VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230
VERTEX_SE3:QUAT 2 1.993500 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446
VERTEX_SE3:QUAT 3 2.004291 1.024305 0.018047 0.331798 -0.200659 0.919323 0.067024
VERTEX_SE3:QUAT 4 0.999908 1.055073 0.020212 -0.035697 -0.462490 0.445933 0.765488
EDGE_SE3:QUAT 0 1   1.001367 0.015390 0.004948   0.190253 0.283162 -0.392318 0.854230   10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000   10000.000000 0.000000   10000.000000
EDGE_SE3:QUAT 1 2   0.523923 0.776654 0.326659   0.311512 0.656877 -0.678505 0.105373   10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000   10000.000000 0.000000   10000.000000
EDGE_SE3:QUAT 2 3   0.910927 0.055169 -0.411761   0.595795 -0.561677 0.079353 0.568551   10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000   10000.000000 0.000000   10000.000000
EDGE_SE3:QUAT 3 4   0.775288 0.228798 -0.596923   -0.592077 0.303380 -0.513226 0.542221   10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000 0.000000   10000.000000 0.000000 0.000000   10000.000000 0.000000   10000.000000