0 mm
1
0
0
0 mm
0
1
0
0 mm
0
0
1
0 rad
1
0
0
0 rad
0
1
0
-20*t
0
0
1
0 mm
0
0
1
100 GPa/m
0.3
10 GPa/m
0 mm
1
0
0
0 mm
0
1
0
0 mm
0
0
1
2800 GPa/m
0
0 Pa/mm
-y
x
0
0
0
0
0 rad
-y
x+165
0
0
0
0
0 rad
-y
x
0
x
y
0
0 rad
-y
x+165
0
x+165
y
0
0 rad
0 rad
0
0
1