2
  0.121741   0.989091 -0.0829373   0.201689
 -0.866132   0.146672    0.47781  -0.185421
  0.484762  0.0136656   0.874539   0.961595
         0          0          0          1
 -0.411087    0.90094  -0.138976 -0.0831771
 -0.823953  -0.301996   0.479478   -0.12574
  0.390011   0.311617   0.866479   0.876343
         0          0          0          1
