2
  -0.500117    0.864854   0.0437324   -0.154101
    0.62246     0.39414   -0.676164 -0.00167104
  -0.602019   -0.310939   -0.735452    0.677826
          0           0           0           1
 0.0352886    0.99937 0.00387546   0.151452
  0.718418 -0.0226721  -0.695242  0.0147831
 -0.694716  0.0273184  -0.718765   0.659066
         0          0          0          1
