2
   0.22839  -0.959881   0.162685  0.0755212
 -0.662817  -0.275699  -0.696178 -0.0177448
    0.7131  0.0511695  -0.699192   0.721476
         0          0          0          1
 -0.319038  -0.922295   0.218143  -0.217027
 -0.725775  0.0897368  -0.682054 -0.0156954
   0.60948  -0.375924  -0.698008   0.626402
         0          0          0          1
