2
  0.993417  0.0308627   0.110322   0.134309
-0.0997177   0.707005   0.700143   0.127446
-0.0563899  -0.706535   0.705428   0.681641
         0          0          0          1
   0.945004    0.326474   0.0195491 -0.00919808
  -0.239574    0.650295    0.720917  -0.0419601
   0.222648   -0.685952    0.692746    0.893881
          0           0           0           1
