2
  0.98314 -0.117674  0.139956 0.0112874
 0.019405 -0.693939 -0.719772 0.0537559
  0.18182  0.710352 -0.679956  0.621576
        0         0         0         1
 0.777614 -0.612136  0.143547 -0.147925
-0.367144 -0.627424 -0.686691 -0.142995
 0.510413  0.481278 -0.712636  0.786041
        0         0         0         1
