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0	-1	0	0	0	0
0	0	-1	0.160688779456541	-0.166053713625297	0.0855324661824852
0	0	0.172878546500579	-1	0.108677387749776	0
0	0	-0.0146624125074595	0.0571494588628411	-1	-0.1269877652172
0.159617900615558	0	0.125094693666324	0	-0.14763588658534	-1