2
  0.955041   0.122967   0.269769 -0.0304184
  0.281618  -0.660695  -0.695826  0.0154128
 0.0926713   0.740515   -0.66562   0.667544
         0          0          0          1
 0.879283 -0.397069  0.263055 -0.119362
 -0.13358   -0.7357 -0.664004 -0.203956
 0.457185  0.548709 -0.699929  0.850004
        0         0         0         1
