2
  0.257652   0.965943 -0.0238697   0.208893
 -0.660024   0.193987   0.725767  0.0248675
   0.70568  -0.171241   0.687526   0.743844
         0          0          0          1
  -0.29074    0.95437  -0.068178 -0.0943666
 -0.679837  -0.155913   0.716598  0.0452215
   0.67327   0.254693   0.694146   0.689231
         0          0          0          1
