2
  0.201398  -0.972937   0.113279   0.085211
 -0.670673   -0.22126  -0.707985 -0.0138249
  0.713889  0.0666136  -0.697084   0.722659
         0          0          0          1
 -0.343108  -0.924697   0.164963  -0.208477
 -0.703781   0.136772  -0.697126 0.00376608
  0.622068  -0.355287  -0.697712   0.633111
         0          0          0          1
