C:  0 0 0 0 0 0 
R1: 1 0 0 0 0 0
R2: 0 1 0 0 3.014254 0 
R3: 0 0 1 0 0 0 
R4: 0 0 0 1 0 0 
R5: 0 0 0 0 1 0 
R6: -3.014254 0 0 0 0 1