2
 0.935463  0.284015  0.210341 -0.095097
 0.352062 -0.801029 -0.484154 -0.100277
0.0309822  0.526962 -0.849325  0.680629
        0         0         0         1
  0.94262 -0.269376  0.197239 -0.131109
-0.138748 -0.853406 -0.502442 -0.361353
 0.303671  0.446245 -0.841813  0.812307
        0         0         0         1
