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0.00216539204120635986328125	0.99999177455902099609375	0.0034563541412353515625	4.00173854827880859375
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1	0	0	4
0	1	0	4
0	0	1	0
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0.00265486538410186767578125	0.0023585855960845947265625	0.99999368190765380859375	-0.0011501312255859375