(qr #2A((12 -51 4) (6 167 -68) (-4 24 -41)))
#2A((-0.85 0.39 0.33)
(-0.42 -0.90 -0.03)
( 0.28 -0.17 0.94))
#2A((-14.0 -21.0 14.0)
( 0.0 -175.0 70.0)
( 0.0 0.0 -35.0))