big_rope_pcloud.py

import numpy as np

big_new_cloud = np.array([[  7.51731634e-01,   2.46752277e-02,   7.88958251e-01],
       [  7.51731634e-01,   2.46752277e-02,   7.88958251e-01],
       [  7.91830480e-01,   2.43002847e-02,   7.45603144e-01],
       [  7.48640478e-01,   2.46850830e-02,   7.89714575e-01],
       [  7.48640478e-01,   2.46850830e-02,   7.89714575e-01],
       [  7.45814443e-01,   2.46926527e-02,   7.90210903e-01],
       [  7.45814443e-01,   2.46926527e-02,   7.90210903e-01],
       [  7.45814443e-01,   2.46926527e-02,   7.90210903e-01],
       [  7.43336439e-01,   2.46971790e-02,   7.90359139e-01],
       [  7.43336439e-01,   2.46971790e-02,   7.90359139e-01],
       [  7.40927756e-01,   2.47011371e-02,   7.90443242e-01],
       [  7.40927756e-01,   2.47011371e-02,   7.90443242e-01],
       [  7.38582492e-01,   2.47045737e-02,   7.90468633e-01],
       [  7.38582492e-01,   2.47045737e-02,   7.90468633e-01],
       [  7.36257076e-01,   2.47078761e-02,   7.90479839e-01],
       [  7.36257076e-01,   2.47078761e-02,   7.90479839e-01],
       [  7.33855665e-01,   2.47119199e-02,   7.90576875e-01],
       [  7.33855665e-01,   2.47119199e-02,   7.90576875e-01],
       [  7.31853366e-01,   2.47123819e-02,   7.90262878e-01],
       [  7.31853366e-01,   2.47123819e-02,   7.90262878e-01],
       [  7.30024099e-01,   2.47112904e-02,   7.89771020e-01],
       [  7.30024099e-01,   2.47112904e-02,   7.89771020e-01],
       [  7.28772044e-01,   2.47049388e-02,   7.88672864e-01],
       [  7.27860332e-01,   2.47132871e-02,   7.89634824e-01],
       [  7.27860332e-01,   2.47132871e-02,   7.89634824e-01],
       [  7.25690722e-01,   2.47153770e-02,   7.89510369e-01],
       [  7.25690722e-01,   2.47153770e-02,   7.89510369e-01],
       [  7.24909008e-01,   2.47047134e-02,   7.87916064e-01],
       [  7.24909008e-01,   2.47047134e-02,   7.87916064e-01],
       [  7.42699325e-01,   2.45223455e-02,   7.66506195e-01],
       [  7.42699325e-01,   2.45223455e-02,   7.66506195e-01],
       [  7.21528471e-01,   2.47001238e-02,   7.86657035e-01],
       [  7.21528471e-01,   2.47001238e-02,   7.86657035e-01],
       [  7.69416869e-01,   2.28956770e-02,   7.87917316e-01],
       [  7.69416869e-01,   2.28956770e-02,   7.87917316e-01],
       [  7.65672266e-01,   2.29165815e-02,   7.89257824e-01],
       [  7.65672266e-01,   2.29165815e-02,   7.89257824e-01],
       [  7.65672266e-01,   2.29165815e-02,   7.89257824e-01],
       [  7.61689663e-01,   2.29403321e-02,   7.90852249e-01],
       [  7.61689663e-01,   2.29403321e-02,   7.90852249e-01],
       [  7.58882463e-01,   2.29508560e-02,   7.91285455e-01],
       [  7.58882463e-01,   2.29508560e-02,   7.91285455e-01],
       [  7.56165683e-01,   2.29604300e-02,   7.91637123e-01],
       [  7.56165683e-01,   2.29604300e-02,   7.91637123e-01],
       [  7.53688216e-01,   2.29673441e-02,   7.91755736e-01],
       [  7.53688216e-01,   2.29673441e-02,   7.91755736e-01],
       [  7.50577927e-01,   2.29815952e-02,   7.92523384e-01],
       [  7.50577927e-01,   2.29815952e-02,   7.92523384e-01],
       [  7.48299539e-01,   2.29863655e-02,   7.92456329e-01],
       [  7.48299539e-01,   2.29863655e-02,   7.92456329e-01],
       [  7.45752990e-01,   2.29942873e-02,   7.92668939e-01],
       [  7.45654106e-01,   2.29954310e-02,   7.92769849e-01],
       [  7.45654106e-01,   2.29954310e-02,   7.92769849e-01],
       [  7.43272007e-01,   2.30015200e-02,   7.92822123e-01],
       [  7.43272007e-01,   2.30015200e-02,   7.92822123e-01],
       [  7.43272007e-01,   2.30015200e-02,   7.92822123e-01],
       [  7.40887225e-01,   2.30077039e-02,   7.92883992e-01],
       [  7.40887225e-01,   2.30077039e-02,   7.92883992e-01],
       [  7.38550067e-01,   2.30133906e-02,   7.92903364e-01],
       [  7.38550067e-01,   2.30133906e-02,   7.92903364e-01],
       [  7.36331582e-01,   2.30177529e-02,   7.92806268e-01],
       [  7.36331582e-01,   2.30177529e-02,   7.92806268e-01],
       [  7.34139621e-01,   2.30218507e-02,   7.92687178e-01],
       [  7.34139621e-01,   2.30218507e-02,   7.92687178e-01],
       [  7.31832147e-01,   2.30273567e-02,   7.92694151e-01],
       [  7.31832147e-01,   2.30273567e-02,   7.92694151e-01],
       [  7.29643106e-01,   2.30315235e-02,   7.92583346e-01],
       [  7.29643106e-01,   2.30315235e-02,   7.92583346e-01],
       [  7.31938124e-01,   2.29827203e-02,   7.87764251e-01],
       [  7.27428317e-01,   2.30360460e-02,   7.92505205e-01],
       [  7.27428317e-01,   2.30360460e-02,   7.92505205e-01],
       [  7.25004911e-01,   2.30430942e-02,   7.92652965e-01],
       [  7.25004911e-01,   2.30430942e-02,   7.92652965e-01],
       [  7.25004911e-01,   2.30430942e-02,   7.92652965e-01],
       [  7.22974896e-01,   2.30455305e-02,   7.92391598e-01],
       [  7.22974896e-01,   2.30455305e-02,   7.92391598e-01],
       [  7.20910728e-01,   2.30484121e-02,   7.92170703e-01],
       [  7.20910728e-01,   2.30484121e-02,   7.92170703e-01],
       [  7.19004095e-01,   2.30494495e-02,   7.91786671e-01],
       [  7.19004095e-01,   2.30494495e-02,   7.91786671e-01],
       [  7.17105150e-01,   2.30504312e-02,   7.91397929e-01],
       [  7.17105150e-01,   2.30504312e-02,   7.91397929e-01],
       [  7.15203762e-01,   2.30514724e-02,   7.91015208e-01],
       [  7.15203762e-01,   2.30514724e-02,   7.91015208e-01],
       [  7.13231087e-01,   2.30534021e-02,   7.90712893e-01],
       [  7.13231087e-01,   2.30534021e-02,   7.90712893e-01],
       [  7.11511970e-01,   2.30523031e-02,   7.90140331e-01],
       [  7.11511970e-01,   2.30523031e-02,   7.90140331e-01],
       [  7.10019588e-01,   2.30484717e-02,   7.89323509e-01],
       [  7.10019588e-01,   2.30484717e-02,   7.89323509e-01],
       [  7.08512187e-01,   2.30448246e-02,   7.88523376e-01],
       [  7.08512187e-01,   2.30448246e-02,   7.88523376e-01],
       [  7.08055317e-01,   2.30283495e-02,   7.86574185e-01],
       [  7.16398358e-01,   2.29040217e-02,   7.74951875e-01],
       [  7.16398358e-01,   2.29040217e-02,   7.74951875e-01],
       [  7.75081098e-01,   2.11458914e-02,   7.89464474e-01],
       [  7.75081098e-01,   2.11458914e-02,   7.89464474e-01],
       [  7.70977736e-01,   2.11772956e-02,   7.91130543e-01],
       [  7.70977736e-01,   2.11772956e-02,   7.91130543e-01],
       [  7.71459103e-01,   2.11453717e-02,   7.88281322e-01],
       [  7.67679989e-01,   2.11977344e-02,   7.92018473e-01],
       [  7.67679989e-01,   2.11977344e-02,   7.92018473e-01],
       [  7.64907420e-01,   2.12110132e-02,   7.92397797e-01],
       [  7.64564693e-01,   2.12157741e-02,   7.92737901e-01],
       [  7.64564693e-01,   2.12157741e-02,   7.92737901e-01],
       [  7.62114465e-01,   2.12246701e-02,   7.92806506e-01],
       [  7.62114465e-01,   2.12246701e-02,   7.92806506e-01],
       [  7.62114465e-01,   2.12246701e-02,   7.92806506e-01],
       [  7.59402514e-01,   2.12372970e-02,   7.93143570e-01],
       [  7.59402514e-01,   2.12372970e-02,   7.93143570e-01],
       [  7.56826818e-01,   2.12481059e-02,   7.93352723e-01],
       [  7.56826818e-01,   2.12481059e-02,   7.93352723e-01],
       [  7.54451692e-01,   2.12561823e-02,   7.93367803e-01],
       [  7.54451692e-01,   2.12561823e-02,   7.93367803e-01],
       [  7.52084315e-01,   2.12642159e-02,   7.93381453e-01],
       [  7.52084315e-01,   2.12642159e-02,   7.93381453e-01],
       [  7.49707758e-01,   2.12724525e-02,   7.93410957e-01],
       [  7.49707758e-01,   2.12724525e-02,   7.93410957e-01],
       [  7.48050749e-01,   2.12705676e-02,   7.92714775e-01],
       [  7.47298717e-01,   2.12812163e-02,   7.93479979e-01],
       [  7.47298717e-01,   2.12812163e-02,   7.93479979e-01],
       [  7.44851232e-01,   2.12905984e-02,   7.93595076e-01],
       [  7.44760513e-01,   2.12918874e-02,   7.93687701e-01],
       [  7.44760513e-01,   2.12918874e-02,   7.93687701e-01],
       [  7.42542446e-01,   2.12980807e-02,   7.93575227e-01],
       [  7.42542446e-01,   2.12980807e-02,   7.93575227e-01],
       [  7.42542446e-01,   2.12980807e-02,   7.93575227e-01],
       [  7.40251005e-01,   2.13053860e-02,   7.93543756e-01],
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       [  7.53208518e-01,  -3.29973519e-01,   7.93309033e-01],
       [  7.51004219e-01,  -3.29579115e-01,   7.93162286e-01],
       [  7.51004219e-01,  -3.29579115e-01,   7.93162286e-01],
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       [  8.01377714e-01,  -3.42218161e-01,   7.91129231e-01],
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       [  7.90349007e-01,  -3.39601845e-01,   7.92225957e-01],
       [  7.87833393e-01,  -3.39069813e-01,   7.92289078e-01],
       [  7.87833393e-01,  -3.39069813e-01,   7.92289078e-01],
       [  7.85347819e-01,  -3.38551372e-01,   7.92330265e-01],
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       [  7.66285419e-01,  -3.34768742e-01,   7.92088687e-01],
       [  7.63964593e-01,  -3.34320158e-01,   7.92024791e-01],
       [  7.63964593e-01,  -3.34320158e-01,   7.92024791e-01],
       [  7.61644781e-01,  -3.33870053e-01,   7.91965842e-01],
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       [  7.53647685e-01,  -3.35251182e-01,   7.83286929e-01]])


big_old_cloud = np.array([[ 0.61581141,  0.05846408,  0.77604735],
       [ 0.62165904,  0.05852952,  0.77926564],
       [ 0.3750799 ,  0.06241098,  0.77865905],
       [ 0.3822329 ,  0.06247845,  0.77827108],
       [ 0.40581703,  0.06378204,  0.77904809],
       [ 0.44923961,  0.06466259,  0.77781767],
       [ 0.45154774,  0.06468841,  0.77908802],
       [ 0.46497303,  0.06494628,  0.77962351],
       [ 0.47689697,  0.06590254,  0.7790882 ],
       [ 0.48366421,  0.06564076,  0.77791065],
       [ 0.49780768,  0.06440308,  0.7794463 ],
       [ 0.50251901,  0.06390527,  0.77862632],
       [ 0.51807666,  0.06479105,  0.77956051],
       [ 0.52421999,  0.06544996,  0.77883667],
       [ 0.53892493,  0.06275318,  0.7792874 ],
       [ 0.5463171 ,  0.06326356,  0.77855051],
       [ 0.55396855,  0.06302138,  0.77957195],
       [ 0.56751335,  0.06234598,  0.77876717],
       [ 0.57066691,  0.06425273,  0.77960402],
       [ 0.60612595,  0.06081953,  0.77865362],
       [ 0.61240333,  0.06029027,  0.77869672],
       [ 0.62249625,  0.06044557,  0.77968329],
       [ 0.37994006,  0.07685871,  0.77706361],
       [ 0.38538313,  0.07695225,  0.77891672],
       [ 0.43255317,  0.07819802,  0.77974141],
       [ 0.47589615,  0.07936835,  0.77960241],
       [ 0.50832343,  0.0784785 ,  0.77806687],
       [ 0.51731837,  0.07685853,  0.7796309 ],
       [ 0.52709776,  0.07711276,  0.77930081],
       [ 0.53893924,  0.07741903,  0.77896321],
       [ 0.54555142,  0.07721215,  0.77918327],
       [ 0.56904817,  0.07632958,  0.77843928],
       [ 0.57107943,  0.07451868,  0.77845693],
       [ 0.58910543,  0.07492084,  0.77923882],
       [ 0.59676719,  0.07464828,  0.77832556],
       [ 0.6051535 ,  0.07341072,  0.77897489],
       [ 0.44863111, -0.2307986 ,  0.78246021],
       [ 0.48681509, -0.23008494,  0.7834872 ],
       [ 0.55616641, -0.23001279,  0.78170848],
       [ 0.78205591, -0.23520713,  0.7897405 ],
       [ 0.35488552, -0.22762112,  0.78881204],
       [ 0.36626291, -0.22745851,  0.7874608 ],
       [ 0.37562788, -0.22700988,  0.78727871],
       [ 0.38345909, -0.22637033,  0.78815091],
       [ 0.39186054, -0.2268874 ,  0.78898257],
       [ 0.40576127, -0.22466765,  0.78863847],
       [ 0.41408274, -0.22545052,  0.78855002],
       [ 0.42353508, -0.22559221,  0.78873378],
       [ 0.43646461, -0.2258106 ,  0.78790051],
       [ 0.44614735, -0.22545528,  0.78696603],
       [ 0.45397353, -0.2262978 ,  0.78683692],
       [ 0.46584904, -0.22775927,  0.78744727],
       [ 0.4742704 , -0.22662725,  0.78833479],
       [ 0.48518869, -0.22589095,  0.7864216 ],
       [ 0.49425563, -0.22410898,  0.78795618],
       [ 0.50560707, -0.22681761,  0.78725207],
       [ 0.51596975, -0.2252702 ,  0.78782284],
       [ 0.52522212, -0.22482137,  0.78602707],
       [ 0.53534508, -0.22462811,  0.78787172],
       [ 0.546709  , -0.22436564,  0.78879017],
       [ 0.55526173, -0.22459278,  0.78647023],
       [ 0.56518728, -0.22427674,  0.7868433 ],
       [ 0.57422632, -0.22576582,  0.78841633],
       [ 0.58621991, -0.22513507,  0.78855473],
       [ 0.59498769, -0.22704487,  0.78863001],
       [ 0.60588449, -0.22619696,  0.7893014 ],
       [ 0.61473918, -0.22518539,  0.78831536],
       [ 0.62520784, -0.22643715,  0.78786254],
       [ 0.63842285, -0.22606465,  0.78923118],
       [ 0.64461392, -0.22505596,  0.78976268],
       [ 0.65288091, -0.22646795,  0.78920853],
       [ 0.3487899 , -0.21441627,  0.78934324],
       [ 0.35600016, -0.21427475,  0.78694862],
       [ 0.36441851, -0.21426569,  0.78858244],
       [ 0.3766757 , -0.21473101,  0.78483742],
       [ 0.38395631, -0.21461546,  0.78701675],
       [ 0.39493692, -0.21419889,  0.78661031],
       [ 0.40475664, -0.21579798,  0.78645217],
       [ 0.41416866, -0.21508661,  0.78750628],
       [ 0.42532128, -0.21531717,  0.78721064],
       [ 0.43569237, -0.21576186,  0.78584248],
       [ 0.44515452, -0.21617429,  0.78586036],
       [ 0.45459872, -0.21439408,  0.78674477],
       [ 0.46624625, -0.21476555,  0.78755963],
       [ 0.47487414, -0.21503657,  0.78670514],
       [ 0.48522621, -0.21580057,  0.78623748],
       [ 0.49483979, -0.21585329,  0.78730774],
       [ 0.50540912, -0.21409017,  0.78715461],
       [ 0.51451141, -0.21583621,  0.78813845],
       [ 0.52468944, -0.21614474,  0.78585207],
       [ 0.53474027, -0.21655333,  0.78488851],
       [ 0.54464746, -0.21622521,  0.78604352],
       [ 0.55553406, -0.21663108,  0.78522736],
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       [ 0.59483665, -0.21388587,  0.7869767 ],
       [ 0.60515678, -0.21273592,  0.78812021],
       [ 0.61489689, -0.21308878,  0.78882891],
       [ 0.62498581, -0.21197976,  0.78689647],
       [ 0.63367128, -0.21190493,  0.78662056],
       [ 0.6448428 , -0.21126732,  0.78884256],
       [ 0.66807437, -0.21066539,  0.78922385],
       [ 0.67454165, -0.21092844,  0.78822362],
       [ 0.76750219, -0.21732876,  0.78931475],
       [ 0.77449411, -0.21797921,  0.78975397],
       [ 0.78207189, -0.21886602,  0.7893793 ],
       [ 0.66324735, -0.20997968,  0.78997594],
       [ 0.99415958, -0.10232511,  0.78819728],
       [ 0.98870111, -0.09477562,  0.78844619],
       [ 0.9954772 , -0.09495983,  0.78501922],
       [ 0.98870647, -0.08921897,  0.78832334],
       [ 0.99368572, -0.08728908,  0.78759587],
       [ 0.97749799, -0.03099415,  0.78996772],
       [ 0.98344219, -0.03342384,  0.78872848],
       [ 0.97750342, -0.02547425,  0.78984571],
       [ 0.98215455, -0.0267924 ,  0.78786939],
       [ 0.97702831, -0.01664782,  0.78938425],
       [ 0.94959593,  0.01765587,  0.78834623],
       [ 0.86580592,  0.02846397,  0.78763747],
       [ 0.81480312,  0.03830961,  0.78696322],
       [ 0.82183862,  0.03775409,  0.78947943],
       [ 0.8344633 ,  0.03574179,  0.78962553],
       [ 0.84488475,  0.0331602 ,  0.78857142],
       [ 0.85610557,  0.03196597,  0.78830665],
       [ 0.86427563,  0.03321262,  0.78782916],
       [ 0.90185374,  0.03495709,  0.78907013],
       [ 0.74463713,  0.04834764,  0.78783607],
       [ 0.75518024,  0.04759356,  0.78860182],
       [ 0.76661372,  0.04587755,  0.78895533],
       [ 0.77547187,  0.04681265,  0.7878257 ],
       [ 0.78411782,  0.0437925 ,  0.78716815],
       [ 0.79515654,  0.04211574,  0.78594404],
       [ 0.80520093,  0.0440255 ,  0.78816921],
       [ 0.81285548,  0.04078492,  0.78789002],
       [ 0.82873791,  0.04919806,  0.78845197],
       [ 0.8326512 ,  0.04923731,  0.78832221],
       [ 0.84627128,  0.04624056,  0.78903866],
       [ 0.85968602,  0.04214905,  0.7885251 ],
       [ 0.86558259,  0.0419831 ,  0.78903526],
       [ 0.87754494,  0.04122036,  0.78924507],
       [ 0.3261559 ,  0.05860076,  0.78211659],
       [ 0.33542618,  0.05901529,  0.78424293],
       [ 0.34182125,  0.05914248,  0.78330821],
       [ 0.59238082,  0.05993912,  0.78138149],
       [ 0.62667131,  0.05858561,  0.7820242 ],
       [ 0.63471788,  0.05870191,  0.78302675],
       [ 0.6455434 ,  0.05832233,  0.7826345 ],
       [ 0.65501082,  0.05761589,  0.78590608],
       [ 0.6644001 ,  0.05719298,  0.78730118],
       [ 0.67407781,  0.05719011,  0.78620076],
       [ 0.68346149,  0.05717247,  0.78688866],
       [ 0.69531459,  0.05543813,  0.7880637 ],
       [ 0.70480663,  0.05658004,  0.78722233],
       [ 0.7141248 ,  0.05551134,  0.78832662],
       [ 0.72520858,  0.05432018,  0.78905553],
       [ 0.73393673,  0.05321946,  0.78868479],
       [ 0.74158496,  0.0556415 ,  0.78941578],
       [ 0.7641241 ,  0.05863437,  0.788818  ],
       [ 0.77466881,  0.05675857,  0.78933817],
       [ 0.80664849,  0.05171644,  0.78879201],
       [ 0.31909999,  0.06518396,  0.78721684],
       [ 0.32513806,  0.06439206,  0.78697973],
       [ 0.33467975,  0.06469993,  0.78730613],
       [ 0.34451893,  0.06493465,  0.78583598],
       [ 0.35497552,  0.0653392 ,  0.78473037],
       [ 0.36499238,  0.06535918,  0.78603011],
       [ 0.37500024,  0.06738398,  0.78526926],
       [ 0.38491115,  0.06661513,  0.78283972],
       [ 0.39510551,  0.06575737,  0.7837199 ],
       [ 0.40520516,  0.06646392,  0.78493023],
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       [ 0.43463743,  0.06744298,  0.78521889],
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       [ 0.74466372, -0.218457  ,  0.80074281],
       [ 0.7534017 , -0.2190032 ,  0.80077088],
       [ 0.78706485, -0.21913961,  0.80012721],
       [ 0.9293381 , -0.21802962,  0.80079746],
       [ 0.93483752, -0.21486209,  0.8042106 ],
       [ 0.94336206, -0.21450832,  0.80478573],
       [ 0.93753064, -0.20680551,  0.80505413],
       [ 0.94515985, -0.20464064,  0.80435324],
       [ 0.95436192, -0.20419578,  0.80056107],
       [ 0.94789356, -0.19797604,  0.80142581],
       [ 0.9552179 , -0.19572122,  0.8008405 ],
       [ 0.96278793, -0.19186589,  0.80035418],
       [ 0.95642436, -0.1848933 ,  0.80125946],
       [ 0.9635129 , -0.18448658,  0.80058616],
       [ 0.95724952, -0.17695461,  0.80153418],
       [ 0.96490765, -0.17496827,  0.80189991],
       [ 0.97125494, -0.17725597,  0.80011815],
       [ 0.96677828, -0.16530056,  0.80194974],
       [ 0.97318792, -0.16408591,  0.80088437],
       [ 0.96651483, -0.15500724,  0.80157161],
       [ 0.97183692, -0.15607575,  0.80224264],
       [ 0.96570241, -0.14706013,  0.80094433],
       [ 0.97322649, -0.12464022,  0.80001235],
       [ 0.97711724, -0.0730987 ,  0.8009876 ],
       [ 0.96865416, -0.06403297,  0.80068958],
       [ 0.97421062, -0.06479886,  0.80122906],
       [ 0.96866053, -0.05748073,  0.80054474],
       [ 0.97385216, -0.05870289,  0.80114746]])

old_cloud = np.array([[ 0.32291882,  0.06364059,  0.78707085],
       [ 0.34342601,  0.06672847,  0.785554  ],
       [ 0.36411782,  0.06835363,  0.78560613],
       [ 0.38487279,  0.06947846,  0.78619493],
       [ 0.40562959,  0.0703683 ,  0.78642346],
       [ 0.42639325,  0.0703795 ,  0.78530498],
       [ 0.44715691,  0.07039071,  0.7841865 ],
       [ 0.46792056,  0.07040192,  0.78306801],
       [ 0.48869191,  0.07013364,  0.78320519],
       [ 0.50946717,  0.06972334,  0.78398039],
       [ 0.53024243,  0.06931305,  0.78475559],
       [ 0.55101769,  0.06890275,  0.7855308 ],
       [ 0.57177224,  0.06801766,  0.7862169 ],
       [ 0.59249357,  0.06637083,  0.78676004],
       [ 0.6132149 ,  0.064724  ,  0.78730318],
       [ 0.63393623,  0.06307717,  0.78784632],
       [ 0.65465756,  0.06143034,  0.78838946],
       [ 0.67537889,  0.0597835 ,  0.7889326 ],
       [ 0.69610022,  0.05813667,  0.78947574],
       [ 0.71682155,  0.05648984,  0.79001888],
       [ 0.73754288,  0.05484301,  0.79056202],
       [ 0.75809855,  0.0519569 ,  0.7914403 ],
       [ 0.77858062,  0.04852027,  0.79246745],
       [ 0.79906268,  0.04508364,  0.79349461],
       [ 0.81954475,  0.04164701,  0.79452176],
       [ 0.84002682,  0.03821038,  0.79554892],
       [ 0.86050889,  0.03477375,  0.79657607],
       [ 0.88099096,  0.03133712,  0.79760323],
       [ 0.90105144,  0.02601846,  0.79695989],
       [ 0.92103063,  0.02033684,  0.7959944 ],
       [ 0.93928612,  0.01106386,  0.79629535],
       [ 0.95271629, -0.00398229,  0.79763194],
       [ 0.96180224, -0.02258541,  0.79754819],
       [ 0.97013832, -0.04150252,  0.79530465],
       [ 0.97775085, -0.06076927,  0.79460678],
       [ 0.98471127, -0.08035115,  0.79530196],
       [ 0.98238417, -0.10084815,  0.79596748],
       [ 0.97937512, -0.12141235,  0.79663082],
       [ 0.97636607, -0.14197654,  0.79729416],
       [ 0.96806993, -0.16083095,  0.79890602],
       [ 0.95886401, -0.17939114,  0.80068109],
       [ 0.94897572, -0.19715942,  0.8047365 ],
       [ 0.93818964, -0.21405107,  0.80558107],
       [ 0.92307112, -0.22609489,  0.80181935],
       [ 0.90333465, -0.23263275,  0.80148939],
       [ 0.88293621, -0.23579307,  0.80143464],
       [ 0.86218831, -0.23717032,  0.80152519],
       [ 0.84293245, -0.23351979,  0.80099372],
       [ 0.82310726, -0.22922049,  0.80014821],
       [ 0.80243319, -0.22708681,  0.79950736],
       [ 0.78175912, -0.22495313,  0.7988665 ],
       [ 0.76102507, -0.22361655,  0.79820094],
       [ 0.74026753, -0.22259234,  0.79752569],
       [ 0.71951369, -0.22133445,  0.79764646],
       [ 0.69876019, -0.22005551,  0.7978389 ],
       [ 0.67800669, -0.21877657,  0.79803133],
       [ 0.65724404, -0.21795073,  0.79801209],
       [ 0.63645907, -0.21823075,  0.79747619],
       [ 0.61567409, -0.21851076,  0.7969403 ],
       [ 0.59488912, -0.21879078,  0.79640441],
       [ 0.57410415, -0.21907079,  0.79586851],
       [ 0.55331918, -0.21935081,  0.79533262],
       [ 0.53253421, -0.21963082,  0.79479673],
       [ 0.51174924, -0.21991083,  0.79426083],
       [ 0.49096427, -0.22019085,  0.79372494],
       [ 0.4701793 , -0.22047086,  0.79318905],
       [ 0.44939433, -0.22075088,  0.79265315],
       [ 0.42860936, -0.22103089,  0.79211726],
       [ 0.40782438, -0.22131091,  0.79158137],
       [ 0.38703941, -0.22159092,  0.79104547],
       [ 0.36625444, -0.22187093,  0.79050958],
       [ 0.34546947, -0.22215095,  0.78997369]])


new_cloud = np.array([[  4.05161828e-01,  -4.16494124e-02,   7.88700044e-01],
       [  4.24791187e-01,  -3.60166989e-02,   7.88699925e-01],
       [  4.44576979e-01,  -3.19993868e-02,   7.88699925e-01],
       [  4.64597553e-01,  -2.90697869e-02,   7.88699985e-01],
       [  4.84789759e-01,  -2.68853605e-02,   7.88699925e-01],
       [  5.05088508e-01,  -2.50879265e-02,   7.88699985e-01],
       [  5.25436521e-01,  -2.32739393e-02,   7.88699985e-01],
       [  5.45781374e-01,  -2.10173037e-02,   7.88699925e-01],
       [  5.66102564e-01,  -1.80126112e-02,   7.88699925e-01],
       [  5.86349189e-01,  -1.37988133e-02,   7.88699865e-01],
       [  6.06519163e-01,  -8.59190151e-03,   7.88699806e-01],
       [  6.26577854e-01,  -2.83502578e-03,   7.88699985e-01],
       [  6.46523476e-01,   3.06926668e-03,   7.88699806e-01],
       [  6.66348875e-01,   8.70607793e-03,   7.88700044e-01],
       [  6.86089814e-01,   1.35979624e-02,   7.88699985e-01],
       [  7.05770373e-01,   1.73288193e-02,   7.88700104e-01],
       [  7.25438297e-01,   1.95552129e-02,   7.88700163e-01],
       [  7.45154440e-01,   1.97990872e-02,   7.88700044e-01],
       [  7.64910996e-01,   1.77693795e-02,   7.88699985e-01],
       [  7.84540653e-01,   1.36233540e-02,   7.88700044e-01],
       [  8.03874493e-01,   7.45688612e-03,   7.88699985e-01],
       [  8.22741926e-01,  -6.20445644e-04,   7.88699985e-01],
       [  8.40969265e-01,  -1.04837548e-02,   7.88700044e-01],
       [  8.58403385e-01,  -2.19816770e-02,   7.88700044e-01],
       [  8.74912083e-01,  -3.49538736e-02,   7.88700044e-01],
       [  8.90352547e-01,  -4.92521077e-02,   7.88700044e-01],
       [  9.04531300e-01,  -6.47895113e-02,   7.88700044e-01],
       [  9.17442799e-01,  -8.13093558e-02,   7.88699985e-01],
       [  9.28794980e-01,  -9.88040864e-02,   7.88699985e-01],
       [  9.38498199e-01,  -1.17101349e-01,   7.88700044e-01],
       [  9.46445942e-01,  -1.36055335e-01,   7.88700044e-01],
       [  9.52495754e-01,  -1.55548275e-01,   7.88700044e-01],
       [  9.56509292e-01,  -1.75466567e-01,   7.88700044e-01],
       [  9.58346844e-01,  -1.95695922e-01,   7.88700044e-01],
       [  9.57885087e-01,  -2.16112092e-01,   7.88700044e-01],
       [  9.55093980e-01,  -2.36336455e-01,   7.88700044e-01],
       [  9.50050950e-01,  -2.55863279e-01,   7.88699985e-01],
       [  9.42895412e-01,  -2.74274796e-01,   7.88700044e-01],
       [  9.33666408e-01,  -2.91138023e-01,   7.88699985e-01],
       [  9.22443330e-01,  -3.06053668e-01,   7.88699985e-01],
       [  9.09256756e-01,  -3.18616778e-01,   7.88699985e-01],
       [  8.94159615e-01,  -3.28488290e-01,   7.88699925e-01],
       [  8.77072155e-01,  -3.35245699e-01,   7.88699985e-01],
       [  8.58219624e-01,  -3.39142799e-01,   7.88699985e-01],
       [  8.37987244e-01,  -3.40423465e-01,   7.88699925e-01],
       [  8.16790581e-01,  -3.39488804e-01,   7.88699865e-01],
       [  7.95019388e-01,  -3.36643666e-01,   7.88699865e-01],
       [  7.73026347e-01,  -3.32329839e-01,   7.88699806e-01],
       [  7.51111686e-01,  -3.27063262e-01,   7.88699865e-01],
       [  7.29615152e-01,  -3.21130008e-01,   7.88700044e-01],
       [  7.08789825e-01,  -3.15040082e-01,   7.88699925e-01],
       [  6.88657999e-01,  -3.08828712e-01,   7.88700044e-01],
       [  6.68994129e-01,  -3.02651376e-01,   7.88699985e-01],
       [  6.49692237e-01,  -2.96528548e-01,   7.88700044e-01],
       [  6.30665004e-01,  -2.90519744e-01,   7.88700044e-01],
       [  6.11815333e-01,  -2.84657955e-01,   7.88700044e-01],
       [  5.93049526e-01,  -2.78990805e-01,   7.88700044e-01],
       [  5.74254632e-01,  -2.73570359e-01,   7.88700104e-01],
       [  5.55346787e-01,  -2.68442035e-01,   7.88700044e-01],
       [  5.36210477e-01,  -2.63651699e-01,   7.88700044e-01],
       [  5.16755760e-01,  -2.59253234e-01,   7.88700044e-01],
       [  4.96867567e-01,  -2.55293280e-01,   7.88700283e-01],
       [  4.76447821e-01,  -2.51845360e-01,   7.88700044e-01],
       [  4.55395520e-01,  -2.48910829e-01,   7.88700044e-01],
       [  4.33598667e-01,  -2.46597454e-01,   7.88700163e-01],
       [  4.10952657e-01,  -2.44959459e-01,   7.88700044e-01],
       [  3.87357801e-01,  -2.44006947e-01,   7.88699985e-01]])