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0.00850512087345123291015625	0.999962627887725830078125	-0.00148747302591800689697265625	4.001619815826416015625
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1	0	0	4
0	1	0	4
0	0	1	0
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0.003479428589344024658203125	-0.012146345339715480804443359375	0.99992024898529052734375	0.003014087677001953125