Rot =	Z-axis	Y-axis	X-axis
	$\left(\begin{array}{cccc}1.00& 0.00& 0& 0\\ 0.00& 1.00& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$	$\left(\begin{array}{cccc}1.00& 0& 0.00& 0\\ 0& 1& 0& 0\\ 0.00& 0& 1.00& 0\\ 0& 0& 0& 1\end{array}\right)$	$\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& 1.00& 0.00& 0\\ 0& 0.00& 1.00& 0\\ 0& 0& 0& 1\end{array}\right)$
	0 π/12	0 π/12	0 π/12