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0.00102852284908294677734375	0.0024667084217071533203125	0.999996364116668701171875	8.547306060791015625e-05
1	0	0	4
0	1	0	4
0	0	1	0
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0.00093404948711395263671875	0.999987065792083740234375	-0.0050042569637298583984375	4.003869533538818359375
-0.0048573315143585205078125	0.005008697509765625	0.999975621700286865234375	0.0017445087432861328125