C1r1
x    0.00040934
y    0.00674867
z    0.00309482
rx   0.00402910
ry  -0.00164692
rz  -0.00234224

C1r2
x    0.0049657
y   -0.0033704
z    0.0048823
rx   0.00337396
ry  -0.00057835
rz  -0.00167491

C2r1
x   -0.00323208
y   -0.03096037
z    0.02236041
rx   0.02613692
ry   0.05253439
rz   0.01904024


C4r1
x    0.01163284
y    0.00620140
z    0.01452996
rx  -0.03328320
ry  -0.00150808
rz   0.00988164

C4r2
x    0.00389920
y   -0.00001208
z   -0.01071775
rx  -0.00124067
ry   0.00979748
rz  -0.00195675