2
  0.856091   0.515056 -0.0427266  0.0167378
  0.418703  -0.739648  -0.526887  0.0630316
 -0.302979   0.433173  -0.848861   0.742242
         0          0          0          1
  0.998196 -0.0256278 -0.0542957  0.0429898
 -0.050695  -0.844284  -0.533493  -0.194162
-0.0321687   0.535283   -0.84406   0.896796
         0          0          0          1
