2
  0.118861   0.992239  -0.036523   0.106364
 -0.743033   0.113287   0.659597 -0.0881396
  0.658616 -0.0512625   0.750731   0.816037
         0          0          0          1
 -0.443261   0.890887  -0.099197  -0.182993
 -0.707634  -0.279842   0.648801 -0.0328098
  0.550249   0.357783   0.754465   0.728556
         0          0          0          1
