83387a484c515e5234bd60f741578a6ac894bff5
The matrix rotation params around the 2nd axis was not set correctly: Initial matrix for axis 2 (green): cos 0 sin 0 0 0 1 0 0 0 -sin 0 0 0 0 0 0 cos 1 0 After correction: cos 0 -sin 0 0 0 1 0 0 0 sin 0 cos 0 0 0 0 0 1 0
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