2
 -0.490696  -0.852092  -0.182089   -0.21552
  0.807032  -0.523239   0.273715 -0.0332526
 -0.328507 -0.0126413   0.944417   0.776866
         0          0          0          1
  0.0768487   -0.988091   -0.133305   0.0923849
   0.949999   0.0319811    0.310612 -0.00651965
   -0.30265    -0.15051    0.941143    0.811155
          0           0           0           1
