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transform = Transform3D(1, 0, 0, 0, -0.00429347, 0.999991, 0, -0.999991, -0.00429347, 0, 0, 0)
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transform = Transform3D(1, 0, 0, 0, -0.00429347, 0.999991, 0, -0.999991, -0.00429347, 0, 0, 0)
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+transform = Transform3D(1, 0, 0, 0, 0.734358, 0.678762, 0, -0.678762, 0.734358, -33.1669, 12.6773, 15.7238)
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