rotation: rows: 3 cols: 3 dt: d data: [ 9.9993982149438532e-01, -4.4326588697685410e-03, -1.0035184359092788e-02, 4.4864362354904829e-03, 9.9997566328044363e-01, 5.3427274627953561e-03, 1.0011257647348620e-02, -5.3874281601792150e-03, 9.9993537308074931e-01 ] translation: rows: 3 cols: 1 dt: d data: [ -4.2259679613384740e-02, -6.4052395414603838e-04, -1.6987573787408566e-03 ] essential: rows: 3 cols: 3 dt: d data: [ 1.2089163250353054e-06, 1.7021668133467716e-03, -6.3140656135615063e-04, -1.2755826093564016e-03, -2.2014097602684004e-04, 4.2273995843959834e-02, 4.5089005045395971e-04, -4.2261490375600091e-02, -2.3220972680563427e-04 ] fundamental: rows: 3 cols: 3 dt: d data: [ 8.7616800294515958e-10, 1.2313157072783434e-06, -4.1959473824826088e-04, -9.2180984390947117e-07, -1.5878511704338802e-07, 1.1336315227591301e-02, 8.1972759006376556e-04, -3.3229100126675029e-02, 1. ]