2
  0.989842 -0.0899581   0.110091  0.0285119
-0.0218661  -0.861474  -0.507331 -0.0236055
  0.140479    0.49977  -0.854691    0.67446
         0          0          0          1
 0.798484 -0.590181  0.118784 -0.122525
-0.481396 -0.744428 -0.462694 -0.256705
   0.3615  0.312272 -0.878524  0.780175
        0         0         0         1
