2
   0.939525    0.277211   -0.201115 -0.00915816
 -0.0405954     0.67323    0.738318    0.130666
   0.340067   -0.685504     0.64377    0.751129
          0           0           0           1
 0.657862  0.718064  -0.22716 -0.203529
 -0.40498  0.591574   0.69716  -0.05663
 0.634987  -0.36664  0.679976  0.889488
        0         0         0         1
