2
   0.399985    0.870096       0.288    -0.16807
   0.693686    -0.08203   -0.715591 -0.00502441
  -0.599009    0.486008   -0.636385    0.653771
          0           0           0           1
  0.78627  0.559394  0.262407 0.0282379
 0.546623  -0.43175 -0.717492 -0.119508
-0.288066  0.707581  -0.64525  0.861296
        0         0         0         1
