-1	0	0	0	0	0
0	-1	0	0	0	0
0	0	-1	0.245795527193695	0.0767027552705258	-0.0435797658283263
0	0	-0.207993725454435	-1	-0.0736592000350356	0.0795872006099671
0	0	0.122300234623253	-0.190626115025952	-1	0.111341428756714
0	0	-0.0724466945976019	0.00662385737523435	0.0100554276723415	-1