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0	-1	0	0	0	0
0	0	-1	0.227527736546472	0.233942152792588	0
0	0	-0.242861607810482	-1	0.120627038972452	0.171777445357293
0	0	0.176926706917584	0.103854525787756	-1	0.28775660363026
0.121505023352802	0	0	-0.080808146763593	0.0311470984015614	-1