def get_rot_tran_matrix2(M):
    a = []
    for i in range(0, 12):
        a.append(float(M[i]))
    R = np.array([[a[0], a[1], a[2], a[9]], [a[3], a[4], a[5], a[10]], [a[6], a[7], a[8], a[11]]])
    return R
def get_rot_tran_matrix2(M):
    a = []
    for i in range(0, 12):
        a.append(float(M[i]))
    R = np.array([[a[0], a[1], a[2], a[9]], [a[3], a[4], a[5], a[10]], [a[6], a[7], a[8], a[11]]])
    return R