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1	0	0	4
0	1	0	4
0	0	1	0
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0.0058867931365966796875	0.999976456165313720703125	-0.003526158630847930908203125	3.998710155487060546875
0.0056549422442913055419921875	0.0034928880631923675537109375	0.999977886676788330078125	9.2983245849609375e-06