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0	-1	0	0	0	0
0	0	-1	-0.129554852610454	-0.144754476146773	0
0.0325266153085977	0	-0.140866304934025	-1	0.131602319981903	0.188298932928592
0	0	-0.0102324184495956	0.166752283228561	-1	-0.123514086380601
0	0	0	0.00960938027128577	-0.0118210039567202	-1