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0.00164973735809326171875	0.99999320507049560546875	-0.0033207237720489501953125	3.998554229736328125
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1	0	0	4
0	1	0	4
0	0	1	0
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0.0054468810558319091796875	-0.000639498233795166015625	0.99998486042022705078125	0.000129282474517822265625