Datasets:
sixpigs1
/
so100_stack_cube_error

Dataset card Data Studio Files
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1
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action
list
observation.state
list
timestamp
float32
0
13.1
frame_index
int64
0
393
episode_index
int64
0
79
index
int64
0
23.4k
task_index
int64
0
3
[ 14.0625, 148.18359375, 142.55859375, 42.5390625, -0.615234375, 1.6835017204284668 ]
[ 15.380859375, 136.845703125, 132.5390625, 45.703125, -7.119140625, 3.3992092609405518 ]
9.4
282
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[ 13.7109375, 151.259765625, 146.162109375, 41.396484375, 0.703125, 0.6734006404876709 ]
[ 15.029296875, 139.833984375, 135.615234375, 44.912109375, -4.921875, 2.924901247024536 ]
9.433333
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9.466666
284
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[ 13.623046875, 157.412109375, 151.875, 41.66015625, 3.8671875, 0 ]
[ 14.4140625, 146.07421875, 142.20703125, 42.978515625, -1.494140625, 1.5810277462005615 ]
9.5
285
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[ 13.53515625, 160.83984375, 154.3359375, 42.626953125, 4.833984375, 0 ]
[ 14.23828125, 149.23828125, 145.37109375, 42.451171875, 0.3515625, 0.9486165642738342 ]
9.533334
286
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15,204
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[ 13.53515625, 163.916015625, 156.4453125, 43.76953125, 5.625, 0 ]
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9.566667
287
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9.6
288
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9.633333
289
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9.666667
290
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[ 13.359375, 165.05859375, 158.5546875, 44.736328125, 5.009765625, 0.31620553135871887 ]
9.7
291
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15,209
2
[ 12.919921875, 176.748046875, 165.849609375, 45.703125, 5.80078125, 0 ]
[ 13.18359375, 168.046875, 160.400390625, 45.3515625, 5.185546875, 0.31620553135871887 ]
9.733334
292
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15,210
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[ 12.919921875, 178.681640625, 167.958984375, 45.52734375, 5.625, 0 ]
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9.766666
293
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15,211
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[ 13.0078125, 180.263671875, 170.15625, 45.52734375, 5.361328125, 0 ]
[ 13.0078125, 173.232421875, 164.267578125, 45.439453125, 5.44921875, 0.31620553135871887 ]
9.8
294
49
15,212
2
[ 13.095703125, 182.021484375, 172.353515625, 45.615234375, 5.09765625, 0 ]
[ 13.0078125, 175.517578125, 166.376953125, 45.439453125, 5.44921875, 0.31620553135871887 ]
9.833333
295
49
15,213
2
[ 13.359375, 183.603515625, 174.462890625, 45.3515625, 4.658203125, 0 ]
[ 13.095703125, 177.71484375, 168.486328125, 45.439453125, 5.44921875, 0.31620553135871887 ]
9.866667
296
49
15,214
2
[ 13.53515625, 185.185546875, 176.66015625, 44.560546875, 4.21875, 0 ]
[ 13.095703125, 179.560546875, 170.5078125, 45.439453125, 5.44921875, 0.31620553135871887 ]
9.9
297
49
15,215
2
[ 13.623046875, 186.416015625, 178.59375, 43.59375, 3.515625, 0 ]
[ 13.095703125, 181.318359375, 172.79296875, 45.439453125, 5.185546875, 0.31620553135871887 ]
9.933333
298
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15,216
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[ 13.623046875, 187.20703125, 179.912109375, 42.978515625, 2.8125, 0 ]
[ 13.095703125, 182.98828125, 174.814453125, 45.087890625, 4.74609375, 0.31620553135871887 ]
9.966666
299
49
15,217
2
[ 13.623046875, 188.0859375, 180.3515625, 43.06640625, 2.4609375, 0 ]
[ 13.095703125, 184.5703125, 176.923828125, 44.47265625, 4.306640625, 0.31620553135871887 ]
10
300
49
15,218
2
[ 13.623046875, 188.96484375, 180.615234375, 43.505859375, 2.373046875, 0.11223345249891281 ]
[ 13.095703125, 185.537109375, 178.59375, 44.12109375, 3.779296875, 0.31620553135871887 ]
10.033334
301
49
15,219
2
[ 13.53515625, 189.931640625, 180.87890625, 44.033203125, 2.28515625, 0.11223345249891281 ]
[ 13.095703125, 186.50390625, 179.736328125, 44.033203125, 3.251953125, 0.31620553135871887 ]
10.066667
302
49
15,220
2
[ 13.359375, 191.07421875, 181.142578125, 44.6484375, 2.021484375, 0.11223345249891281 ]
[ 13.095703125, 187.55859375, 180.263671875, 44.033203125, 2.98828125, 0.31620553135871887 ]
10.1
303
49
15,221
2
[ 13.271484375, 192.392578125, 181.40625, 45.439453125, 1.845703125, 0.11223345249891281 ]
[ 13.095703125, 188.61328125, 180.3515625, 44.12109375, 2.724609375, 0.31620553135871887 ]
10.133333
304
49
15,222
2
[ 13.271484375, 193.447265625, 181.494140625, 46.40625, 1.7578125, 0.11223345249891281 ]
[ 13.095703125, 189.66796875, 180.3515625, 44.560546875, 2.4609375, 0.31620553135871887 ]
10.166667
305
49
15,223
2
[ 13.18359375, 194.4140625, 181.494140625, 47.4609375, 1.669921875, 0.11223345249891281 ]
[ 13.095703125, 190.986328125, 180.439453125, 45.087890625, 2.28515625, 0.31620553135871887 ]
10.2
306
49
15,224
2
[ 13.095703125, 194.4140625, 181.494140625, 47.63671875, 1.669921875, 0.11223345249891281 ]
[ 13.095703125, 191.77734375, 180.52734375, 45.87890625, 2.197265625, 0.31620553135871887 ]
10.233334
307
49
15,225
2
[ 13.0078125, 194.4140625, 181.494140625, 47.63671875, 1.669921875, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 46.58203125, 2.197265625, 0.31620553135871887 ]
10.266666
308
49
15,226
2
[ 13.0078125, 194.4140625, 181.494140625, 47.63671875, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.021484375, 2.197265625, 0.31620553135871887 ]
10.3
309
49
15,227
2
[ 12.919921875, 194.4140625, 181.494140625, 47.63671875, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.28515625, 2.197265625, 0.31620553135871887 ]
10.333333
310
49
15,228
2
[ 12.919921875, 194.4140625, 181.494140625, 47.63671875, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.373046875, 2.109375, 0.31620553135871887 ]
10.366667
311
49
15,229
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.4609375, 1.93359375, 0.31620553135871887 ]
10.4
312
49
15,230
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.433333
313
49
15,231
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.466666
314
49
15,232
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.5
315
49
15,233
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.533334
316
49
15,234
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.566667
317
49
15,235
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.6
318
49
15,236
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.633333
319
49
15,237
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.666667
320
49
15,238
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.7
321
49
15,239
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.733334
322
49
15,240
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.766666
323
49
15,241
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.8
324
49
15,242
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.833333
325
49
15,243
2
[ 13.271484375, 194.4140625, 181.494140625, 47.724609375, 1.58203125, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
10.866667
326
49
15,244
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0
0
50
15,245
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.033333
1
50
15,246
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.066667
2
50
15,247
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.1
3
50
15,248
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.133333
4
50
15,249
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.166667
5
50
15,250
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.2
6
50
15,251
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.233333
7
50
15,252
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.266667
8
50
15,253
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.3
9
50
15,254
2
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[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.333333
10
50
15,255
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.366667
11
50
15,256
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.4
12
50
15,257
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.433333
13
50
15,258
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.466667
14
50
15,259
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.5
15
50
15,260
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.533333
16
50
15,261
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.566667
17
50
15,262
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.6
18
50
15,263
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.633333
19
50
15,264
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.666667
20
50
15,265
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.7
21
50
15,266
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.733333
22
50
15,267
2
[ 13.18359375, 194.4140625, 181.494140625, 47.724609375, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.766667
23
50
15,268
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.8
24
50
15,269
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.833333
25
50
15,270
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.866667
26
50
15,271
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.9
27
50
15,272
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.933333
28
50
15,273
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
0.966667
29
50
15,274
2
[ 13.18359375, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1
30
50
15,275
2
[ 13.095703125, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.033333
31
50
15,276
2
[ 12.83203125, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.066667
32
50
15,277
2
[ 12.65625, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.1
33
50
15,278
2
[ 12.65625, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.133333
34
50
15,279
2
[ 12.48046875, 194.4140625, 181.494140625, 47.8125, 1.494140625, 0.11223345249891281 ]
[ 13.095703125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.166667
35
50
15,280
2
[ 11.865234375, 194.4140625, 181.494140625, 47.8125, 1.0546875, 0.11223345249891281 ]
[ 13.0078125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.2
36
50
15,281
2
[ 11.337890625, 194.4140625, 181.494140625, 47.900390625, 0.791015625, 0 ]
[ 12.83203125, 191.953125, 180.52734375, 47.548828125, 1.845703125, 0.31620553135871887 ]
1.233333
37
50
15,282
2
[ 11.07421875, 194.4140625, 181.494140625, 47.98828125, 0.791015625, 0 ]
[ 12.48046875, 191.953125, 180.52734375, 47.548828125, 1.494140625, 0.31620553135871887 ]
1.266667
38
50
15,283
2
[ 10.8984375, 194.4140625, 181.494140625, 47.98828125, 0.703125, 0 ]
[ 11.953125, 191.953125, 180.52734375, 47.724609375, 1.23046875, 0.31620553135871887 ]
1.3
39
50
15,284
2
[ 10.810546875, 194.4140625, 181.494140625, 47.98828125, 0.52734375, 0 ]
[ 11.689453125, 191.953125, 180.52734375, 47.8125, 1.23046875, 0.31620553135871887 ]
1.333333
40
50
15,285
2
[ 10.546875, 194.4140625, 181.494140625, 48.076171875, 0.263671875, -0.11223345249891281 ]
[ 11.42578125, 191.953125, 180.52734375, 47.900390625, 1.142578125, 0.31620553135871887 ]
1.366667
41
50
15,286
2
[ 10.283203125, 194.4140625, 181.318359375, 48.515625, -0.087890625, -0.11223345249891281 ]
[ 11.337890625, 191.953125, 180.52734375, 47.900390625, 0.966796875, 0.31620553135871887 ]
1.4
42
50
15,287
2
[ 9.755859375, 194.4140625, 181.142578125, 49.130859375, -0.791015625, -0.11223345249891281 ]
[ 10.986328125, 191.953125, 180.52734375, 47.900390625, 0.703125, 0.31620553135871887 ]
1.433333
43
50
15,288
2
[ 9.580078125, 194.4140625, 180.966796875, 49.5703125, -1.40625, -0.11223345249891281 ]
[ 10.810546875, 191.953125, 180.52734375, 48.251953125, 0.3515625, 0.31620553135871887 ]
1.466667
44
50
15,289
2
[ 9.580078125, 194.0625, 180.703125, 49.74609375, -2.28515625, -0.11223345249891281 ]
[ 10.283203125, 191.953125, 180.52734375, 48.8671875, -0.263671875, 0.31620553135871887 ]
1.5
45
50
15,290
2
[ 9.755859375, 192.216796875, 180, 49.482421875, -3.33984375, -0.11223345249891281 ]
[ 10.107421875, 191.953125, 180.52734375, 49.21875, -0.87890625, 0.31620553135871887 ]
1.533333
46
50
15,291
2
[ 10.107421875, 189.931640625, 178.681640625, 49.306640625, -4.39453125, -0.11223345249891281 ]
[ 10.107421875, 191.953125, 180.52734375, 49.306640625, -1.494140625, 0.31620553135871887 ]
1.566667
47
50
15,292
2
[ 10.458984375, 187.55859375, 177.1875, 49.39453125, -5.625, -0.11223345249891281 ]
[ 10.107421875, 191.77734375, 180.439453125, 49.39453125, -2.373046875, 0.31620553135871887 ]
1.6
48
50
15,293
2
[ 10.634765625, 184.921875, 175.341796875, 49.5703125, -6.85546875, -0.11223345249891281 ]
[ 9.931640625, 191.42578125, 180.17578125, 49.39453125, -3.33984375, 0.31620553135871887 ]
1.633333
49
50
15,294
2
[ 10.986328125, 182.28515625, 173.056640625, 50.009765625, -8.26171875, -0.11223345249891281 ]
[ 9.84375, 189.580078125, 179.384765625, 49.39453125, -4.306640625, 0.31620553135871887 ]
1.666667
50
50
15,295
2
[ 11.07421875, 179.560546875, 170.771484375, 50.625, -9.931640625, -0.11223345249891281 ]
[ 9.931640625, 187.646484375, 178.505859375, 49.482421875, -5.44921875, 0.31620553135871887 ]
1.7
51
50
15,296
2
[ 11.337890625, 176.748046875, 168.22265625, 51.328125, -11.513671875, -0.11223345249891281 ]
[ 10.458984375, 184.306640625, 176.748046875, 49.921875, -6.943359375, 0.31620553135871887 ]
1.733333
52
50
15,297
2
[ 11.42578125, 173.84765625, 165.5859375, 52.20703125, -13.53515625, -0.11223345249891281 ]
[ 10.8984375, 182.548828125, 175.166015625, 50.361328125, -8.173828125, 0.31620553135871887 ]
1.766667
53
50
15,298
2
[ 11.513671875, 171.2109375, 163.125, 52.91015625, -15.46875, -0.11223345249891281 ]
[ 11.162109375, 180.615234375, 173.056640625, 50.888671875, -9.755859375, 0.31620553135871887 ]
1.8
54
50
15,299
2