2
  0.727849   0.632974   0.263778 -0.0999155
  0.541773  -0.294988   -0.78706  0.0649751
 -0.420377   0.715769  -0.557635   0.653399
         0          0          0          1
   0.958015    0.163623    0.235444   -0.019148
   0.286716   -0.548987   -0.785116  -0.0906743
0.000792964    0.819659   -0.572852    0.905055
          0           0           0           1
