2
-0.0252122  -0.989445  -0.142699   0.119886
 -0.796509   0.106142  -0.595238 -0.0208257
  0.604102  0.0986537  -0.790778   0.884569
         0          0          0          1
  -0.54346  -0.834869 -0.0874388  -0.151566
 -0.637887   0.478439  -0.603487    0.10302
  0.545667  -0.272195  -0.792564   0.821028
         0          0          0          1
