2
  0.982603 -0.0719158  -0.171228    0.20137
 -0.158882  -0.802918  -0.574526 -0.0123985
-0.0961646   0.591736  -0.800376    0.60546
         0          0          0          1
  0.951975  -0.300879 -0.0567035  0.0565487
 -0.274116   -0.75505  -0.595618  -0.207796
  0.136395   0.582557  -0.801264   0.788168
         0          0          0          1
