2
   0.74661   0.599776   0.287823 -0.0947066
  0.556539  -0.326082  -0.764157  0.0541037
 -0.364469   0.730712  -0.577255   0.643824
         0          0          0          1
  0.959191   0.109505   0.260693 -0.0268459
  0.273732  -0.590707  -0.759037  -0.112421
 0.0708746   0.799421  -0.596575    0.89146
         0          0          0          1
