2
 0.170894 -0.985219 0.0117597  0.110498
-0.836184 -0.151335 -0.527157 -0.118802
 0.521144 0.0802546 -0.849687  0.708801
        0         0         0         1
  -0.39567  -0.915827  0.0685982  -0.182186
 -0.800637   0.307381  -0.514293 -0.0557701
  0.449918  -0.258412  -0.854867   0.646997
         0          0          0          1
