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0	-1	0	0	0	0	0	0
0	0	-1	0	0	0	0.161723204236478	0
0	0	0	-1	0.0936081249266863	0.179667705111206	0	0.0389107679016888
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0	0	0	-0.175461028795689	-0.0801992912776768	-1	0	0
0	0	-0.153765189647675	0	0	0	-1	0.260006428416818
0	0	0	-0.00734515255317092	-0.106587052159011	0	-0.0307336777448654	-1