2
  0.422427  -0.904292 -0.0617389  0.0155152
 -0.632019  -0.245044  -0.735191  -0.134485
  0.649698   0.349584  -0.675043   0.860114
         0          0          0          1
  0.057496  -0.996338  -0.063275  -0.281905
 -0.657024 0.00995685  -0.753804  -0.118422
  0.751674   0.084914  -0.654046   0.855032
         0          0          0          1
