+      0.2071334421634674
+     ],
+     [
+      0.17942550778388977,
+      -0.13135895133018494,
+      0.9749622344970703
+     ]
+    ],
+    [
+     [
+      0.9780747294425964,
+      0.152611643075943,
+      0.141702339053154
+     ],
+     [
+      0.012299366295337677,
+      0.6369109749794006,
+      -0.7708393335342407
+     ],
+     [
+      -0.2078908234834671,
+      0.7556812763214111,
+      0.6210694909095764
+     ]
+    ],
+    [
+     [
+      0.9913551211357117,
+      -0.03175581246614456,
+      -0.12730513513088226
+     ],
+     [
+      0.09416501969099045,
+      0.8478613495826721,
+      0.5217892527580261
+     ],
+     [
+      0.09136725962162018,
+      -0.5292661786079407,
+      0.8435220122337341
+     ]
+    ],
+    [
+     [
+      0.9306063055992126,
+      0.31120672821998596,
+      0.1926715075969696
+     ],
+     [
+      -0.1559920310974121,
+      0.8134076595306396,
+      -0.5603877902030945
+     ],
+     [
+      -0.3311169445514679,
+      0.4914451539516449,
+      0.805508017539978
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9649955034255981,
+      -0.17414358258247375,
+      0.1961061954498291
+     ],
+     [
+      0.19246035814285278,
+      0.9781648516654968,
+      -0.07843837887048721
+     ],
+     [
+      -0.17816463112831116,
+      0.11343535035848618,
+      0.9774404168128967
+     ]
+    ],
+    [
+     [
+      0.8027334809303284,
+      0.5958657264709473,
+      0.02372688055038452
+     ],
+     [
+      -0.5942729711532593,
+      0.7960121631622314,
+      0.11490953713655472
+     ],
+     [
+      0.04958377033472061,
+      -0.10634198039770126,
+      0.9930925369262695
+     ]
+    ],
+    [
+     [
+      0.8336982727050781,
+      0.5434889793395996,
+      -0.09781036525964737
+     ],
+     [
+      -0.5476531982421875,
+      0.836463212966919,
+      -0.020130515098571777
+     ],
+     [
+      0.07087405771017075,
+      0.07034893333911896,
+      0.9950014352798462
+     ]
+    ],
+    [
+     [
+      0.9392850995063782,
+      0.2669890522956848,
+      0.21554672718048096
+     ],
+     [
+      -0.30131828784942627,
+      0.9423015713691711,
+      0.14585953950881958
+     ],
+     [
+      -0.1641671061515808,
+      -0.20195186138153076,
+      0.965538501739502
+     ]
+    ],
+    [
+     [
+      0.7886384725570679,
+      0.6075294613838196,
+      0.09464284777641296
+     ],
+     [
+      -0.6144649386405945,
+      0.7842395305633545,
+      0.0860297754406929
+     ],
+     [
+      -0.021957039833068848,
+      -0.12600110471248627,
+      0.9917870759963989
+     ]
+    ],
+    [
+     [
+      0.894376277923584,
+      0.44289878010749817,
+      -0.06270402669906616
+     ],
+     [
+      -0.44440266489982605,
+      0.8957501649856567,
+      -0.011746599338948727
+     ],
+     [
+      0.050964586436748505,
+      0.03837171196937561,
+      0.997963011264801
+     ]
+    ],
+    [
+     [
+      0.8053399324417114,
+      0.5202245712280273,
+      -0.28424277901649475
+     ],
+     [
+      -0.3832676410675049,
+      0.8227094411849976,
+      0.4198274612426758
+     ],
+     [
+      0.4522537887096405,
+      -0.22916279733181,
+      0.8619459867477417
+     ]
+    ],
+    [
+     [
+      0.8974935412406921,
+      0.43033599853515625,
+      0.09652091562747955
+     ],
+     [
+      -0.44087862968444824,
+      0.8697519898414612,
+      0.22171492874622345
+     ],
+     [
+      0.011462651193141937,
+      -0.24154172837734222,
+      0.9703227281570435
+     ]
+    ],
+    [
+     [
+      0.9389270544052124,
+      0.3365950882434845,
+      -0.07155236601829529
+     ],
+     [
+      -0.28920093178749084,
+      0.8845292329788208,
+      0.36602023243904114
+     ],
+     [
+      0.18649077415466309,
+      -0.3229732811450958,
+      0.9278520345687866
+     ]
+    ],
+    [
+     [
+      0.8478987812995911,
+      0.524646520614624,
+      -0.0762476995587349
+     ],
+     [
+      -0.5173827409744263,
+      0.8502466678619385,
+      0.09693136066198349
+     ],
+     [
+      0.11568405479192734,
+      -0.042738743126392365,
+      0.9923661351203918
+     ]
+    ],
+    [
+     [
+      0.9201087951660156,
+      0.390516072511673,
+      0.029949411749839783
+     ],
+     [
+      -0.3799627721309662,
+      0.8714584112167358,
+      0.3101426661014557
+     ],
+     [
+      0.09501602500677109,
+      -0.2967446744441986,
+      0.950218141078949
+     ]
+    ],
+    [
+     [
+      0.8402060270309448,
+      0.5370550751686096,
+      -0.07500399649143219
+     ],
+     [
+      -0.5136691927909851,
+      0.8325698971748352,
+      0.20729529857635498
+     ],
+     [
+      0.1737750768661499,
+      -0.13564354181289673,
+      0.9753988981246948
+     ]
+    ],
+    [
+     [
+      0.9791595935821533,
+      0.15678898990154266,
+      0.12908799946308136
+     ],
+     [
+      0.0007355809211730957,
+      0.6328703165054321,
+      -0.774257481098175
+     ],
+     [
+      -0.20309101045131683,
+      0.7582165598869324,
+      0.6195657253265381
+     ]
+    ],
+    [
+     [
+      0.9911676645278931,
+      -0.029485277831554413,
+      -0.1292954981327057
+     ],
+     [
+      0.09274031966924667,
+      0.8510282635688782,
+      0.5168656706809998
+     ],
+     [
+      0.09479419142007828,
+      -0.524291455745697,
+      0.8462461233139038
+     ]
+    ],
+    [
+     [
+      0.923661470413208,
+      0.3235716223716736,
+      0.20530682802200317
+     ],
+     [
+      -0.15626303851604462,
+      0.8072189688682556,
+      -0.5691919326782227
+     ],
+     [
+      -0.3499019145965576,
+      0.49365878105163574,
+      0.7961593270301819
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9714744687080383,
+      -0.11689402908086777,
+      0.206332728266716
+     ],
+     [
+      0.1352979987859726,
+      0.9877759218215942,
+      -0.07741592824459076
+     ],
+     [
+      -0.19476105272769928,
+      0.1031239926815033,
+      0.9754145741462708
+     ]
+    ],
+    [
+     [
+      0.7334163188934326,
+      0.6795614361763,
+      0.01722770929336548
+     ],
+     [
+      -0.6785717606544495,
+      0.7303676605224609,
+      0.07812372595071793
+     ],
+     [
+      0.04050730913877487,
+      -0.06898745149374008,
+      0.9967948198318481
+     ]
+    ],
+    [
+     [
+      0.8239064812660217,
+      0.5558239817619324,
+      -0.11062506586313248
+     ],
+     [
+      -0.5575101971626282,
+      0.8299763202667236,
+      0.017938412725925446
+     ],
+     [
+      0.1017867848277092,
+      0.046895019710063934,
+      0.9937003254890442
+     ]
+    ],
+    [
+     [
+      0.9189368486404419,
+      0.32300418615341187,
+      0.22632578015327454
+     ],
+     [
+      -0.362323522567749,
+      0.9180597066879272,
+      0.16089768707752228
+     ],
+     [
+      -0.1558099389076233,
+      -0.22985796630382538,
+      0.9606708884239197
+     ]
+    ],
+    [
+     [
+      0.7439416646957397,
+      0.6597302556037903,
+      0.10633358359336853
+     ],
+     [
+      -0.6679312586784363,
+      0.7389907836914062,
+      0.088093601167202
+     ],
+     [
+      -0.020461533218622208,
+      -0.13656002283096313,
+      0.9904204607009888
+     ]
+    ],
+    [
+     [
+      0.8566072583198547,
+      0.5111445784568787,
+      -0.07039346545934677
+     ],
+     [
+      -0.5132479071617126,
+      0.8581154346466064,
+      -0.014643918722867966
+     ],
+     [
+      0.05292055755853653,
+      0.04867338761687279,
+      0.9974117875099182
+     ]
+    ],
+    [
+     [
+      0.7903634309768677,
+      0.5539389848709106,
+      -0.2616816461086273
+     ],
+     [
+      -0.3920532464981079,
+      0.7855489253997803,
+      0.4787558615207672
+     ],
+     [
+      0.47076526284217834,
+      -0.2757979929447174,
+      0.8380427360534668
+     ]
+    ],
+    [
+     [
+      0.8724642992019653,
+      0.4814198613166809,
+      0.08391063660383224
+     ],
+     [
+      -0.4867027997970581,
+      0.8406097292900085,
+      0.2376883327960968
+     ],
+     [
+      0.0438917800784111,
+      -0.24821412563323975,
+      0.9677103161811829
+     ]
+    ],
+    [
+     [
+      0.9007614254951477,
+      0.42800241708755493,
+      -0.07377524673938751
+     ],
+     [
+      -0.36874234676361084,
+      0.843402087688446,
+      0.3907710313796997
+     ],
+     [
+      0.22947315871715546,
+      -0.324787437915802,
+      0.9175266623497009
+     ]
+    ],
+    [
+     [
+      0.827528178691864,
+      0.5550543069839478,
+      -0.08433172851800919
+     ],
+     [
+      -0.5441679954528809,
+      0.829947829246521,
+      0.1227506771683693
+     ],
+     [
+      0.1381242275238037,
+      -0.0556890144944191,
+      0.9888480305671692
+     ]
+    ],
+    [
+     [
+      0.8803766369819641,
+      0.4720630645751953,
+      0.04575463384389877
+     ],
+     [
+      -0.4587332010269165,
+      0.8230600357055664,
+      0.3348672688007355
+     ],
+     [
+      0.12041964381933212,
+      -0.31579849123954773,
+      0.9411537647247314
+     ]
+    ],
+    [
+     [
+      0.7835845351219177,
+      0.6174633502960205,
+      -0.06880654394626617
+     ],
+     [
+      -0.590995192527771,
+      0.7749550938606262,
+      0.22398501634597778
+     ],
+     [
+      0.1916245073080063,
+      -0.13484686613082886,
+      0.9721606969833374
+     ]
+    ],
+    [
+     [
+      0.9740939140319824,
+      0.16894933581352234,
+      0.15032348036766052
+     ],
+     [
+      0.01130928099155426,
+      0.6274999380111694,
+      -0.778534471988678
+     ],
+     [
+      -0.2258608639240265,
+      0.7600657343864441,
+      0.6093332171440125
+     ]
+    ],
+    [
+     [
+      0.9862750768661499,
+      -0.06161903589963913,
+      -0.15318141877651215
+     ],
+     [
+      0.13096311688423157,
+      0.8569356799125671,
+      0.4985077381134033
+     ],
+     [
+      0.10054905712604523,
+      -0.5117268562316895,
+      0.8532441258430481
+     ]
+    ],
+    [
+     [
+      0.891059398651123,
+      0.38698968291282654,
+      0.23717519640922546
+     ],
+     [
+      -0.18754908442497253,
+      0.7897721529006958,
+      -0.5840251445770264
+     ],
+     [
+      -0.41332605481147766,
+      0.47591912746429443,
+      0.7763134241104126
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9764687418937683,
+      -0.034496769309043884,
+      0.21288199722766876
+     ],
+     [
+      0.053719185292720795,
+      0.9949162006378174,
+      -0.08518198132514954
+     ],
+     [
+      -0.20886124670505524,
+      0.09461338818073273,
+      0.9733577370643616
+     ]
+    ],
+    [
+     [
+      0.6623321771621704,
+      0.7492098212242126,
+      -0.0008701244369149208
+     ],
+     [
+      -0.7486688494682312,
+      0.6618971824645996,
+      0.0372445210814476
+     ],
+     [
+      0.028479889035224915,
+      -0.024016810581088066,
+      0.999305784702301
+     ]
+    ],
+    [
+     [
+      0.816487729549408,
+      0.5616738200187683,
+      -0.13368013501167297
+     ],
+     [
+      -0.5590385794639587,
+      0.8269606828689575,
+      0.06009899452328682
+     ],
+     [
+      0.14430424571037292,
+      0.02566225454211235,
+      0.9892005324363708
+     ]
+    ],
+    [
+     [
+      0.8931922912597656,
+      0.3806160092353821,
+      0.23945559561252594
+     ],
+     [
+      -0.42391592264175415,
+      0.8903547525405884,
+      0.16602325439453125
+     ],
+     [
+      -0.15000931918621063,
+      -0.2497997283935547,
+      0.9566071629524231
+     ]
+    ],
+    [
+     [
+      0.6843250393867493,
+      0.72098708152771,
+      0.10898095369338989
+     ],
+     [
+      -0.7290879487991333,
+      0.6788933873176575,
+      0.08680204302072525
+     ],
+     [
+      -0.011403307318687439,
+      -0.13885751366615295,
+      0.9902467131614685
+     ]
+    ],
+    [
+     [
+      0.7961485385894775,
+      0.5991748571395874,
+      -0.08448124676942825
+     ],
+     [
+      -0.6016198396682739,
+      0.7987701892852783,
+      -0.004448065534234047
+     ],
+     [
+      0.0648159310221672,
+      0.05436691641807556,
+      0.9964151382446289
+     ]
+    ],
+    [
+     [
+      0.7714427709579468,
+      0.5904300212860107,
+      -0.2372097671031952
+     ],
+     [
+      -0.3950071632862091,
+      0.7366443872451782,
+      0.5489302277565002
+     ],
+     [
+      0.49884411692619324,
+      -0.32976871728897095,
+      0.80150306224823
+     ]
+    ],
+    [
+     [
+      0.8303329944610596,
+      0.5515776872634888,
+      0.07943080365657806
+     ],
+     [
+      -0.550735592842102,
+      0.7904617786407471,
+      0.26806801557540894
+     ],
+     [
+      0.0850733071565628,
+      -0.2663310766220093,
+      0.9601199626922607
+     ]
+    ],
+    [
+     [
+      0.8503619432449341,
+      0.5229089856147766,
+      -0.058743856847286224
+     ],
+     [
+      -0.4519897401332855,
+      0.7830325365066528,
+      0.4272766411304474
+     ],
+     [
+      0.2694251239299774,
+      -0.336788147687912,
+      0.902210533618927
+     ]
+    ],
+    [
+     [
+      0.8067411184310913,
+      0.5833946466445923,
+      -0.0939117968082428
+     ],
+     [
+      -0.5680214166641235,
+      0.8094425201416016,
+      0.14884386956691742
+     ],
+     [
+      0.16285091638565063,
+      -0.06673456728458405,
+      0.9843912124633789
+     ]
+    ],
+    [
+     [
+      0.815159797668457,
+      0.5756441950798035,
+      0.0644073486328125
+     ],
+     [
+      -0.556152880191803,
+      0.7467436790466309,
+      0.36478468775749207
+     ],
+     [
+      0.16189037263393402,
+      -0.3331781327724457,
+      0.9288616180419922
+     ]
+    ],
+    [
+     [
+      0.7097692489624023,
+      0.7027158141136169,
+      -0.04917474091053009
+     ],
+     [
+      -0.67209392786026,
+      0.696440577507019,
+      0.25151577591896057
+     ],
+     [
+      0.21099139750003815,
+      -0.1454681158065796,
+      0.96660315990448
+     ]
+    ],
+    [
+     [
+      0.9676898717880249,
+      0.17943257093429565,
+      0.1771448850631714
+     ],
+     [
+      0.028901658952236176,
+      0.6189910173416138,
+      -0.7848660945892334
+     ],
+     [
+      -0.25048163533210754,
+      0.7646267414093018,
+      0.5938054323196411
+     ]
+    ],
+    [
+     [
+      0.9838425517082214,
+      -0.09779493510723114,
+      -0.14996671676635742
+     ],
+     [
+      0.1586800068616867,
+      0.8642177581787109,
+      0.47743940353393555
+     ],
+     [
+      0.08291274309158325,
+      -0.49352192878723145,
+      0.8657722473144531
+     ]
+    ],
+    [
+     [
+      0.8560237288475037,
+      0.44762641191482544,
+      0.25856125354766846
+     ],
+     [
+      -0.2141585350036621,
+      0.7623253464698792,
+      -0.6107341051101685
+     ],
+     [
+      -0.4704885482788086,
+      0.4674297571182251,
+      0.7484316229820251
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9747971296310425,
+      0.025341207161545753,
+      0.22164911031723022
+     ],
+     [
+      -0.005075741559267044,
+      0.9957897067070007,
+      -0.09152616560459137
+     ],
+     [
+      -0.2230353057384491,
+      0.08809441328048706,
+      0.9708216190338135
+     ]
+    ],
+    [
+     [
+      0.6236745119094849,
+      0.7814323902130127,
+      -0.019839517772197723
+     ],
+     [
+      -0.7812671661376953,
+      0.6239699125289917,
+      0.016830384731292725
+     ],
+     [
+      0.025531068444252014,
+      0.005003281403332949,
+      0.9996615052223206
+     ]
+    ],
+    [
+     [
+      0.8266597986221313,
+      0.5447218418121338,
+      -0.14110873639583588
+     ],
+     [
+      -0.5394598245620728,
+      0.8385192155838013,
+      0.07660705596208572
+     ],
+     [
+      0.16005192697048187,
+      0.01279451698064804,
+      0.9870256781578064
+     ]
+    ],
+    [
+     [
+      0.8820324540138245,
+      0.4025134742259979,
+      0.24495229125022888
+     ],
+     [
+      -0.4475052058696747,
+      0.8783472180366516,
+      0.1680634468793869
+     ],
+     [
+      -0.14750537276268005,
+      -0.2578548192977905,
+      0.954857587814331
+     ]
+    ],
+    [
+     [
+      0.6668406128883362,
+      0.7363498210906982,
+      0.11451010406017303
+     ],
+     [
+      -0.7450441122055054,
+      0.6619288921356201,
+      0.08221536129713058
+     ],
+     [
+      -0.01525827869772911,
+      -0.1401396244764328,
+      0.9900141954421997
+     ]
+    ],
+    [
+     [
+      0.7719045877456665,
+      0.628519594669342,
+      -0.09553208202123642
+     ],
+     [
+      -0.6315773129463196,
+      0.7753095030784607,
+      -0.0023047085851430893
+     ],
+     [
+      0.07261837273836136,
+      0.0621149018406868,
+      0.9954236745834351
+     ]
+    ],
+    [
+     [
+      0.7597650289535522,
+      0.6086002588272095,
+      -0.22882932424545288
+     ],
+     [
+      -0.38826414942741394,
+      0.706966757774353,
+      0.5911421179771423
+     ],
+     [
+      0.5215439200401306,
+      -0.36028289794921875,
+      0.7734262943267822
+     ]
+    ],
+    [
+     [
+      0.8167054653167725,
+      0.5689916014671326,
+      0.09612920880317688
+     ],
+     [
+      -0.5721561312675476,
+      0.7767972946166992,
+      0.26310327649116516
+     ],
+     [
+      0.0750306248664856,
+      -0.2698787748813629,
+      0.9599665999412537
+     ]
+    ],
+    [
+     [
+      0.8284124135971069,
+      0.5582748055458069,
+      -0.04541096091270447
+     ],
+     [
+      -0.48708173632621765,
+      0.7580498456954956,
+      0.4337185323238373
+     ],
+     [
+      0.27655789256095886,
+      -0.3371789753437042,
+      0.8999033570289612
+     ]
+    ],
+    [
+     [
+      0.7969358563423157,
+      0.5959161520004272,
+      -0.09887955337762833
+     ],
+     [
+      -0.5772925615310669,
+      0.799534797668457,
+      0.16576310992240906
+     ],
+     [
+      0.17783856391906738,
+      -0.07502012699842453,
+      0.9811959266662598
+     ]
+    ],
+    [
+     [
+      0.7956496477127075,
+      0.6012140512466431,
+      0.0740496888756752
+     ],
+     [
+      -0.5809744596481323,
+      0.7227669954299927,
+      0.3742680549621582
+     ],
+     [
+      0.1714945137500763,
+      -0.3408071994781494,
+      0.9243592619895935
+     ]
+    ],
+    [
+     [
+      0.6768754124641418,
+      0.7355428338050842,
+      -0.028572238981723785
+     ],
+     [
+      -0.7060131430625916,
+      0.6597056984901428,
+      0.2575536370277405
+     ],
+     [
+      0.20829099416732788,
+      -0.15415935218334198,
+      0.9658414721488953
+     ]
+    ],
+    [
+     [
+      0.9593643546104431,
+      0.18790841102600098,
+      0.21050049364566803
+     ],
+     [
+      0.050487153232097626,
+      0.6196558475494385,
+      -0.7832481265068054
+     ],
+     [
+      -0.2776167690753937,
+      0.7620479464530945,
+      0.5849888324737549
+     ]
+    ],
+    [
+     [
+      0.9821431040763855,
+      -0.1224069595336914,
+      -0.14286848902702332
+     ],
+     [
+      0.175706148147583,
+      0.8682370185852051,
+      0.4639955759048462
+     ],
+     [
+      0.0672474205493927,
+      -0.4808129668235779,
+      0.8742406368255615
+     ]
+    ],
+    [
+     [
+      0.8376349210739136,
+      0.47877421975135803,
+      0.26295045018196106
+     ],
+     [
+      -0.22962281107902527,
+      0.7454274892807007,
+      -0.6257885694503784
+     ],
+     [
+      -0.4956218898296356,
+      0.46380293369293213,
+      0.7343335151672363
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9643759727478027,
+      0.10534863919019699,
+      0.2426532506942749
+     ],
+     [
+      -0.0821484848856926,
+      0.9911948442459106,
+      -0.10384777933359146
+     ],
+     [
+      -0.2514568865299225,
+      0.08021470159292221,
+      0.9645387530326843
+     ]
+    ],
+    [
+     [
+      0.5697739124298096,
+      0.8198972344398499,
+      -0.05591196566820145
+     ],
+     [
+      -0.8212572932243347,
+      0.5705528855323792,
+      -0.0024369191378355026
+     ],
+     [
+      0.029902711510658264,
+      0.047306597232818604,
+      0.9984327554702759
+     ]
+    ],
+    [
+     [
+      0.8313928842544556,
+      0.5303103923797607,
+      -0.166002094745636
+     ],
+     [
+      -0.5241271257400513,
+      0.8476083278656006,
+      0.08276945352554321
+     ],
+     [
+      0.18459826707839966,
+      0.01819228008389473,
+      0.9826456904411316
+     ]
+    ],
+    [
+     [
+      0.8585861325263977,
+      0.44865402579307556,
+      0.24807149171829224
+     ],
+     [
+      -0.49285343289375305,
+      0.8555657267570496,
+      0.15843862295150757
+     ],
+     [
+      -0.1411573588848114,
+      -0.25829607248306274,
+      0.9556975364685059
+     ]
+    ],
+    [
+     [
+      0.6227132081985474,
+      0.7746764421463013,
+      0.11002182960510254
+     ],
+     [
+      -0.7823261022567749,
+      0.6189334392547607,
+      0.06990998238325119
+     ],
+     [
+      -0.013938583433628082,
+      -0.12960679829120636,
+      0.9914674758911133
+     ]
+    ],
+    [
+     [
+      0.7152165770530701,
+      0.6894723773002625,
+      -0.1144249364733696
+     ],
+     [
+      -0.6917025446891785,
+      0.7217373847961426,
+      0.025352131575345993
+     ],
+     [
+      0.10006435960531235,
+      0.06101575121283531,
+      0.993108332157135
+     ]
+    ],
+    [
+     [
+      0.7401299476623535,
+      0.6395473480224609,
+      -0.20781458914279938
+     ],
+     [
+      -0.38017916679382324,
+      0.6528592705726624,
+      0.655163049697876
+     ],
+     [
+      0.5546814799308777,
+      -0.4058990180492401,
+      0.7263432145118713
+     ]
+    ],
+    [
+     [
+      0.777700662612915,
+      0.6176749467849731,
+      0.11687308549880981
+     ],
+     [
+      -0.623532772064209,
+      0.7343019843101501,
+      0.2683420777320862
+     ],
+     [
+      0.07992802560329437,
+      -0.28156399726867676,
+      0.9562077522277832
+     ]
+    ],
+    [
+     [
+      0.8001401424407959,
+      0.5996905565261841,
+      0.012123718857765198
+     ],
+     [
+      -0.528975248336792,
+      0.6959705948829651,
+      0.48560282588005066
+     ],
+     [
+      0.2827736735343933,
+      -0.39496347308158875,
+      0.8740954399108887
+     ]
+    ],
+    [
+     [
+      0.7681819796562195,
+      0.6314078569412231,
+      -0.10592740774154663
+     ],
+     [
+      -0.6073249578475952,
+      0.7710167169570923,
+      0.19154556095600128
+     ],
+     [
+      0.2026151716709137,
+      -0.08280949294567108,
+      0.9757508039474487
+     ]
+    ],
+    [
+     [
+      0.7453258037567139,
+      0.6623863577842712,
+      0.07572107762098312
+     ],
+     [
+      -0.6325929760932922,
+      0.6667580604553223,
+      0.39403021335601807
+     ],
+     [
+      0.21051260828971863,
+      -0.3415815234184265,
+      0.9159729480743408
+     ]
+    ],
+    [
+     [
+      0.6327288150787354,
+      0.7743434906005859,
+      0.006812110543251038
+     ],
+     [
+      -0.7452607154846191,
+      0.6065282821655273,
+      0.27696532011032104
+     ],
+     [
+      0.21033455431461334,
+      -0.18032073974609375,
+      0.9608557820320129
+     ]
+    ],
+    [
+     [
+      0.9471990466117859,
+      0.1587686836719513,
+      0.27857935428619385
+     ],
+     [
+      0.11055201292037964,
+      0.6538304686546326,
+      -0.7485212087631226
+     ],
+     [
+      -0.3009853959083557,
+      0.7397960424423218,
+      0.6017553806304932
+     ]
+    ],
+    [
+     [
+      0.9909177422523499,
+      -0.12450100481510162,
+      -0.05080857872962952
+     ],
+     [
+      0.13373126089572906,
+      0.8728888034820557,
+      0.46923455595970154
+     ],
+     [
+      -0.014069929718971252,
+      -0.4717675745487213,
+      0.8816106915473938
+     ]
+    ],
+    [
+     [
+      0.8472414016723633,
+      0.47069257497787476,
+      0.2462327629327774
+     ],
+     [
+      -0.2227163314819336,
+      0.7355766296386719,
+      -0.6397848129272461
+     ],
+     [
+      -0.48226499557495117,
+      0.48721209168434143,
+      0.7280418276786804
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9508602023124695,
+      0.163183331489563,
+      0.26312753558158875
+     ],
+     [
+      -0.14211010932922363,
+      0.9850515127182007,
+      -0.09735637158155441
+     ],
+     [
+      -0.2750811278820038,
+      0.05517921596765518,
+      0.9598362445831299
+     ]
+    ],
+    [
+     [
+      0.5262715816497803,
+      0.8468450307846069,
+      -0.07675717025995255
+     ],
+     [
+      -0.8499813079833984,
+      0.5264508724212646,
+      -0.019525550305843353
+     ],
+     [
+      0.023873763158917427,
+      0.07551790028810501,
+      0.9968585968017578
+     ]
+    ],
+    [
+     [
+      0.8335312008857727,
+      0.5262558460235596,
+      -0.16816815733909607
+     ],
+     [
+      -0.5213334560394287,
+      0.8499748706817627,
+      0.07585576176643372
+     ],
+     [
+      0.18285825848579407,
+      0.024443553760647774,
+      0.9828353524208069
+     ]
+    ],
+    [
+     [
+      0.8323255777359009,
+      0.49790990352630615,
+      0.24355675280094147
+     ],
+     [
+      -0.5397882461547852,
+      0.8279553055763245,
+      0.1520482748746872
+     ],
+     [
+      -0.1259477585554123,
+      -0.2580227255821228,
+      0.9578942656517029
+     ]
+    ],
+    [
+     [
+      0.6141239404678345,
+      0.779442548751831,
+      0.12377841025590897
+     ],
+     [
+      -0.7887790203094482,
+      0.6113730669021606,
+      0.06364460289478302
+     ],
+     [
+      -0.02606748789548874,
+      -0.1367194801568985,
+      0.990266740322113
+     ]
+    ],
+    [
+     [
+      0.6752122640609741,
+      0.7272049188613892,
+      -0.12353715300559998
+     ],
+     [
+      -0.7300615310668945,
+      0.6827709078788757,
+      0.028880400583148003
+     ],
+     [
+      0.10534954071044922,
+      0.07068931311368942,
+      0.9919195771217346
+     ]
+    ],
+    [
+     [
+      0.7097720503807068,
+      0.6846727728843689,
+      -0.16567084193229675
+     ],
+     [
+      -0.3919907212257385,
+      0.5792917609214783,
+      0.7146778106689453
+     ],
+     [
+      0.5852922201156616,
+      -0.4423168897628784,
+      0.6795504689216614
+     ]
+    ],
+    [
+     [
+      0.7540145516395569,
+      0.6459894776344299,
+      0.11899445950984955
+     ],
+     [
+      -0.6534101366996765,
+      0.7191104292869568,
+      0.2365066409111023
+     ],
+     [
+      0.06721065938472748,
+      -0.25608164072036743,
+      0.9643157720565796
+     ]
+    ],
+    [
+     [
+      0.7812836766242981,
+      0.6203176975250244,
+      0.06929457932710648
+     ],
+     [
+      -0.5578458309173584,
+      0.6441386938095093,
+      0.5233482718467712
+     ],
+     [
+      0.28000688552856445,
+      -0.44753915071487427,
+      0.8492966890335083
+     ]
+    ],
+    [
+     [
+      0.7375504970550537,
+      0.6648207306861877,
+      -0.1184598058462143
+     ],
+     [
+      -0.6355275511741638,
+      0.7426638007164001,
+      0.2110811173915863
+     ],
+     [
+      0.22830690443515778,
+      -0.08039850741624832,
+      0.9702638983726501
+     ]
+    ],
+    [
+     [
+      0.7284241914749146,
+      0.6801052689552307,
+      0.08279528468847275
+     ],
+     [
+      -0.6474574208259583,
+      0.6438108682632446,
+      0.40780675411224365
+     ],
+     [
+      0.2240470051765442,
+      -0.3506627082824707,
+      0.9093066453933716
+     ]
+    ],
+    [
+     [
+      0.5942275524139404,
+      0.8039463758468628,
+      0.023748107254505157
+     ],
+     [
+      -0.7785288095474243,
+      0.567524790763855,
+      0.2679712176322937
+     ],
+     [
+      0.2019568383693695,
+      -0.1777244508266449,
+      0.9631341695785522
+     ]
+    ],
+    [
+     [
+      0.9344741106033325,
+      0.09079596400260925,
+      0.34425902366638184
+     ],
+     [
+      0.17841458320617676,
+      0.7173407077789307,
+      -0.673491358757019
+     ],
+     [
+      -0.3081012964248657,
+      0.6907809972763062,
+      0.6541370153427124
+     ]
+    ],
+    [
+     [
+      0.991791844367981,
+      -0.11771304160356522,
+      0.04992612823843956
+     ],
+     [
+      0.08212242275476456,
+      0.8857139945030212,
+      0.4569098949432373
+     ],
+     [
+      -0.09800451993942261,
+      -0.4490594267845154,
+      0.8881107568740845
+     ]
+    ],
+    [
+     [
+      0.8604307174682617,
+      0.4485294818878174,
+      0.24182702600955963
+     ],
+     [
+      -0.21982277929782867,
+      0.7548636794090271,
+      -0.6179472208023071
+     ],
+     [
+      -0.45971399545669556,
+      0.47854170203208923,
+      0.7481048703193665
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9558631777763367,
+      0.13639192283153534,
+      0.26023605465888977
+     ],
+     [
+      -0.11908241361379623,
+      0.9895554184913635,
+      -0.08123725652694702
+     ],
+     [
+      -0.26859810948371887,
+      0.046662166714668274,
+      0.9621214866638184
+     ]
+    ],
+    [
+     [
+      0.5574251413345337,
+      0.8277481198310852,
+      -0.06411103904247284
+     ],
+     [
+      -0.8298597931861877,
+      0.557811975479126,
+      -0.01336618885397911
+     ],
+     [
+      0.02469806559383869,
+      0.060653816908597946,
+      0.9978532791137695
+     ]
+    ],
+    [
+     [
+      0.8261324763298035,
+      0.539103090763092,
+      -0.16392959654331207
+     ],
+     [
+      -0.539079487323761,
+      0.8408552408218384,
+      0.0485367588698864
+     ],
+     [
+      0.16400738060474396,
+      0.04827329143881798,
+      0.9852772355079651
+     ]
+    ],
+    [
+     [
+      0.8420319557189941,
+      0.49028292298316956,
+      0.22495520114898682
+     ],
+     [
+      -0.5254293084144592,
+      0.8398453593254089,
+      0.13632246851921082
+     ],
+     [
+      -0.12209099531173706,
+      -0.2329859435558319,
+      0.964785635471344
+     ]
+    ],
+    [
+     [
+      0.6267179250717163,
+      0.7684888243675232,
+      0.1290331780910492
+     ],
+     [
+      -0.7788326144218445,
+      0.6231326460838318,
+      0.07159297168254852
+     ],
+     [
+      -0.025386404246091843,
+      -0.14536383748054504,
+      0.9890525341033936
+     ]
+    ],
+    [
+     [
+      0.6551047563552856,
+      0.7464560866355896,
+      -0.11679539084434509
+     ],
+     [
+      -0.7490386366844177,
+      0.6618951559066772,
+      0.028912896290421486
+     ],
+     [
+      0.09888851642608643,
+      0.06854328513145447,
+      0.9927350282669067
+     ]
+    ],
+    [
+     [
+      0.6938081979751587,
+      0.7008071541786194,
+      -0.16583001613616943
+     ],
+     [
+      -0.40198856592178345,
+      0.5679280161857605,
+      0.7182360887527466
+     ],
+     [
+      0.5975244641304016,
+      -0.4316563606262207,
+      0.6757494807243347
+     ]
+    ],
+    [
+     [
+      0.7513715624809265,
+      0.6489980816841125,
+      0.1193409264087677
+     ],
+     [
+      -0.6552749276161194,
+      0.7124978303909302,
+      0.25092145800590515
+     ],
+     [
+      0.0778173953294754,
+      -0.26673635840415955,
+      0.9606227874755859
+     ]
+    ],
+    [
+     [
+      0.7700252532958984,
+      0.6344079375267029,
+      0.06773311644792557
+     ],
+     [
+      -0.5694859623908997,
+      0.6355695724487305,
+      0.5212841033935547
+     ],
+     [
+      0.28765758872032166,
+      -0.43997499346733093,
+      0.8506909608840942
+     ]
+    ],
+    [
+     [
+      0.7443195581436157,
+      0.6542671322822571,
+      -0.1338767558336258
+     ],
+     [
+      -0.6259384751319885,
+      0.7533526420593262,
+      0.20164525508880615
+     ],
+     [
+      0.23278625309467316,
+      -0.06628987938165665,
+      0.9702660441398621
+     ]
+    ],
+    [
+     [
+      0.7337207794189453,
+      0.6744436025619507,
+      0.08233930915594101
+     ],
+     [
+      -0.6423293352127075,
+      0.6490137577056885,
+      0.4076693058013916
+     ],
+     [
+      0.22151055932044983,
+      -0.35200440883636475,
+      0.9094097018241882
+     ]
+    ],
+    [
+     [
+      0.583706259727478,
+      0.8117042183876038,
+      0.02057366818189621
+     ],
+     [
+      -0.7877859473228455,
+      0.5600053071975708,
+      0.25649043917655945
+     ],
+     [
+      0.1966729760169983,
+      -0.16592273116111755,
+      0.9663277864456177
+     ]
+    ],
+    [
+     [
+      0.9332034587860107,
+      0.019194655120372772,
+      0.35883551836013794
+     ],
+     [
+      0.21373674273490906,
+      0.7730852365493774,
+      -0.597206711769104
+     ],
+     [
+      -0.2888736128807068,
+      0.6340117454528809,
+      0.7173432111740112
+     ]
+    ],
+    [
+     [
+      0.988400936126709,
+      -0.09757755696773529,
+      0.11637114733457565
+     ],
+     [
+      0.0366106815636158,
+      0.8967662453651428,
+      0.4409874975681305
+     ],
+     [
+      -0.14738819003105164,
+      -0.4316120445728302,
+      0.8899369239807129
+     ]
+    ],
+    [
+     [
+      0.8797186017036438,
+      0.40688151121139526,
+      0.24605409801006317
+     ],
+     [
+      -0.21121227741241455,
+      0.7979962229728699,
+      -0.5644389986991882
+     ],
+     [
+      -0.42601001262664795,
+      0.4445778429508209,
+      0.7879505157470703
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9706376194953918,
+      0.055104807019233704,
+      0.23414957523345947
+     ],
+     [
+      -0.039267778396606445,
+      0.996647834777832,
+      -0.07177166640758514
+     ],
+     [
+      -0.23731961846351624,
+      0.060469746589660645,
+      0.9695477485656738
+     ]
+    ],
+    [
+     [
+      0.6882582902908325,
+      0.7245992422103882,
+      -0.03544662520289421
+     ],
+     [
+      -0.7246005535125732,
+      0.6890019774436951,
+      0.015176256187260151
+     ],
+     [
+      0.03541949763894081,
+      0.015239459462463856,
+      0.9992563128471375
+     ]
+    ],
+    [
+     [
+      0.8326031565666199,
+      0.5330560803413391,
+      -0.15041007101535797
+     ],
+     [
+      -0.5365292429924011,
+      0.843646764755249,
+      0.019912589341402054
+     ],
+     [
+      0.13750748336315155,
+      0.06412011384963989,
+      0.9884231090545654
+     ]
+    ],
+    [
+     [
+      0.8938820958137512,
+      0.3960735499858856,
+      0.21000133454799652
+     ],
+     [
+      -0.42561617493629456,
+      0.8969054818153381,
+      0.12004758417606354
+     ],
+     [
+      -0.14080367982387543,
+      -0.19668833911418915,
+      0.9703030586242676
+     ]
+    ],
+    [
+     [
+      0.6818692088127136,
+      0.718869149684906,
+      0.13520918786525726
+     ],
+     [
+      -0.7309848666191101,
+      0.6764301061630249,
+      0.09001852571964264
+     ],
+     [
+      -0.02674803137779236,
+      -0.16021673381328583,
+      0.9867193698883057
+     ]
+    ],
+    [
+     [
+      0.6810356378555298,
+      0.7251419425010681,
+      -0.10178206115961075
+     ],
+     [
+      -0.7279638648033142,
+      0.6854944229125977,
+      0.012884991243481636
+     ],
+     [
+      0.07911448925733566,
+      0.0653185248374939,
+      0.9947232604026794
+     ]
+    ],
+    [
+     [
+      0.7143501043319702,
+      0.6593874096870422,
+      -0.2343336045742035
+     ],
+     [
+      -0.37998276948928833,
+      0.6466919779777527,
+      0.6613643169403076
+     ],
+     [
+      0.5876369476318359,
+      -0.383402943611145,
+      0.7125202417373657
+     ]
+    ],
+    [
+     [
+      0.7831411957740784,
+      0.6042184829711914,
+      0.14700303971767426
+     ],
+     [
+      -0.6174176931381226,
+      0.7273720502853394,
+      0.2995418906211853
+     ],
+     [
+      0.07406282424926758,
+      -0.32534587383270264,
+      0.9426901936531067
+     ]
+    ],
+    [
+     [
+      0.7662745714187622,
+      0.642510175704956,
+      -0.0019883811473846436
+     ],
+     [
+      -0.5715450048446655,
+      0.6830469369888306,
+      0.45473411679267883
+     ],
+     [
+      0.2935294508934021,
+      -0.3473147451877594,
+      0.890625
+     ]
+    ],
+    [
+     [
+      0.8005228638648987,
+      0.5815834999084473,
+      -0.1446506530046463
+     ],
+     [
+      -0.5605800151824951,
+      0.8120130300521851,
+      0.16243454813957214
+     ],
+     [
+      0.21192745864391327,
+      -0.04894431307911873,
+      0.9760590195655823
+     ]
+    ],
+    [
+     [
+      0.7749341130256653,
+      0.6271029710769653,
+      0.07886018604040146
+     ],
+     [
+      -0.6040040254592896,
+      0.698020339012146,
+      0.3846384882926941
+     ],
+     [
+      0.18616193532943726,
+      -0.34570133686065674,
+      0.9196925163269043
+     ]
+    ],
+    [
+     [
+      0.608856737613678,
+      0.7932797074317932,
+      0.000857427716255188
+     ],
+     [
+      -0.7697508931159973,
+      0.5905358791351318,
+      0.24238593876361847
+     ],
+     [
+      0.19177350401878357,
+      -0.14823831617832184,
+      0.970179557800293
+     ]
+    ],
+    [
+     [
+      0.941756546497345,
+      0.022930525243282318,
+      0.33551281690597534
+     ],
+     [
+      0.18801283836364746,
+      0.791290283203125,
+      -0.5818168520927429
+     ],
+     [
+      -0.2788293957710266,
+      0.6110104918479919,
+      0.7408915758132935
+     ]
+    ],
+    [
+     [
+      0.9875962734222412,
+      -0.12402474880218506,
+      0.09628826379776001
+     ],
+     [
+      0.0728120356798172,
+      0.9050728678703308,
+      0.41897672414779663
+     ],
+     [
+      -0.13911138474941254,
+      -0.40676891803741455,
+      0.9028770923614502
+     ]
+    ],
+    [
+     [
+      0.8719372749328613,
+      0.4191260039806366,
+      0.2530982792377472
+     ],
+     [
+      -0.2503839433193207,
+      0.825924813747406,
+      -0.5051297545433044
+     ],
+     [
+      -0.42075315117836,
+      0.37706977128982544,
+      0.8250970840454102
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9597097635269165,
+      -0.12128801643848419,
+      0.253468781709671
+     ],
+     [
+      0.14517857134342194,
+      0.9863490462303162,
+      -0.0777096375823021
+     ],
+     [
+      -0.24058344960212708,
+      0.11137693375349045,
+      0.9642171859741211
+     ]
+    ],
+    [
+     [
+      0.8035642504692078,
+      0.5950146913528442,
+      -0.01555538922548294
+     ],
+     [
+      -0.592333197593689,
+      0.8019664287567139,
+      0.07740286737680435
+     ],
+     [
+      0.058530740439891815,
+      -0.05298420414328575,
+      0.9968785643577576
+     ]
+    ],
+    [
+     [
+      0.8488558530807495,
+      0.5152467489242554,
+      -0.11817171424627304
+     ],
+     [
+      -0.5216808319091797,
+      0.8526198863983154,
+      -0.029805531725287437
+     ],
+     [
+      0.0853983536362648,
+      0.08694852143526077,
+      0.9925457835197449
+     ]
+    ],
+    [
+     [
+      0.9422308206558228,
+      0.2373608648777008,
+      0.23634901642799377
+     ],
+     [
+      -0.27406784892082214,
+      0.9519653916358948,
+      0.13656017184257507
+     ],
+     [
+      -0.19258204102516174,
+      -0.19344687461853027,
+      0.9620241522789001
+     ]
+    ],
+    [
+     [
+      0.7196989059448242,
+      0.6761109828948975,
+      0.1578209400177002
+     ],
+     [
+      -0.692175030708313,
+      0.7164410352706909,
+      0.08721238374710083
+     ],
+     [
+      -0.054104145616292953,
+      -0.17200636863708496,
+      0.9836089611053467
+     ]
+    ],
+    [
+     [
+      0.769356369972229,
+      0.6315761208534241,
+      -0.09592913836240768
+     ],
+     [
+      -0.63641756772995,
+      0.7707827687263489,
+      -0.029438138008117676
+     ],
+     [
+      0.05534810572862625,
+      0.08369941264390945,
+      0.9949527382850647
+     ]
+    ],
+    [
+     [
+      0.7435215711593628,
+      0.6383030414581299,
+      -0.19936145842075348
+     ],
+     [
+      -0.36792147159576416,
+      0.6394261717796326,
+      0.6751059293746948
+     ],
+     [
+      0.5583990812301636,
+      -0.42860642075538635,
+      0.710272490978241
+     ]
+    ],
+    [
+     [
+      0.8290860652923584,
+      0.5520533323287964,
+      0.0886199101805687
+     ],
+     [
+      -0.5585966110229492,
+      0.824701189994812,
+      0.08853165805339813
+     ],
+     [
+      -0.024210751056671143,
+      -0.12290313839912415,
+      0.9921233057975769
+     ]
+    ],
+    [
+     [
+      0.8398515582084656,
+      0.5420254468917847,
+      0.0292874276638031
+     ],
+     [
+      -0.48893535137176514,
+      0.731948971748352,
+      0.4745450019836426
+     ],
+     [
+      0.2357785701751709,
+      -0.41286700963974,
+      0.8797438740730286
+     ]
+    ],
+    [
+     [
+      0.8364347219467163,
+      0.5385871529579163,
+      -0.10149270296096802
+     ],
+     [
+      -0.5190193057060242,
+      0.8378907442092896,
+      0.16899116337299347
+     ],
+     [
+      0.17605626583099365,
+      -0.08867339789867401,
+      0.9803780913352966
+     ]
+    ],
+    [
+     [
+      0.8553096055984497,
+      0.5118118524551392,
+      0.08058665692806244
+     ],
+     [
+      -0.5080246925354004,
+      0.7978922128677368,
+      0.3244672417640686
+     ],
+     [
+      0.1017666906118393,
+      -0.3184599280357361,
+      0.9424578547477722
+     ]
+    ],
+    [
+     [
+      0.6596506237983704,
+      0.7491468191146851,
+      -0.060334011912345886
+     ],
+     [
+      -0.7265022993087769,
+      0.6561498641967773,
+      0.20411217212677002
+     ],
+     [
+      0.1924981325864792,
+      -0.09080993384122849,
+      0.9770864844322205
+     ]
+    ],
+    [
+     [
+      0.9535182118415833,
+      0.07668261975049973,
+      0.2914152145385742
+     ],
+     [
+      0.12908640503883362,
+      0.7699053883552551,
+      -0.6249659657478333
+     ],
+     [
+      -0.27228617668151855,
+      0.6335341334342957,
+      0.7242200970649719
+     ]
+    ],
+    [
+     [
+      0.992343544960022,
+      -0.1221562996506691,
+      -0.01822524145245552
+     ],
+     [
+      0.11853747814893723,
+      0.9005352258682251,
+      0.4183122217655182
+     ],
+     [
+      -0.03468700125813484,
+      -0.4172697961330414,
+      0.9081204533576965
+     ]
+    ],
+    [
+     [
+      0.8253664970397949,
+      0.4417617619037628,
+      0.35159173607826233
+     ],
+     [
+      -0.21542206406593323,
+      0.8220231533050537,
+      -0.527134895324707
+     ],
+     [
+      -0.5218846201896667,
+      0.3593388795852661,
+      0.7736356258392334
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9363352060317993,
+      -0.24104204773902893,
+      0.25529420375823975
+     ],
+     [
+      0.2709098160266876,
+      0.9585185647010803,
+      -0.08860017359256744
+     ],
+     [
+      -0.22334785759449005,
+      0.1521211564540863,
+      0.9627953767776489
+     ]
+    ],
+    [
+     [
+      0.884361743927002,
+      0.46675726771354675,
+      -0.006476329639554024
+     ],
+     [
+      -0.46186545491218567,
+      0.8769372701644897,
+      0.13289593160152435
+     ],
+     [
+      0.06770947575569153,
+      -0.11453688144683838,
+      0.9911088347434998
+     ]
+    ],
+    [
+     [
+      0.8407275676727295,
+      0.529334545135498,
+      -0.11393912881612778
+     ],
+     [
+      -0.5379313230514526,
+      0.8405282497406006,
+      -0.06435947120189667
+     ],
+     [
+      0.06170136481523514,
+      0.11540021002292633,
+      0.9914008975028992
+     ]
+    ],
+    [
+     [
+      0.9622694849967957,
+      0.08701644092798233,
+      0.25780919194221497
+     ],
+     [
+      -0.12441182881593704,
+      0.9833490252494812,
+      0.1324629783630371
+     ],
+     [
+      -0.24198995530605316,
+      -0.1595396101474762,
+      0.9570726156234741
+     ]
+    ],
+    [
+     [
+      0.7757425904273987,
+      0.614242672920227,
+      0.14466995000839233
+     ],
+     [
+      -0.6284017562866211,
+      0.7728925943374634,
+      0.08802421391010284
+     ],
+     [
+      -0.05774608999490738,
+      -0.15919499099254608,
+      0.9855568408966064
+     ]
+    ],
+    [
+     [
+      0.8234330415725708,
+      0.5611104965209961,
+      -0.0843384861946106
+     ],
+     [
+      -0.5655834674835205,
+      0.8235878944396973,
+      -0.042641960084438324
+     ],
+     [
+      0.04553331062197685,
+      0.08281325548887253,
+      0.9955243468284607
+     ]
+    ],
+    [
+     [
+      0.783354640007019,
+      0.5877130627632141,
+      -0.2023581564426422
+     ],
+     [
+      -0.3492746949195862,
+      0.6855000257492065,
+      0.6388246417045593
+     ],
+     [
+      0.5141620635986328,
+      -0.42974767088890076,
+      0.7422629594802856
+     ]
+    ],
+    [
+     [
+      0.8731223344802856,
+      0.47912782430648804,
+      0.08996626734733582
+     ],
+     [
+      -0.4789334535598755,
+      0.8774908185005188,
+      -0.02515125647187233
+     ],
+     [
+      -0.09099523723125458,
+      -0.02112772688269615,
+      0.9956271648406982
+     ]
+    ],
+    [
+     [
+      0.8952528834342957,
+      0.4451984465122223,
+      0.017906174063682556
+     ],
+     [
+      -0.4046166241168976,
+      0.7955045700073242,
+      0.4510630965232849
+     ],
+     [
+      0.18656814098358154,
+      -0.4110606908798218,
+      0.8923124074935913
+     ]
+    ],
+    [
+     [
+      0.8857825994491577,
+      0.4609389007091522,
+      -0.054078444838523865
+     ],
+     [
+      -0.4493519961833954,
+      0.8809333443641663,
+      0.14845605194568634
+     ],
+     [
+      0.11606867611408234,
+      -0.1071995347738266,
+      0.9874392747879028
+     ]
+    ],
+    [
+     [
+      0.9145084023475647,
+      0.395676851272583,
+      0.08434577286243439
+     ],
+     [
+      -0.40296781063079834,
+      0.8723594546318054,
+      0.2767777442932129
+     ],
+     [
+      0.03593470901250839,
+      -0.28710418939590454,
+      0.9572250843048096
+     ]
+    ],
+    [
+     [
+      0.7125620245933533,
+      0.6963727474212646,
+      -0.08555913716554642
+     ],
+     [
+      -0.6741600036621094,
+      0.7133506536483765,
+      0.19141340255737305
+     ],
+     [
+      0.19432875514030457,
+      -0.07871337980031967,
+      0.9777732491493225
+     ]
+    ],
+    [
+     [
+      0.970942497253418,
+      0.1313423216342926,
+      0.2000497281551361
+     ],
+     [
+      0.04744640737771988,
+      0.7136896848678589,
+      -0.6988533139228821
+     ],
+     [
+      -0.2345624566078186,
+      0.6880380511283875,
+      0.6867198944091797
+     ]
+    ],
+    [
+     [
+      0.9856975078582764,
+      -0.11318132281303406,
+      -0.12486148625612259
+     ],
+     [
+      0.1558351218700409,
+      0.8942058086395264,
+      0.41965624690055847
+     ],
+     [
+      0.06415463238954544,
+      -0.43311193585395813,
+      0.8990541100502014
+     ]
+    ],
+    [
+     [
+      0.7721728086471558,
+      0.47949403524398804,
+      0.4169348478317261
+     ],
+     [
+      -0.18935787677764893,
+      0.7999979853630066,
+      -0.5693389773368835
+     ],
+     [
+      -0.606541633605957,
+      0.36067816615104675,
+      0.7085326313972473
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9278455972671509,
+      -0.2795468866825104,
+      0.2468930035829544
+     ],
+     [
+      0.3129465878009796,
+      0.9436537623405457,
+      -0.1076199859380722
+     ],
+     [
+      -0.20289666950702667,
+      0.17711903154850006,
+      0.9630481600761414
+     ]
+    ],
+    [
+     [
+      0.8972097635269165,
+      0.44157397747039795,
+      -0.0052070096135139465
+     ],
+     [
+      -0.43563950061798096,
+      0.8869603276252747,
+      0.15336118638515472
+     ],
+     [
+      0.07233871519565582,
+      -0.13532878458499908,
+      0.9881564974784851
+     ]
+    ],
+    [
+     [
+      0.836630642414093,
+      0.5350998044013977,
+      -0.11712141335010529
+     ],
+     [
+      -0.5439311861991882,
+      0.8368198275566101,
+      -0.06222103536128998
+     ],
+     [
+      0.06471507251262665,
+      0.11576201021671295,
+      0.9911665320396423
+     ]
+    ],
+    [
+     [
+      0.9622491002082825,
+      0.044829003512859344,
+      0.2684529721736908
+     ],
+     [
+      -0.08543313294649124,
+      0.9862396717071533,
+      0.14153622090816498
+     ],
+     [
+      -0.25841405987739563,
+      -0.159127876162529,
+      0.952838122844696
+     ]
+    ],
+    [
+     [
+      0.793464183807373,
+      0.5945810675621033,
+      0.12995381653308868
+     ],
+     [
+      -0.6059312224388123,
+      0.7917819619178772,
+      0.07699808478355408
+     ],
+     [
+      -0.05711349472403526,
+      -0.1398382931947708,
+      0.9885258078575134
+     ]
+    ],
+    [
+     [
+      0.854745090007782,
+      0.5116183161735535,
+      -0.08750774711370468
+     ],
+     [
+      -0.5160843729972839,
+      0.8556900024414062,
+      -0.038098834455013275
+     ],
+     [
+      0.05538744479417801,
+      0.07772617042064667,
+      0.9954349994659424
+     ]
+    ],
+    [
+     [
+      0.8011322021484375,
+      0.5714491605758667,
+      -0.17785704135894775
+     ],
+     [
+      -0.34774917364120483,
+      0.6863291263580322,
+      0.6387667059898376
+     ],
+     [
+      0.4870911240577698,
+      -0.4498869776725769,
+      0.7485612630844116
+     ]
+    ],
+    [
+     [
+      0.8913046717643738,
+      0.44305551052093506,
+      0.09632150083780289
+     ],
+     [
+      -0.43512940406799316,
+      0.8955603837966919,
+      -0.092919260263443
+     ],
+     [
+      -0.12743011116981506,
+      0.040907055139541626,
+      0.9910036325454712
+     ]
+    ],
+    [
+     [
+      0.9311397075653076,
+      0.36389344930648804,
+      0.023672405630350113
+     ],
+     [
+      -0.334097683429718,
+      0.8252792358398438,
+      0.45529431104660034
+     ],
+     [
+      0.14614228904247284,
+      -0.43185150623321533,
+      0.8900262117385864
+     ]
+    ],
+    [
+     [
+      0.8950223922729492,
+      0.44551366567611694,
+      -0.021270811557769775
+     ],
+     [
+      -0.4376518726348877,
+      0.8864238858222961,
+      0.15071004629135132
+     ],
+     [
+      0.08599833399057388,
+      -0.12557965517044067,
+      0.9883491396903992
+     ]
+    ],
+    [
+     [
+      0.9376315474510193,
+      0.3366580009460449,
+      0.08665117621421814
+     ],
+     [
+      -0.34755390882492065,
+      0.9025992751121521,
+      0.25400957465171814
+     ],
+     [
+      0.007303066551685333,
+      -0.26828333735466003,
+      0.9633123874664307
+     ]
+    ],
+    [
+     [
+      0.7565627098083496,
+      0.6467704176902771,
+      -0.09644170850515366
+     ],
+     [
+      -0.6223905682563782,
+      0.7574523687362671,
+      0.19722037017345428
+     ],
+     [
+      0.20060628652572632,
+      -0.08918516337871552,
+      0.9756039977073669
+     ]
+    ],
+    [
+     [
+      0.9710577130317688,
+      0.19401708245277405,
+      0.13929937779903412
+     ],
+     [
+      -0.011605612933635712,
+      0.62086021900177,
+      -0.7838353514671326
+     ],
+     [
+      -0.23856289684772491,
+      0.7595327496528625,
+      0.6051428318023682
+     ]
+    ],
+    [
+     [
+      0.9699398875236511,
+      -0.12938004732131958,
+      -0.2061004638671875
+     ],
+     [
+      0.20964470505714417,
+      0.8743007779121399,
+      0.4377753734588623
+     ],
+     [
+      0.12355440855026245,
+      -0.46782368421554565,
+      0.8751430511474609
+     ]
+    ],
+    [
+     [
+      0.7515863180160522,
+      0.524253249168396,
+      0.4003455936908722
+     ],
+     [
+      -0.20147809386253357,
+      0.7603650689125061,
+      -0.6174557209014893
+     ],
+     [
+      -0.6281119585037231,
+      0.38341036438941956,
+      0.6771055459976196
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.1536545753479004,
+    0.13695311546325684,
+    0.40864884853363037
+   ],
+   [
+    0.14412884414196014,
+    0.13392749428749084,
+    0.41290491819381714
+   ],
+   [
+    0.13421383500099182,
+    0.14604201912879944,
+    0.41996386647224426
+   ],
+   [
+    0.12853623926639557,
+    0.12216636538505554,
+    0.38317492604255676
+   ],
+   [
+    0.12569087743759155,
+    0.12756243348121643,
+    0.37406086921691895
+   ],
+   [
+    0.12137730419635773,
+    0.13983914256095886,
+    0.43543070554733276
+   ],
+   [
+    0.12204364687204361,
+    0.1454453021287918,
+    0.41592147946357727
+   ],
+   [
+    0.12784764170646667,
+    0.17418505251407623,
+    0.37217456102371216
+   ],
+   [
+    0.1076362207531929,
+    0.21600043773651123,
+    0.3071434795856476
+   ],
+   [
+    0.12165123224258423,
+    0.2539217472076416,
+    0.3199862837791443
+   ],
+   [
+    0.26083359122276306,
+    0.26333221793174744,
+    0.30998778343200684
+   ],
+   [
+    0.34856125712394714,
+    0.2073354423046112,
+    0.3102980852127075
+   ],
+   [
+    0.3645293116569519,
+    0.18865349888801575,
+    0.3410432040691376
+   ],
+   [
+    0.4051123857498169,
+    0.19148463010787964,
+    0.4127504527568817
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.3690943717956543,
+    -0.8989701271057129,
+    -3.329996347427368,
+    -1.5511468648910522,
+    -0.41389715671539307,
+    -3.31231427192688,
+    -1.494860291481018,
+    0.8904320597648621,
+    0.6860133409500122,
+    1.215764045715332
+   ],
+   [
+    -2.2561089992523193,
+    -0.782599925994873,
+    -2.9655611515045166,
+    -1.501245379447937,
+    -0.28089094161987305,
+    -3.324082136154175,
+    -1.5046392679214478,
+    0.8055152297019958,
+    0.7332327365875244,
+    1.1308642625808716
+   ],
+   [
+    -2.1690666675567627,
+    -0.7985062599182129,
+    -3.091137409210205,
+    -1.5228179693222046,
+    -0.14249974489212036,
+    -3.2869114875793457,
+    -1.6080832481384277,
+    0.8129979372024536,
+    0.7491190433502197,
+    1.2458916902542114
+   ],
+   [
+    -2.184877634048462,
+    -0.6369892358779907,
+    -2.938763380050659,
+    -1.4743119478225708,
+    -0.3588041663169861,
+    -3.1559767723083496,
+    -1.5386767387390137,
+    0.7046823501586914,
+    0.8086694478988647,
+    1.2067863941192627
+   ],
+   [
+    -2.160836935043335,
+    -0.7031686305999756,
+    -2.867391347885132,
+    -1.433673620223999,
+    -0.3406376838684082,
+    -3.2515671253204346,
+    -1.5996092557907104,
+    0.7043701410293579,
+    0.7761775255203247,
+    1.1641035079956055
+   ],
+   [
+    -2.603853940963745,
+    -0.9742937088012695,
+    -3.632633686065674,
+    -1.709805965423584,
+    -0.1282893419265747,
+    -3.8889083862304688,
+    -1.7952324151992798,
+    0.7538325190544128,
+    0.6635705232620239,
+    1.2215180397033691
+   ],
+   [
+    -2.512951135635376,
+    -0.8714134693145752,
+    -3.7491095066070557,
+    -1.7541148662567139,
+    -0.22847789525985718,
+    -3.5950698852539062,
+    -1.7160612344741821,
+    0.7840532064437866,
+    0.7317533493041992,
+    1.33184814453125
+   ],
+   [
+    -2.7004120349884033,
+    -0.7030208110809326,
+    -4.0533647537231445,
+    -1.9769845008850098,
+    -0.12857723236083984,
+    -3.856395721435547,
+    -1.7638245820999146,
+    0.773948073387146,
+    0.69945228099823,
+    1.3382000923156738
+   ],
+   [
+    -2.5424954891204834,
+    -0.6011159420013428,
+    -4.050293922424316,
+    -2.0019707679748535,
+    -0.07903915643692017,
+    -3.8801498413085938,
+    -1.8627091646194458,
+    0.706160306930542,
+    0.6136188507080078,
+    1.333463430404663
+   ],
+   [
+    -2.6066813468933105,
+    -0.6688845157623291,
+    -4.130161285400391,
+    -2.0383496284484863,
+    -0.24063128232955933,
+    -3.950890064239502,
+    -1.9408448934555054,
+    0.8002855181694031,
+    0.6906479597091675,
+    1.3973464965820312
+   ],
+   [
+    -2.5384984016418457,
+    -0.6774094104766846,
+    -3.852733850479126,
+    -1.8257474899291992,
+    -0.3920021057128906,
+    -3.95133638381958,
+    -1.8230968713760376,
+    0.792999804019928,
+    0.6485575437545776,
+    1.28354012966156
+   ],
+   [
+    -2.540839433670044,
+    -0.365868479013443,
+    -3.747666120529175,
+    -2.050360918045044,
+    -0.4163190722465515,
+    -3.58122181892395,
+    -1.7996245622634888,
+    0.558613657951355,
+    0.4578380584716797,
+    1.4546775817871094
+   ],
+   [
+    -2.228771448135376,
+    -0.46940937638282776,
+    -3.148883581161499,
+    -1.7539587020874023,
+    -0.33717089891433716,
+    -2.9758715629577637,
+    -1.5271662473678589,
+    0.6582468748092651,
+    0.384831964969635,
+    1.3084275722503662
+   ],
+   [
+    -2.3209948539733887,
+    -0.5812742710113525,
+    -3.3119869232177734,
+    -1.6719112396240234,
+    -0.5723883509635925,
+    -2.8020880222320557,
+    -1.712321400642395,
+    0.5718978643417358,
+    0.6912447214126587,
+    1.3071165084838867
+   ]
+  ]
+ ]
+}

test/add_remove_lid/10/cam_space/0/41_44.json

@@ -0,0 +1,1182 @@
+{
+ "init_root_orient": [
+  [
+   [
+    [
+     0.6387099027633667,
+     -0.7318263053894043,
+     0.23765534162521362
+    ],
+    [
+     -0.6456454992294312,
+     -0.6777529716491699,
+     -0.3518422842025757
+    ],
+    [
+     0.4185590147972107,
+     0.07128404080867767,
+     -0.9053878784179688
+    ]
+   ],
+   [
+    [
+     0.4891694188117981,
+     -0.8649152517318726,
+     0.11240564286708832
+    ],
+    [
+     -0.6871809959411621,
+     -0.4615597724914551,
+     -0.5610215067863464
+    ],
+    [
+     0.5371178984642029,
+     0.19719158113002777,
+     -0.8201342821121216
+    ]
+   ],
+   [
+    [
+     0.5714537501335144,
+     -0.8193179965019226,
+     0.046462029218673706
+    ],
+    [
+     -0.6433497071266174,
+     -0.48243021965026855,
+     -0.5944429039955139
+    ],
+    [
+     0.5094524621963501,
+     0.30980533361434937,
+     -0.8027945756912231
+    ]
+   ],
+   [
+    [
+     0.6484774351119995,
+     -0.7591409087181091,
+     -0.05641074478626251
+    ],
+    [
+     -0.6383925080299377,
+     -0.5019716024398804,
+     -0.5835064053535461
+    ],
+    [
+     0.4146469831466675,
+     0.41440293192863464,
+     -0.8101470470428467
+    ]
+   ]
+  ]
+ ],
+ "init_hand_pose": [
+  [
+   [
+    [
+     [
+      0.9676641821861267,
+      -0.019879048690199852,
+      0.251457542181015
+     ],
+     [
+      0.04256511479616165,
+      0.9954625368118286,
+      -0.08510340750217438
+     ],
+     [
+      -0.2486247718334198,
+      0.09305483102798462,
+      0.964119553565979
+     ]
+    ],
+    [
+     [
+      0.7685290575027466,
+      0.6380374431610107,
+      -0.047658100724220276
+     ],
+     [
+      -0.6367353200912476,
+      0.7700047492980957,
+      0.04075319319963455
+     ],
+     [
+      0.06269901990890503,
+      -0.0009744185954332352,
+      0.9980320334434509
+     ]
+    ],
+    [
+     [
+      0.9289973378181458,
+      0.36359623074531555,
+      -0.06900537014007568
+     ],
+     [
+      -0.3612520396709442,
+      0.931415319442749,
+      0.04430006071925163
+     ],
+     [
+      0.08037999272346497,
+      -0.016226310282945633,
+      0.9966322183609009
+     ]
+    ],
+    [
+     [
+      0.9596458077430725,
+      0.23383648693561554,
+      0.1562061905860901
+     ],
+     [
+      -0.25119999051094055,
+      0.9625041484832764,
+      0.10239313542842865
+     ],
+     [
+      -0.12640586495399475,
+      -0.13750013709068298,
+      0.9824028015136719
+     ]
+    ],
+    [
+     [
+      0.8581143617630005,
+      0.49389684200286865,
+      0.14037688076496124
+     ],
+     [
+      -0.5075868368148804,
+      0.8572105169296265,
+      0.08686632663011551
+     ],
+     [
+      -0.07742953300476074,
+      -0.14579470455646515,
+      0.9862801432609558
+     ]
+    ],
+    [
+     [
+      0.9057144522666931,
+      0.41625624895095825,
+      -0.08007530122995377
+     ],
+     [
+      -0.4214933514595032,
+      0.9044346213340759,
+      -0.0658891573548317
+     ],
+     [
+      0.04499610513448715,
+      0.09342796355485916,
+      0.9946087598800659
+     ]
+    ],
+    [
+     [
+      0.8013515472412109,
+      0.5228497982025146,
+      -0.2906267046928406
+     ],
+     [
+      -0.3035449683666229,
+      0.7740614414215088,
+      0.555598258972168
+     ],
+     [
+      0.515457272529602,
+      -0.3570112884044647,
+      0.7790037393569946
+     ]
+    ],
+    [
+     [
+      0.8999046683311462,
+      0.41983792185783386,
+      0.11793074756860733
+     ],
+     [
+      -0.4199986159801483,
+      0.9071884155273438,
+      -0.024704162031412125
+     ],
+     [
+      -0.11735715717077255,
+      -0.02729935571551323,
+      0.9927144646644592
+     ]
+    ],
+    [
+     [
+      0.957709789276123,
+      0.28742170333862305,
+      -0.013442281633615494
+     ],
+     [
+      -0.2657848000526428,
+      0.9015781879425049,
+      0.34134337306022644
+     ],
+     [
+      0.11022874712944031,
+      -0.3233351409435272,
+      0.9398425817489624
+     ]
+    ],
+    [
+     [
+      0.8931701183319092,
+      0.43037810921669006,
+      -0.1304675042629242
+     ],
+     [
+      -0.4179259240627289,
+      0.9014720320701599,
+      0.11263233423233032
+     ],
+     [
+      0.1660872995853424,
+      -0.04607408866286278,
+      0.9850341081619263
+     ]
+    ],
+    [
+     [
+      0.9634725451469421,
+      0.25167927145957947,
+      0.09153249859809875
+     ],
+     [
+      -0.2665916979312897,
+      0.9338668584823608,
+      0.2383727878332138
+     ],
+     [
+      -0.02548569068312645,
+      -0.25406745076179504,
+      0.9668506979942322
+     ]
+    ],
+    [
+     [
+      0.8230498433113098,
+      0.5591564178466797,
+      -0.09966450184583664
+     ],
+     [
+      -0.5466946363449097,
+      0.8275050520896912,
+      0.12790746986865997
+     ],
+     [
+      0.153993159532547,
+      -0.05078817903995514,
+      0.9867657423019409
+     ]
+    ],
+    [
+     [
+      0.9518333077430725,
+      0.11886952817440033,
+      0.282636433839798
+     ],
+     [
+      0.09758670628070831,
+      0.7564153671264648,
+      -0.6467709541320801
+     ],
+     [
+      -0.2906719148159027,
+      0.6431996822357178,
+      0.7083812952041626
+     ]
+    ],
+    [
+     [
+      0.984461784362793,
+      -0.1700047105550766,
+      -0.043970316648483276
+     ],
+     [
+      0.17354397475719452,
+      0.9037486910820007,
+      0.3913065195083618
+     ],
+     [
+      -0.02678583562374115,
+      -0.39285707473754883,
+      0.919209361076355
+     ]
+    ],
+    [
+     [
+      0.8503334522247314,
+      0.4461964964866638,
+      0.279001384973526
+     ],
+     [
+      -0.2628713846206665,
+      0.8194408416748047,
+      -0.509328305721283
+     ],
+     [
+      -0.4558856189250946,
+      0.3597574234008789,
+      0.8140902519226074
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9419101476669312,
+      -0.18749473989009857,
+      0.27865928411483765
+     ],
+     [
+      0.2193170040845871,
+      0.9717215895652771,
+      -0.08750550448894501
+     ],
+     [
+      -0.25437241792678833,
+      0.14353704452514648,
+      0.9563952088356018
+     ]
+    ],
+    [
+     [
+      0.8359005451202393,
+      0.5486255288124084,
+      -0.01674346625804901
+     ],
+     [
+      -0.54365473985672,
+      0.8317556977272034,
+      0.11234742403030396
+     ],
+     [
+      0.07556313276290894,
+      -0.0848086029291153,
+      0.993527889251709
+     ]
+    ],
+    [
+     [
+      0.8677905201911926,
+      0.49412858486175537,
+      -0.052692607045173645
+     ],
+     [
+      -0.4958149790763855,
+      0.8680616021156311,
+      -0.025230832397937775
+     ],
+     [
+      0.03327315300703049,
+      0.0480208620429039,
+      0.9982919692993164
+     ]
+    ],
+    [
+     [
+      0.9793355464935303,
+      0.002079444006085396,
+      0.20223140716552734
+     ],
+     [
+      -0.018347322940826416,
+      0.9967373609542847,
+      0.0786006897687912
+     ],
+     [
+      -0.20140814781188965,
+      -0.08068685233592987,
+      0.9761784672737122
+     ]
+    ],
+    [
+     [
+      0.8340086340904236,
+      0.5271809101104736,
+      0.16281872987747192
+     ],
+     [
+      -0.5477714538574219,
+      0.826500654220581,
+      0.12978103756904602
+     ],
+     [
+      -0.06615171581506729,
+      -0.1974259614944458,
+      0.9780833125114441
+     ]
+    ],
+    [
+     [
+      0.8586617708206177,
+      0.5082754492759705,
+      -0.06600002944469452
+     ],
+     [
+      -0.5123942494392395,
+      0.8543649911880493,
+      -0.08667506277561188
+     ],
+     [
+      0.012333299964666367,
+      0.10824260115623474,
+      0.994047999382019
+     ]
+    ],
+    [
+     [
+      0.8063397407531738,
+      0.5125074982643127,
+      -0.2952156662940979
+     ],
+     [
+      -0.2797090411186218,
+      0.7702263593673706,
+      0.5731616020202637
+     ],
+     [
+      0.5211324691772461,
+      -0.3795884847640991,
+      0.7644171714782715
+     ]
+    ],
+    [
+     [
+      0.8882749676704407,
+      0.45283618569374084,
+      0.07685670256614685
+     ],
+     [
+      -0.44570067524909973,
+      0.8902326822280884,
+      -0.09400373697280884
+     ],
+     [
+      -0.11098864674568176,
+      0.04924607649445534,
+      0.9926007986068726
+     ]
+    ],
+    [
+     [
+      0.9131079316139221,
+      0.40764158964157104,
+      0.007889606058597565
+     ],
+     [
+      -0.38084495067596436,
+      0.8458555936813354,
+      0.37347739934921265
+     ],
+     [
+      0.14557147026062012,
+      -0.34402990341186523,
+      0.9276057481765747
+     ]
+    ],
+    [
+     [
+      0.9377379417419434,
+      0.3351243734359741,
+      -0.0913190245628357
+     ],
+     [
+      -0.3250574469566345,
+      0.9393554329872131,
+      0.10931150615215302
+     ],
+     [
+      0.12241397798061371,
+      -0.07282161712646484,
+      0.9898039102554321
+     ]
+    ],
+    [
+     [
+      0.9545655250549316,
+      0.27837395668029785,
+      0.10636086761951447
+     ],
+     [
+      -0.29610031843185425,
+      0.9262555837631226,
+      0.2331848293542862
+     ],
+     [
+      -0.03360477462410927,
+      -0.25408369302749634,
+      0.9665982723236084
+     ]
+    ],
+    [
+     [
+      0.73394775390625,
+      0.666745126247406,
+      -0.12950505316257477
+     ],
+     [
+      -0.6571456789970398,
+      0.7452821135520935,
+      0.11275684833526611
+     ],
+     [
+      0.17169786989688873,
+      0.002346038818359375,
+      0.9851468801498413
+     ]
+    ],
+    [
+     [
+      0.9634475708007812,
+      0.067384734749794,
+      0.25928378105163574
+     ],
+     [
+      0.09521950781345367,
+      0.818514883518219,
+      -0.5665391683578491
+     ],
+     [
+      -0.2504037022590637,
+      0.5705196857452393,
+      0.7821798324584961
+     ]
+    ],
+    [
+     [
+      0.9866256713867188,
+      -0.14683620631694794,
+      -0.0707734227180481
+     ],
+     [
+      0.16266997158527374,
+      0.9146737456321716,
+      0.37001416087150574
+     ],
+     [
+      0.010403122752904892,
+      -0.3765781819820404,
+      0.9263264536857605
+     ]
+    ],
+    [
+     [
+      0.802740752696991,
+      0.4162183105945587,
+      0.4270474910736084
+     ],
+     [
+      -0.21688303351402283,
+      0.8708611130714417,
+      -0.4410926103591919
+     ],
+     [
+      -0.5554898977279663,
+      0.26146364212036133,
+      0.7893463969230652
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9511096477508545,
+      -0.1397804468870163,
+      0.2754121422767639
+     ],
+     [
+      0.17015878856182098,
+      0.9813377261161804,
+      -0.08956700563430786
+     ],
+     [
+      -0.25775259733200073,
+      0.13205184042453766,
+      0.9571446776390076
+     ]
+    ],
+    [
+     [
+      0.8204647302627563,
+      0.5705699324607849,
+      -0.035883449018001556
+     ],
+     [
+      -0.5658162236213684,
+      0.819403350353241,
+      0.0918160080909729
+     ],
+     [
+      0.08179046958684921,
+      -0.055028364062309265,
+      0.9951292276382446
+     ]
+    ],
+    [
+     [
+      0.8888086676597595,
+      0.4562985301017761,
+      -0.042554210871458054
+     ],
+     [
+      -0.4570463299751282,
+      0.8893938064575195,
+      -0.009344497695565224
+     ],
+     [
+      0.03358357027173042,
+      0.027754714712500572,
+      0.9990504384040833
+     ]
+    ],
+    [
+     [
+      0.982944667339325,
+      0.043744515627622604,
+      0.17862319946289062
+     ],
+     [
+      -0.05660406872630119,
+      0.9961095452308655,
+      0.06754070520401001
+     ],
+     [
+      -0.174973726272583,
+      -0.0764995664358139,
+      0.9815966486930847
+     ]
+    ],
+    [
+     [
+      0.8410242199897766,
+      0.5144750475883484,
+      0.16731318831443787
+     ],
+     [
+      -0.5358690619468689,
+      0.8346940279006958,
+      0.12700483202934265
+     ],
+     [
+      -0.07431451231241226,
+      -0.19647207856178284,
+      0.9776891469955444
+     ]
+    ],
+    [
+     [
+      0.8605709075927734,
+      0.5042784810066223,
+      -0.07156137377023697
+     ],
+     [
+      -0.5090325474739075,
+      0.8563424348831177,
+      -0.08696828037500381
+     ],
+     [
+      0.0174248144030571,
+      0.11126943677663803,
+      0.9936375021934509
+     ]
+    ],
+    [
+     [
+      0.7998090982437134,
+      0.5114034414291382,
+      -0.31428009271621704
+     ],
+     [
+      -0.27059951424598694,
+      0.7745460867881775,
+      0.5717117190361023
+     ],
+     [
+      0.5357997417449951,
+      -0.37221622467041016,
+      0.7578744888305664
+     ]
+    ],
+    [
+     [
+      0.8813952207565308,
+      0.46356967091560364,
+      0.0908052995800972
+     ],
+     [
+      -0.46172651648521423,
+      0.886044979095459,
+      -0.041627757251262665
+     ],
+     [
+      -0.0997549518942833,
+      -0.005236702039837837,
+      0.9949982762336731
+     ]
+    ],
+    [
+     [
+      0.9021568298339844,
+      0.43131229281425476,
+      0.009096965193748474
+     ],
+     [
+      -0.40564867854118347,
+      0.8409227132797241,
+      0.35818731784820557
+     ],
+     [
+      0.14684073626995087,
+      -0.3268313407897949,
+      0.933605432510376
+     ]
+    ],
+    [
+     [
+      0.9251303672790527,
+      0.3610357642173767,
+      -0.11741787195205688
+     ],
+     [
+      -0.34936589002609253,
+      0.9306385517120361,
+      0.10888265818357468
+     ],
+     [
+      0.14858412742614746,
+      -0.0597088560461998,
+      0.9870955348014832
+     ]
+    ],
+    [
+     [
+      0.9515956044197083,
+      0.2896957993507385,
+      0.10267476737499237
+     ],
+     [
+      -0.30620574951171875,
+      0.9224146604537964,
+      0.2353491485118866
+     ],
+     [
+      -0.02652904763817787,
+      -0.2553968131542206,
+      0.9664722681045532
+     ]
+    ],
+    [
+     [
+      0.7448192834854126,
+      0.6541885137557983,
+      -0.1314595341682434
+     ],
+     [
+      -0.6459496021270752,
+      0.7562931180000305,
+      0.10377763211727142
+     ],
+     [
+      0.16731208562850952,
+      0.007620655000209808,
+      0.9858745336532593
+     ]
+    ],
+    [
+     [
+      0.9474766254425049,
+      0.046914566308259964,
+      0.3163653314113617
+     ],
+     [
+      0.13382169604301453,
+      0.8402743339538574,
+      -0.5253863334655762
+     ],
+     [
+      -0.29048195481300354,
+      0.5401278734207153,
+      0.7898620963096619
+     ]
+    ],
+    [
+     [
+      0.9831293821334839,
+      -0.18079103529453278,
+      0.027769749984145164
+     ],
+     [
+      0.15915720164775848,
+      0.920356810092926,
+      0.3572286367416382
+     ],
+     [
+      -0.09014181047677994,
+      -0.34678220748901367,
+      0.9336040616035461
+     ]
+    ],
+    [
+     [
+      0.8289086818695068,
+      0.429696649312973,
+      0.35814976692199707
+     ],
+     [
+      -0.27813050150871277,
+      0.8720972537994385,
+      -0.4026038646697998
+     ],
+     [
+      -0.4853389263153076,
+      0.23410946130752563,
+      0.8424006700515747
+     ]
+    ]
+   ],
+   [
+    [
+     [
+      0.9596480131149292,
+      -0.10714836418628693,
+      0.25999021530151367
+     ],
+     [
+      0.13377907872200012,
+      0.9871897101402283,
+      -0.08694584667682648
+     ],
+     [
+      -0.24734355509281158,
+      0.11821866035461426,
+      0.9616888761520386
+     ]
+    ],
+    [
+     [
+      0.8176652193069458,
+      0.5741269588470459,
+      -0.04244907945394516
+     ],
+     [
+      -0.5694905519485474,
+      0.8174479007720947,
+      0.0863679051399231
+     ],
+     [
+      0.08428604155778885,
+      -0.046445682644844055,
+      0.9953585863113403
+     ]
+    ],
+    [
+     [
+      0.9099448323249817,
+      0.41349565982818604,
+      -0.03196507692337036
+     ],
+     [
+      -0.4139152765274048,
+      0.9102840423583984,
+      -0.007557507138699293
+     ],
+     [
+      0.025972304865717888,
+      0.020107747986912727,
+      0.9994603991508484
+     ]
+    ],
+    [
+     [
+      0.9880638718605042,
+      0.06251756846904755,
+      0.14078837633132935
+     ],
+     [
+      -0.06832277774810791,
+      0.9969850778579712,
+      0.0367799736559391
+     ],
+     [
+      -0.13806450366973877,
+      -0.04596001282334328,
+      0.989356279373169
+     ]
+    ],
+    [
+     [
+      0.8863855004310608,
+      0.43838560581207275,
+      0.1487911343574524
+     ],
+     [
+      -0.4568331241607666,
+      0.8803355693817139,
+      0.12772157788276672
+     ],
+     [
+      -0.07499481737613678,
+      -0.18118327856063843,
+      0.9805857539176941
+     ]
+    ],
+    [
+     [
+      0.8955255746841431,
+      0.4409741759300232,
+      -0.05979686230421066
+     ],
+     [
+      -0.44468480348587036,
+      0.891891598701477,
+      -0.08236978203058243
+     ],
+     [
+      0.017009371891617775,
+      0.10035500675439835,
+      0.9948062896728516
+     ]
+    ],
+    [
+     [
+      0.8132892847061157,
+      0.45945578813552856,
+      -0.35701677203178406
+     ],
+     [
+      -0.25544148683547974,
+      0.8332216739654541,
+      0.4903990626335144
+     ],
+     [
+      0.522790789604187,
+      -0.3076394200325012,
+      0.7950143218040466
+     ]
+    ],
+    [
+     [
+      0.9012575745582581,
+      0.40845048427581787,
+      0.14457862079143524
+     ],
+     [
+      -0.4190993309020996,
+      0.9064697027206421,
+      0.05165650323033333
+     ],
+     [
+      -0.1099570244550705,
+      -0.10714861750602722,
+      0.988144040107727
+     ]
+    ],
+    [
+     [
+      0.9217466115951538,
+      0.3876430094242096,
+      -0.01077636331319809
+     ],
+     [
+      -0.37266668677330017,
+      0.8931367993354797,
+      0.2518455386161804
+     ],
+     [
+      0.10725092887878418,
+      -0.2281217724084854,
+      0.9677074551582336
+     ]
+    ],
+    [
+     [
+      0.932895302772522,
+      0.3339007794857025,
+      -0.13496895134449005
+     ],
+     [
+      -0.32678404450416565,
+      0.9423146843910217,
+      0.07249295711517334
+     ],
+     [
+      0.15138868987560272,
+      -0.023522643372416496,
+      0.9881944060325623
+     ]
+    ],
+    [
+     [
+      0.9707606434822083,
+      0.21935592591762543,
+      0.09750239551067352
+     ],
+     [
+      -0.23591141402721405,
+      0.9468768835067749,
+      0.21856334805488586
+     ],
+     [
+      -0.04437960684299469,
+      -0.23517462611198425,
+      0.9709393978118896
+     ]
+    ],
+    [
+     [
+      0.8100794553756714,
+      0.5755712389945984,
+      -0.11175445467233658
+     ],
+     [
+      -0.5686562657356262,
+      0.8177036046981812,
+      0.08939160406589508
+     ],
+     [
+      0.14283326268196106,
+      -0.008864428848028183,
+      0.9897070527076721
+     ]
+    ],
+    [
+     [
+      0.94058758020401,
+      0.029863961040973663,
+      0.33823534846305847
+     ],
+     [
+      0.15506166219711304,
+      0.848412275314331,
+      -0.5061151385307312
+     ],
+     [
+      -0.30207762122154236,
+      0.5284929871559143,
+      0.7933752536773682
+     ]
+    ],
+    [
+     [
+      0.9745109677314758,
+      -0.18220695853233337,
+      0.13087765872478485
+     ],
+     [
+      0.12706148624420166,
+      0.9290817379951477,
+      0.3473651111125946
+     ],
+     [
+      -0.18488837778568268,
+      -0.32188162207603455,
+      0.9285518527030945
+     ]
+    ],
+    [
+     [
+      0.8575119972229004,
+      0.4349341094493866,
+      0.27478253841400146
+     ],
+     [
+      -0.3109982907772064,
+      0.8637142181396484,
+      -0.3965827226638794
+     ],
+     [
+      -0.40982091426849365,
+      0.2546175718307495,
+      0.8759090900421143
+     ]
+    ]
+   ]
+  ]
+ ],
+ "init_trans": [
+  [
+   [
+    0.3196352422237396,
+    0.07823218405246735,
+    0.3293265402317047
+   ],
+   [
+    0.29665419459342957,
+    0.1775490939617157,
+    0.3726566433906555
+   ],
+   [
+    0.23613527417182922,
+    0.22131749987602234,
+    0.2801802158355713
+   ],
+   [
+    0.17269179224967957,
+    0.26478055119514465,
+    0.2943778932094574
+   ]
+  ]
+ ],
+ "init_betas": [
+  [
+   [
+    -2.1867458820343018,
+    -0.16338053345680237,
+    -2.627551555633545,
+    -1.3562507629394531,
+    -0.5571337938308716,
+    -2.264155149459839,
+    -1.63703191280365,
+    0.5920747518539429,
+    0.5114985704421997,
+    1.3319871425628662
+   ],
+   [
+    -2.6156818866729736,
+    -0.5133225917816162,
+    -3.6013972759246826,
+    -2.005295515060425,
+    -0.34318292140960693,
+    -3.592477560043335,
+    -1.7420047521591187,
+    0.5485904216766357,
+    0.5014479160308838,
+    1.259200096130371
+   ],
+   [
+    -2.783508062362671,
+    -0.6340436935424805,
+    -4.0526041984558105,
+    -2.1293365955352783,
+    -0.26878076791763306,
+    -4.003717422485352,
+    -1.9603322744369507,
+    0.5841591358184814,
+    0.6447265148162842,
+    1.3711087703704834
+   ],
+   [
+    -2.5477020740509033,
+    -0.6629201173782349,
+    -3.6791024208068848,
+    -1.8522732257843018,
+    -0.23046672344207764,
+    -3.739957094192505,
+    -1.69301438331604,
+    0.5956217050552368,
+    0.5713138580322266,
+    1.2493128776550293
+   ]
+  ]
+ ]
+}

test/add_remove_lid/11.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7a02aab5fbc3dad69c5ff58335901b1bc94e2c8df358242bb82f13883cc35b9
+size 1197536

test/add_remove_lid/11.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339023f2939979c95634a9583565e766566b0843db7d6f2343d4d8328154b4e9
+size 4592855

test/add_remove_lid/12.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba812f0d239a9f498e68daf64f23589555442fd1501a1acf2f5939d96c59c9c
+size 494336

test/add_remove_lid/12.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b969d8bd4c4c76c561b0bf49692b2ed9866146902db1bdd07a5d27b2719e3bd
+size 1536104

test/add_remove_lid/13.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cf2f613e4ad747bc164cda98cf32ebf3dfe860638eec8d3a909b2628f82a88
+size 1974760

test/add_remove_lid/13.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d1f901a54dbe32921586ea50dfebe234cd85ef302f3d2e6d3f1fbd47d08eb5
+size 9857718

test/add_remove_lid/14.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b86ca4db5bd7924508e3879fd6cbc6f8c9d6af09ae3635495153af41ddf061a
+size 1609968

test/add_remove_lid/14.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f576e1712bb1c3183dfc99bd09905c02d9d9153e77eee478d6372b02aa16a7
+size 6237977

test/add_remove_lid/15.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf993aca31c2930be3670ea5ea58b7827a053af6f75acf6b8e0c5259882cc1f
+size 480160

test/add_remove_lid/15.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9b8ad17ead8b0929383aff24ce274d87dccf7a7116b916966120e6fc51ebb9
+size 1505353

test/add_remove_lid/16.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd838438cddcd78f2f93e17ff9f03ce2dc02722bd2fada3876790cefb8bc70a6
+size 513088

test/add_remove_lid/16.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d91ccc9dae8a557f3a6f928834f517cf24cae8c2285b9d35479777f22e07957
+size 1564744

test/add_remove_lid/17.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d8597a3cf6306377b0aeed20c23af6fe1c5dc44020aa946e5c28f8493669b2
+size 1205928

test/add_remove_lid/17.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:107a76888730d77a4711626f6469b8eac88ae54a639b21f5a8d8e4a3bc158119
+size 6524871

test/add_remove_lid/18.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f4b9a7a23db9d3a958cfa8f982431063d4cd6294392ce07b179f0f4f659b14
+size 1173112

test/add_remove_lid/18.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc5a3b8c8627f578e659181fea0bc6c47fb56e72386a6c82d39392c06a200ef
+size 6362340

test/add_remove_lid/19.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b0d30824d1514ee551b5b548650fbe2cd8c675616e979c9ee8f35b1f8227a1
+size 2303904

test/add_remove_lid/19.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580009202c85fb588528e8181b1f6690e937b1082a09612c68c01bc18ffcc654
+size 9206208

test/add_remove_lid/2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f95aa1012349a236ca8bd3e2b36a5d9959d0d3f13f0c9990d7a269c517feb281
+size 2101336

test/add_remove_lid/2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5292bab8fecbaedd6d26c23105f4151a466cc069673758898ae5a1df6a1e5792
+size 11931138

test/add_remove_lid/20.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdbeddbeb25a75f31125ec69120dcd371c57081a747e6ec0af7a712b794daea2
+size 1084040

test/add_remove_lid/20.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d3dd1ef88081c6f298d55cd4868dde21b975766f38b3ebfa504dd9c4fdba73
+size 5784579

test/add_remove_lid/21.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67649f276fe8b3de0f34a1fc20371df97cb0e0d4637c12ed86b8ba40ecc4939
+size 2120088

test/add_remove_lid/21.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f407149a2a3ef02f28d05c2800ae4b9026cc0acfa6180eca07ae99fcc4fd0f
+size 10355775

test/add_remove_lid/22.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005aea593cb66e12bd9a4d600d1a3d5c3acccd5883131c383ba02633ba366a15
+size 2360048

test/add_remove_lid/22.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2622feaacd0f49b5a9ff6db3537d99c8361b5aa639683643612fd2546cb001
+size 9495741

test/add_remove_lid/23.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10deed9b50dbb1c6b0fb9c2649fb756f658244b6ff786c145a14cacf9870b1d
+size 1764784

test/add_remove_lid/23.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f6218d727e4c2e474301aaeb0e8021878ea75e27bea88b665ea962e35b409f
+size 6941380

test/add_remove_lid/24.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64335c01af2b4d0a0be43ac93005636ab28d365d481dc9f6fe56da32b0287927
+size 1698168

test/add_remove_lid/24.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edacb1494e7fcfd42e2c317190510cf2c56fd1fc96fbbe8203f49a7c51f4b400
+size 8643038