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0.0016394741833209991455078125	0.99999845027923583984375	0.000663049519062042236328125	4.00094699859619140625
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1	0	0	4
0	1	0	4
0	0	1	0
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0.0012285709381103515625	0.00327904522418975830078125	0.999993801116943359375	-0.0020325183868408203125