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0	-1	0	0	0	0
0	0	-1	0.412675817962736	0	0.0873817395186052
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0	0	0	-0.130083792842925	-1	0.0526406234130263
0	0	-0.0043150921119377	-0.298364331712946	-0.488850328256376	-1