2
 -0.507277  -0.857262 -0.0881674  -0.115805
  0.768064  -0.496136    0.40488 -0.0500352
  -0.39083   0.137668    0.91011   0.810551
         0          0          0          1
 0.0270015  -0.998176 -0.0539869   0.191996
   0.90261 0.00113496   0.430457 -0.0168509
 -0.429611 -0.0603522   0.900995   0.811865
         0          0          0          1
