2
 -0.293132  -0.950525  -0.102838  -0.215851
   0.89346  -0.310631   0.324403 -0.0275356
 -0.340298 0.00321116   0.940313   0.752398
         0          0          0          1
  0.283418  -0.957545 -0.0527486  0.0894947
  0.903731   0.248278   0.348754 -0.0691091
 -0.320852  -0.146514   0.935729     0.7841
         0          0          0          1
