2
  0.130725  -0.971647   0.197011   0.028456
 -0.640394  -0.234454  -0.731387 -0.0603432
   0.75684 -0.0305543  -0.652885   0.728528
         0          0          0          1
 -0.407576  -0.879999   0.243894  -0.251816
 -0.690651   0.122334  -0.712766 -0.0487281
  0.597397  -0.458952  -0.657633    0.60518
         0          0          0          1
