0  0]  [ 0  0  0  0  0  0  0  0  0  0]  [ 0  0  0  0  0  0  0  0  0  0]  [ 0  0  0  0  0  0  0  0  0  0]  [ 0  0  0  0  0  0  0  0  0  0]  [ 0 -0 -0  0  0  0  0  0  0  0]  [ 0 -0 -0  0  0  0  0  0  0  0]