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7.806718349456787109375e-05	0.999997794628143310546875	-0.0021245232783257961273193359375	4.000130176544189453125
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1	0	0	4
0	1	0	4
0	0	1	0
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0.0083322227001190185546875	-0.00174972973763942718505859375	0.9999637603759765625	-0.00235652923583984375