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Frame int64 0 352 | root_translateX float64 -3.87 117 | root_translateY float64 -13.37 200 | root_translateZ float64 65.5 79.1 | root_rotateX float64 -178.67 178 | root_rotateY float64 -8.65 56.8 | root_rotateZ float64 -89.94 39.5 | left_hip_pitch_joint_dof float64 -99.07 28.5 | left_hip_roll_joint_dof float64 2.56 55.3 | left_hip_yaw_joint_dof float64 -117.22 78.7 | left_knee_joint_dof float64 -1.99 69.1 | left_ankle_pitch_joint_dof float64 -48.25 30 | left_ankle_roll_joint_dof float64 -15 15 | right_hip_pitch_joint_dof float64 -81.05 25.4 | right_hip_roll_joint_dof float64 -49.33 5.05 | right_hip_yaw_joint_dof float64 -78.97 6.7 | right_knee_joint_dof float64 3.85 65.3 | right_ankle_pitch_joint_dof float64 -47.2 30 | right_ankle_roll_joint_dof float64 15 15 | waist_yaw_joint_dof float64 -13.81 18.7 | waist_roll_joint_dof float64 -29.79 29.6 | waist_pitch_joint_dof float64 1.9 29.5 | left_shoulder_pitch_joint_dof float64 -161.53 -12.27 | left_shoulder_roll_joint_dof float64 12.6 79.4 | left_shoulder_yaw_joint_dof float64 -150 150 | left_elbow_joint_dof float64 -28 120 | left_wrist_roll_joint_dof float64 -16.17 11.8 | left_wrist_pitch_joint_dof float64 0 0 | left_wrist_yaw_joint_dof float64 -15.16 16.4 | right_shoulder_pitch_joint_dof float64 -177 -5.11 | right_shoulder_roll_joint_dof float64 -106.23 -10.07 | right_shoulder_yaw_joint_dof float64 -145.61 134 | right_elbow_joint_dof float64 18.7 95.8 | right_wrist_roll_joint_dof float64 0 0 | right_wrist_pitch_joint_dof float64 -75.08 8.48 | right_wrist_yaw_joint_dof float64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | 0 | 77.3716 | -3.206 | -6.887 | -0 | -9.259 | 29.156 | 24.018 | 13.483 | 30 | 11.006 | 12.917 | -3.44 | -17.633 | 9.621 | 4.292 | 15 | -5.979 | 2.143 | 17.592 | -99.328 | 79.021 | -67.484 | 43.593 | -0.196 | 0 | 5.111 | -46.251 | -76.792 | -24.118 | 39.181 | 0 | -53.342 | 0 |
1 | 0.2869 | 0.3647 | 77.2904 | -3.442 | -6.616 | 0.166 | -9.488 | 29.66 | 25.815 | 14.205 | 19.801 | 11.336 | 12.916 | -3.571 | -17.89 | 9.74 | -1.326 | 15 | -5.634 | 1.61 | 17.541 | -106.508 | 75.727 | -44.406 | 52.032 | 0.18 | 0 | 5.498 | -45.267 | -80.261 | -27.478 | 37.462 | 0 | -54.336 | 0 |
2 | 0.5864 | 0.7517 | 77.2042 | -3.681 | -6.31 | 0.325 | -9.847 | 30.237 | 27.523 | 14.974 | 1.645 | 11.623 | 12.9 | -3.696 | -18.139 | 9.834 | -5.899 | 15 | -5.4 | 1.023 | 17.512 | -113.018 | 72.835 | -20.925 | 60.585 | 0.293 | 0 | 5.904 | -44.556 | -83.315 | -30.362 | 35.791 | 0 | -55.263 | 0 |
3 | 0.8996 | 1.1607 | 77.1113 | -3.933 | -5.967 | 0.483 | -10.337 | 30.89 | 29.14 | 15.791 | -11.248 | 11.868 | 12.867 | -3.815 | -18.379 | 9.903 | -9.427 | 15 | -5.277 | 0.382 | 17.506 | -118.86 | 70.346 | 2.957 | 69.252 | 0.142 | 0 | 6.331 | -44.116 | -85.954 | -32.771 | 34.168 | 0 | -56.122 | 0 |
4 | 1.226 | 1.5902 | 77.0119 | -4.214 | -5.591 | 0.635 | -10.956 | 31.616 | 30.668 | 16.654 | -18.878 | 12.071 | 12.817 | -3.926 | -18.61 | 9.945 | -11.909 | 15 | -5.265 | -0.313 | 17.521 | -124.032 | 68.26 | 27.241 | 78.035 | -0.273 | 0 | 6.778 | -43.949 | -88.179 | -34.705 | 32.592 | 0 | -56.913 | 0 |
5 | 1.5618 | 2.0396 | 76.9065 | -4.506 | -5.205 | 0.782 | -11.661 | 32.477 | 32.338 | 17.586 | -21.907 | 12.411 | 12.752 | -4.044 | -18.872 | 9.987 | -14.085 | 15 | -5.345 | -1.114 | 17.572 | -129.371 | 65.814 | 64.743 | 92.54 | -1.202 | 0 | 7.242 | -43.583 | -89.988 | -36.425 | 31.146 | 0 | -57.751 | 0 |
6 | 1.9057 | 2.513 | 76.7916 | -4.826 | -4.808 | 0.933 | -12.547 | 33.367 | 33.693 | 18.697 | -23.867 | 12.571 | 12.675 | -4.147 | -19.113 | 10.018 | -15.746 | 15 | -5.496 | -1.958 | 17.633 | -133.685 | 63.289 | 109.193 | 106.281 | -2.211 | 0 | 7.726 | -43.05 | -91.386 | -38.241 | 29.608 | 0 | -58.415 | 0 |
7 | 2.2582 | 3.0135 | 76.6652 | -5.174 | -4.384 | 1.086 | -13.601 | 34.259 | 34.742 | 19.585 | -11.585 | 12.464 | 12.571 | -4.264 | -19.386 | 9.919 | -12.328 | 15 | -5.736 | -2.713 | 17.71 | -135.181 | 63.867 | 99.751 | 103.439 | -3.037 | 0 | 8.234 | -43.744 | -92.563 | -38.974 | 27.993 | 0 | -58.911 | 0 |
8 | 2.621 | 3.5479 | 76.5267 | -5.553 | -3.926 | 1.244 | -14.788 | 35.189 | 35.672 | 20.767 | -4.619 | 12.043 | 12.413 | -4.286 | -19.311 | 9.604 | -1.369 | 15 | -6.266 | -3.51 | 17.76 | -136.499 | 65.401 | 91.858 | 101.89 | -3.453 | 0 | 8.771 | -47.016 | -93.084 | -36.906 | 26.714 | 0 | -59.299 | 0 |
9 | 2.9937 | 4.1221 | 76.3767 | -5.944 | -3.429 | 1.41 | -16.114 | 36.184 | 36.56 | 22.261 | -2.629 | 11.296 | 12.258 | -4.349 | -19.384 | 9.653 | -4.028 | 15 | -6.833 | -4.287 | 17.731 | -135.771 | 67.687 | 84.101 | 92.045 | -3.265 | 0 | 9.342 | -51.957 | -93.192 | -32.755 | 25.432 | 0 | -59.61 | 0 |
10 | 3.3762 | 4.7404 | 76.2111 | -6.356 | -2.898 | 1.587 | -17.553 | 37.207 | 37.367 | 23.77 | 4.405 | 10.282 | 12.105 | -4.421 | -19.46 | 9.579 | -2.14 | 15 | -7.119 | -5.117 | 17.816 | -135.645 | 68.239 | 22.782 | 88.863 | -2.309 | 0 | 9.956 | -55.496 | -93.414 | -29.787 | 24.318 | 0 | -59.911 | 0 |
11 | 3.7738 | 5.4135 | 76.0196 | -6.839 | -2.366 | 1.786 | -19.013 | 38.271 | 38.332 | 25.682 | -0.507 | 9.084 | 11.939 | -4.542 | -19.637 | 9.64 | -2.113 | 15 | -7.742 | -6.183 | 17.762 | -135.476 | 69.771 | -34.519 | 85.312 | -0.963 | 0 | 10.617 | -72.445 | -91.977 | -13.768 | 23.085 | 0 | -60.296 | 0 |
12 | 4.1909 | 6.1409 | 75.801 | -7.371 | -1.852 | 1.993 | -20.636 | 39.349 | 39.15 | 27.747 | -2.756 | 7.737 | 11.766 | -4.662 | -19.89 | 9.786 | -5.115 | 15 | -7.307 | -6.716 | 18.365 | -134.078 | 70.92 | -75.526 | 80.687 | 0.15 | 0 | 11.324 | -54.649 | -94.484 | -30.927 | 23.226 | 0 | -60.669 | 0 |
13 | 4.6318 | 6.9211 | 75.5539 | -7.925 | -1.305 | 2.206 | -22.493 | 40.38 | 39.63 | 29.813 | 2.408 | 6.136 | 11.55 | -4.791 | -20.251 | 10.01 | -9.672 | 15 | -6.989 | -7.377 | 18.893 | -132.658 | 71.998 | -98.43 | 77.162 | 1.255 | 0 | 12.13 | -42.813 | -96.217 | -42.156 | 23.466 | 0 | -60.977 | 0 |
14 | 5.0964 | 7.7531 | 75.2785 | -8.578 | -0.602 | 2.465 | -24.693 | 41.294 | 39.531 | 32.321 | 1.979 | 4.25 | 11.242 | -4.885 | -20.718 | 10.283 | -13.751 | 15 | -6.861 | -8.169 | 19.311 | -131.796 | 73.027 | -103.022 | 73.979 | 2.275 | 0 | 12.988 | -37.135 | -97.095 | -47.325 | 23.973 | 0 | -61.218 | 0 |
15 | 5.5834 | 8.6368 | 74.9761 | -9.379 | 0.253 | 2.78 | -27.289 | 42.008 | 38.706 | 34.975 | 5.774 | 2.099 | 10.828 | -4.91 | -21.177 | 10.477 | -13.684 | 15 | -6.653 | -8.969 | 19.537 | -128.634 | 73.875 | -108.524 | 65.482 | 3.136 | 0 | 13.775 | -37.523 | -97.581 | -46.673 | 24.309 | 0 | -61.382 | 0 |
16 | 6.0941 | 9.5733 | 74.6352 | -10.187 | 1.22 | 3.139 | -30.287 | 42.462 | 37.059 | 38.082 | 1.183 | -0.237 | 10.278 | -4.816 | -21.368 | 10.721 | -12.98 | 15 | -6.731 | -9.911 | 19.565 | -126.285 | 73.745 | -65.174 | 65.72 | 3.787 | 0 | 14.406 | -45.266 | -97.105 | -38.701 | 24.837 | 0 | -61.418 | 0 |
17 | 6.6231 | 10.5525 | 74.2525 | -11.03 | 2.267 | 3.554 | -33.652 | 42.657 | 34.663 | 41.13 | 5.663 | -2.653 | 9.663 | -4.773 | -21.761 | 11.077 | -14.008 | 15 | -7.09 | -10.987 | 19.464 | -123.546 | 75.123 | -32.624 | 59.392 | 4.227 | 0 | 14.833 | -60.095 | -95.721 | -24.173 | 25.532 | 0 | -61.358 | 0 |
18 | 7.1668 | 11.5764 | 73.8329 | -11.891 | 3.371 | 4.032 | -37.252 | 42.578 | 31.766 | 44.321 | 8.906 | -5.057 | 9.017 | -4.777 | -22.208 | 11.491 | -14.713 | 15 | -7.654 | -12.279 | 19.267 | -122.03 | 75.01 | -46.255 | 63.232 | 4.531 | 0 | 15.051 | -81.291 | -93.424 | -3.701 | 26.455 | 0 | -61.279 | 0 |
19 | 7.7258 | 12.6579 | 73.3881 | -12.74 | 4.567 | 4.546 | -40.943 | 42.231 | 28.737 | 47.696 | 6.251 | -7.512 | 8.35 | -4.87 | -22.748 | 12.015 | -15.21 | 15 | -8.52 | -13.771 | 19.019 | -120.552 | 75.942 | -46.913 | 63.377 | 4.834 | 0 | 15.093 | -109.323 | -90.235 | 23.136 | 27.355 | 0 | -61.3 | 0 |
20 | 8.3051 | 13.8129 | 72.9248 | -13.616 | 5.833 | 5.131 | -44.657 | 41.627 | 25.741 | 51.006 | 3.835 | -9.905 | 7.667 | -5.026 | -23.372 | 12.628 | -16.428 | 15 | -8.491 | -14.826 | 19.487 | -118.516 | 76.524 | -47.271 | 62.842 | 5.206 | 0 | 15.034 | -102.422 | -91.015 | 16.166 | 29.337 | 0 | -61.353 | 0 |
21 | 8.9055 | 15.0494 | 72.4519 | -14.534 | 7.204 | 5.967 | -48.222 | 40.736 | 23.004 | 54.222 | -6.15 | -11.973 | 6.948 | -5.254 | -24.082 | 13.116 | -11.073 | 15 | -9.013 | -16.191 | 19.801 | -117.179 | 77.676 | -51.04 | 61.967 | 5.693 | 0 | 15 | -109.198 | -90.171 | 22.274 | 30.85 | 0 | -61.334 | 0 |
22 | 9.5217 | 16.3624 | 71.9871 | -15.468 | 8.762 | 6.966 | -51.663 | 39.576 | 20.577 | 56.925 | -7.433 | -13.574 | 6.198 | -5.498 | -24.93 | 13.829 | -16.949 | 15 | -9.717 | -17.602 | 20.174 | -116.116 | 79.137 | -57.435 | 60.655 | 6.314 | 0 | 15 | -116.481 | -89.208 | 28.934 | 32.217 | 0 | -61.287 | 0 |
23 | 10.1551 | 17.7572 | 71.553 | -16.47 | 10.543 | 8.059 | -54.91 | 38.153 | 18.515 | 59.44 | -15.812 | -14.626 | 5.424 | -5.756 | -25.831 | 14.121 | -14.603 | 15 | -10.198 | -18.983 | 20.523 | -113.485 | 78.668 | -49.839 | 61.238 | 7.041 | 0 | 15 | -122.104 | -88.491 | 34.079 | 32.965 | 0 | -61.257 | 0 |
24 | 10.8133 | 19.2302 | 71.1669 | -17.449 | 12.596 | 9.209 | -57.935 | 36.519 | 16.853 | 61.359 | -20.023 | -15 | 4.555 | -6.07 | -26.778 | 14.158 | -11.857 | 15 | -10.867 | -20.373 | 20.813 | -111.122 | 78.73 | -47.039 | 61.148 | 7.834 | 0 | 15 | -127.68 | -87.413 | 39.297 | 33.493 | 0 | -61.218 | 0 |
25 | 11.5044 | 20.7719 | 70.8402 | -18.44 | 14.917 | 10.321 | -64.423 | 36.793 | 25.319 | 69.078 | -17.506 | -15 | 3.557 | -6.326 | -27.521 | 13.916 | -11.163 | 15 | -11.513 | -21.669 | 21.029 | -108.531 | 78.61 | -43.962 | 61.188 | 8.635 | 0 | 15 | -132.988 | -86.055 | 44.436 | 33.956 | 0 | -61.205 | 0 |
26 | 12.2407 | 22.3789 | 70.5938 | -19.46 | 17.46 | 11.265 | -61.196 | 31.762 | 7.693 | 59.511 | -20.933 | -15 | 2.422 | -6.431 | -27.975 | 13.063 | -7.057 | 15 | -12.029 | -22.798 | 21.229 | -105.754 | 78.488 | -41.358 | 60.593 | 9.397 | 0 | 15 | -137.878 | -84.524 | 49.656 | 34.167 | 0 | -61.209 | 0 |
27 | 13.0202 | 24.0445 | 70.4279 | -20.755 | 20.274 | 11.914 | -63.385 | 29.58 | 5.45 | 58.984 | -26.493 | -15 | 1.137 | -6.363 | -27.616 | 11.575 | 0.263 | 15 | -12.572 | -23.924 | 21.209 | -103.324 | 78.271 | -38.364 | 61.552 | 10.097 | 0 | 15 | -140.489 | -82.448 | 51.942 | 34.365 | 0 | -61.365 | 0 |
28 | 13.8523 | 25.7679 | 70.3429 | -22.569 | 23.129 | 12.273 | -60.928 | 25.598 | -9.881 | 50.603 | -33.071 | -15 | -0.127 | -5.938 | -25.645 | 9.648 | 9.129 | 15 | -12.926 | -24.89 | 21.155 | -101.264 | 78.121 | -36.264 | 62.907 | 10.702 | 0 | 15 | -142.19 | -80.02 | 53.643 | 34.724 | 0 | -61.747 | 0 |
29 | 14.7606 | 27.5399 | 70.3163 | -24.878 | 26.005 | 12.164 | -51.605 | 19.467 | -43.627 | 31.334 | -48.254 | -15 | -1.338 | -4.532 | -20.725 | 7.552 | 20.649 | 15 | -13.025 | -25.647 | 21.131 | -99.599 | 78.181 | -35.227 | 63.958 | 11.176 | 0 | 16.364 | -143.434 | -77.41 | 55.244 | 35.354 | 0 | -62.159 | 0 |
30 | 15.7534 | 29.3552 | 70.3242 | -27.507 | 28.849 | 11.661 | -47.698 | 16.251 | -62.963 | 20.61 | -47.413 | -15 | -2.516 | -2.008 | -13.302 | 6.126 | 20.574 | 15 | -12.84 | -26.198 | 21.152 | -98.116 | 78.284 | -34.509 | 64.634 | 11.505 | 0 | 15.454 | -144.459 | -74.783 | 57.256 | 36.313 | 0 | -62.572 | 0 |
31 | 16.8343 | 31.2334 | 70.3545 | -31.002 | 31.509 | 10.856 | -49.168 | 15.771 | -67.694 | 18.881 | -45.703 | -15 | -3.402 | 0.888 | -5.002 | 5.006 | 29.017 | 15 | -12.588 | -26.727 | 21.061 | -96.833 | 78.398 | -33.97 | 64.898 | 11.701 | 0 | 12.921 | -145.167 | -72.142 | 59.534 | 37.491 | 0 | -62.933 | 0 |
32 | 17.9913 | 33.1768 | 70.3339 | -34.787 | 34.114 | 9.934 | -55.955 | 17.786 | -57.577 | 26.091 | -43.978 | -15 | -3.798 | 3.26 | 2.059 | 4.609 | 30 | 15 | -12.52 | -27.379 | 20.683 | -95.534 | 78.443 | -33.104 | 64.666 | 11.796 | 0 | 9.415 | -145.631 | -69.576 | 61.981 | 38.71 | 0 | -63.168 | 0 |
33 | 19.2226 | 35.1399 | 70.2006 | -38.329 | 37.051 | 8.834 | -68.161 | 22.208 | -32.766 | 42.191 | -36.496 | -15 | -3.449 | 4.731 | 6.208 | 4.736 | 29.978 | 15 | -12.574 | -28.014 | 20.167 | -94.433 | 78.338 | -32.211 | 64.095 | 11.784 | 0 | 5.583 | -146.383 | -67.343 | 65.164 | 39.764 | 0 | -63.415 | 0 |
34 | 20.5253 | 37.1056 | 69.9795 | -41.819 | 40.475 | 7.32 | -74.4 | 22.74 | -24.244 | 47.192 | -35.286 | -15 | -2.302 | 5.047 | 6.697 | 5.219 | 29.33 | 15 | -12.68 | -28.504 | 19.542 | -93.78 | 78.19 | -31.689 | 63.151 | 11.674 | 0 | 2.077 | -147.231 | -65.449 | 68.281 | 40.444 | 0 | -63.687 | 0 |
35 | 21.8589 | 39.1355 | 69.7662 | -45.845 | 43.906 | 5.428 | -87.887 | 26.808 | 4.226 | 64.315 | -34.924 | -15 | -0.543 | 3.968 | 4.105 | 6 | 29.413 | 15 | -12.918 | -29.026 | 18.522 | -94.071 | 77.87 | -30.806 | 63.875 | 11.523 | 0 | -0.455 | -147.193 | -63.535 | 69.451 | 41.022 | 0 | -64.121 | 0 |
36 | 23.1693 | 41.2912 | 69.6485 | -51.494 | 46.638 | 2.686 | -93 | 27.12 | 9.501 | 67.133 | -36.116 | -15 | 1.711 | 1.83 | 0.164 | 7.167 | 29.531 | 15 | -12.923 | -29.392 | 17.43 | -95.503 | 77.472 | -31.219 | 64.941 | 11.358 | 0 | -1.364 | -147.79 | -61.788 | 71.062 | 41.522 | 0 | -65.026 | 0 |
37 | 24.4211 | 43.5154 | 69.5871 | -58.152 | 48.985 | -1.431 | -91.474 | 25.133 | -2.758 | 58.935 | -39.377 | -15 | 4.155 | -0.576 | -3.31 | 8.813 | 29.324 | 15 | -13.806 | -29.568 | 15.782 | -98.248 | 79.4 | -39.129 | 65.258 | 11.198 | 0 | 0 | -163.571 | -53.255 | 86.867 | 44.546 | 0 | -66.139 | 0 |
38 | 25.5985 | 45.748 | 69.581 | -65.451 | 50.689 | -7.161 | -93.538 | 25.042 | -4.902 | 56.461 | -44.802 | -15 | 6.581 | -2.943 | -6.175 | 10.992 | 29.623 | 15 | -11.118 | -29.609 | 16.162 | -102.384 | 75.013 | -33.021 | 67.202 | 11.052 | 0 | 0 | -140.041 | -63.097 | 63.496 | 41.428 | 0 | -66.883 | 0 |
39 | 26.7336 | 48.0324 | 69.7091 | -73.367 | 51.375 | -13.126 | -95.116 | 25.137 | -7.51 | 52.666 | -32.544 | -15 | 9.116 | -5.538 | -9.015 | 13.604 | 29.477 | 15 | -8.844 | -29.619 | 16.419 | -107.338 | 71.419 | -30.645 | 68.563 | 10.94 | 0 | -0 | -123.879 | -69.646 | 47.353 | 39.846 | 0 | -67.039 | 0 |
40 | 27.8687 | 50.4235 | 70.0067 | -81.459 | 51.299 | -18.562 | -95.947 | 25.454 | -10.403 | 47.916 | -24.841 | -15 | 11.743 | -8.557 | -12.084 | 16.314 | 29.553 | 15 | -8.323 | -29.717 | 15.73 | -112.845 | 70.711 | -37.461 | 68.061 | 10.916 | 0 | 0 | -129.944 | -65.493 | 53.297 | 43.563 | 0 | -66.518 | 0 |
41 | 29.0296 | 52.9433 | 70.46 | -89.28 | 50.547 | -23.19 | -96.139 | 26.141 | -13.617 | 42.027 | -14.377 | -15 | 14.527 | -11.704 | -15.003 | 18.68 | 30 | 15 | -4.61 | -29.794 | 16.839 | -117.796 | 64.183 | -29.998 | 68.79 | 10.985 | 0 | 0 | -103.248 | -77.557 | 26.451 | 40.359 | 0 | -65.687 | 0 |
42 | 30.2144 | 55.54 | 71.0003 | -96.656 | 49.296 | -27.242 | -95.853 | 27.23 | -17.118 | 35.493 | -15.609 | -15 | 17.424 | -14.845 | -17.49 | 21.055 | 27.245 | 15 | -1.45 | -29.748 | 17.754 | -123.025 | 58.898 | -28.09 | 68.852 | 11.141 | 0 | -0 | -90.888 | -82.723 | 13.222 | 41.281 | 0 | -65.057 | 0 |
43 | 31.3967 | 58.1309 | 71.6163 | -103.24 | 47.318 | -31.08 | -95.62 | 28.938 | -19.671 | 28.896 | -16.322 | -15 | 20.224 | -17.973 | -19.299 | 23.089 | 23.202 | 15 | 1.064 | -29.737 | 18.382 | -128.552 | 54.879 | -32.897 | 68.721 | 10.925 | 0 | -0 | -93.011 | -81.421 | 15.518 | 45.884 | 0 | -65.011 | 0 |
44 | 32.5489 | 60.7145 | 72.2832 | -109.125 | 45.2 | -33.863 | -95.781 | 31.063 | -20.854 | 23.674 | -19.066 | -15 | 22.559 | -20.878 | -20.07 | 24.898 | 21.385 | 15 | 1.513 | -29.794 | 17.615 | -133.683 | 53.711 | -29.75 | 66.143 | 10.171 | 0 | -0 | -105.429 | -74.214 | 21.588 | 55.127 | 0 | -66.026 | 0 |
45 | 33.6722 | 63.3428 | 72.9282 | -114.716 | 43.369 | -35.771 | -96.686 | 33.177 | -21.188 | 20.626 | -17.812 | -11.745 | 24.202 | -23.454 | -20.105 | 26.573 | 19.961 | 15 | 2.378 | -29.443 | 18.193 | -140.079 | 52.723 | -43.392 | 69.716 | 10.855 | 0 | -0 | -124.723 | -52.922 | 53.534 | 66.193 | 0 | -67.751 | 0 |
46 | 34.777 | 66.0291 | 73.512 | -120.36 | 41.842 | -37.611 | -98.051 | 35.001 | -21.258 | 20.008 | -15.34 | -5.612 | 25.182 | -25.644 | -19.8 | 27.862 | 20.417 | 15 | 6.273 | -29.012 | 20.485 | -144.69 | 45.972 | -99.429 | 71.961 | 10.063 | 0 | -0 | -137.93 | -59.133 | 75.9 | 66.211 | 0 | -68.892 | 0 |
47 | 35.8731 | 68.7494 | 74.0058 | -126.324 | 40.275 | -39.949 | -99.074 | 36.365 | -21.496 | 20.961 | 1.419 | 1.523 | 25.427 | -27.184 | -19.507 | 28.62 | 22.271 | 15 | 7.607 | -28.788 | 21.327 | -148.395 | 41.143 | -13.485 | 79.475 | 8.281 | 0 | -0 | -176.998 | -64.06 | 134.234 | 65.459 | 0 | -68.639 | 0 |
48 | 36.9754 | 71.4621 | 74.2984 | -131.641 | 38.861 | -41.758 | -98.905 | 37.522 | -21.895 | 22.791 | 13.428 | 8.362 | 24.853 | -28.113 | -19.318 | 28.464 | 25.963 | 15 | 7.445 | -29.169 | 21 | -151.652 | 37.717 | 72.458 | 83.921 | 6.027 | 0 | -0 | -91.054 | -77.167 | 48.29 | 61.571 | 0 | -66.504 | 0 |
49 | 38.1153 | 74.1474 | 74.3833 | -136.449 | 37.305 | -43.108 | -97.059 | 38.714 | -22.323 | 24.042 | 25.265 | 13.606 | 23.483 | -28.651 | -19.629 | 27.124 | 30 | 15 | 8.622 | -28.997 | 20.555 | -152.1 | 32.587 | 111.916 | 84.485 | 3.753 | 0 | 0 | -5.111 | -100.799 | -37.654 | 51.894 | 0 | -62.66 | 0 |
50 | 39.3176 | 76.7953 | 74.3071 | -141.862 | 35.396 | -44.927 | -93.261 | 40.269 | -22.346 | 24.144 | 27.052 | 15 | 21.674 | -29.091 | -21.204 | 24.997 | 28.431 | 15 | 6.329 | -28.084 | 17.565 | -151.121 | 34.857 | 127.788 | 78.265 | 1.746 | 0 | -0 | -11.053 | -101.761 | -55.608 | 51.159 | 0 | -57.766 | 0 |
51 | 40.5906 | 79.3699 | 74.0487 | -146.583 | 32.928 | -46.323 | -87.663 | 42.548 | -21.137 | 22.946 | 28.32 | 15 | 19.765 | -29.478 | -24.074 | 22.053 | 29.218 | 15 | 3.462 | -27.33 | 14.169 | -150.025 | 38.535 | 150 | 69.024 | -0.055 | 0 | -0 | -65.935 | -103.552 | -11.521 | 51.921 | 0 | -52.491 | 0 |
52 | 41.8944 | 81.8301 | 73.6471 | -150.769 | 30.15 | -47.158 | -80.264 | 45.482 | -18.474 | 21.051 | 26.64 | 15 | 17.96 | -29.832 | -28.026 | 18.738 | 30 | 15 | 0.048 | -26.438 | 10.532 | -148.462 | 44.702 | 64.057 | 49.499 | -1.072 | 0 | -0 | -83.403 | -102.876 | -6.48 | 55.711 | 0 | -47.575 | 0 |
53 | 43.1623 | 84.1364 | 73.0744 | -154.528 | 28.241 | -46.783 | -71.219 | 48.746 | -14.148 | 18.745 | 28.175 | 15 | 16.278 | -30.357 | -32.317 | 15.479 | 29.306 | 15 | 0.165 | -24.455 | 9.94 | -148.762 | 45.955 | -21.887 | 55.68 | -0 | 0 | -0 | -51.228 | -101.545 | -29.33 | 58.257 | 0 | -43.213 | 0 |
54 | 44.376 | 86.2683 | 72.3603 | -158.193 | 26.889 | -45.577 | -60.663 | 51.852 | -8.22 | 16.498 | 29.355 | 15 | 14.688 | -31.21 | -36.148 | 12.438 | 28.526 | 15 | 0.53 | -22.456 | 9.208 | -146.988 | 48.211 | -89.678 | 55.149 | -0 | 0 | -0 | -41.117 | -103.475 | -39.947 | 55.897 | 0 | -39.098 | 0 |
55 | 45.5454 | 88.2232 | 71.6298 | -161.231 | 25.759 | -43.767 | -49.084 | 54.155 | -1.344 | 14.626 | 29.762 | 15 | 12.881 | -32.291 | -38.774 | 9.814 | 27.13 | 15 | 1.007 | -20.386 | 8.634 | -145.51 | 49.282 | -114.762 | 58.972 | -0 | 0 | -0 | -32.502 | -104.082 | -50.266 | 50.104 | 0 | -35.151 | 0 |
56 | 46.6496 | 90.0143 | 70.9699 | -163.609 | 24.544 | -41.879 | -37.359 | 55.286 | 5.66 | 13.045 | 29.863 | 15 | 10.569 | -33.706 | -40.11 | 7.688 | 25.411 | 15 | 1.522 | -18.398 | 8.087 | -144.306 | 50.89 | -118.581 | 57.527 | -0 | 0 | -0 | -18.977 | -106.23 | -65.637 | 41.024 | 0 | -31.462 | 0 |
57 | 47.642 | 91.6709 | 70.3589 | -166.228 | 23.605 | -40.364 | -26.556 | 55.068 | 12.199 | 11.661 | 30 | 15 | 7.364 | -35.678 | -40.73 | 6.156 | 24.386 | 15 | 0.654 | -15.377 | 6.409 | -141.659 | 56.969 | -130.625 | 41.822 | -0 | 0 | -0 | -43.712 | -92.765 | -44.428 | 35.704 | 0 | -28.128 | 0 |
58 | 48.4713 | 93.1606 | 69.7808 | -169.131 | 22.797 | -39.265 | -17.315 | 53.72 | 17.576 | 10.58 | 29.628 | 15 | 3.37 | -38.048 | -40.93 | 5.191 | 21.211 | 15 | -1.051 | -11.977 | 4.038 | -139.361 | 62.003 | -124.483 | 45.887 | -0 | 0 | -0 | -91.352 | -70.856 | -1.543 | 32.877 | 0 | -25.312 | 0 |
59 | 49.1966 | 94.4884 | 69.3588 | -172.471 | 22.072 | -38.361 | -9.803 | 51.614 | 21.067 | 9.792 | 29.58 | 15 | -1.255 | -40.537 | -41.128 | 4.478 | 19.933 | 15 | -2.092 | -8.888 | 2.524 | -138.02 | 65.515 | -64.133 | 44.505 | 0 | 0 | 0 | -114.995 | -59.125 | 20.17 | 29.158 | 0 | -23.277 | 0 |
60 | 49.9675 | 95.8032 | 69.169 | -175.682 | 21.348 | -37.274 | -3.771 | 49.155 | 22.421 | 9.234 | 28.459 | 15 | -6.504 | -42.953 | -41.429 | 4.068 | 15.585 | 15 | -2.452 | -5.894 | 1.897 | -137.784 | 68.096 | 21.811 | 37.161 | -0 | 0 | 0 | -121.917 | -54.738 | 43.853 | 18.702 | 0 | -22.167 | 0 |
61 | 50.8274 | 97.1907 | 69.1658 | -178.667 | 21.464 | -35.764 | 1.353 | 46.707 | 22.721 | 8.907 | 27.756 | 15 | -12.616 | -45.194 | -41.69 | 3.847 | 12.144 | 15 | -1.583 | -3.025 | 2.305 | -139.163 | 68.215 | 89.311 | 38.926 | -0 | 0 | -0 | -106.831 | -59.399 | 20.787 | 23.241 | 0 | -21.963 | 0 |
62 | 51.7127 | 98.5737 | 69.2972 | 178.395 | 21.905 | -33.918 | 5.92 | 44.291 | 22.179 | 8.781 | 28.458 | 15 | -19.653 | -47.108 | -41.505 | 3.849 | 8.538 | 15 | -1.281 | -0.128 | 2.546 | -141.035 | 68.612 | 3.367 | 43.28 | -0 | 0 | -0 | -108.628 | -57.454 | -6.986 | 39.152 | 0 | -22.689 | 0 |
63 | 52.6202 | 99.9317 | 69.5475 | 175.481 | 22.401 | -32.018 | 9.958 | 41.929 | 21.144 | 9.023 | 27.112 | 15 | -27.518 | -48.506 | -39.928 | 3.986 | 7.988 | 15 | -0.933 | 2.604 | 3.077 | -143.515 | 67.06 | -82.576 | 60.868 | -0 | 0 | -0 | -112.502 | -54.838 | -61.068 | 68.783 | 0 | -24.458 | 0 |
64 | 53.5785 | 101.2948 | 69.8805 | 172.526 | 23.125 | -30.189 | 13.509 | 39.734 | 20.348 | 9.196 | 30 | 15 | -35.847 | -49.331 | -36.711 | 4.254 | 10.543 | 15 | -1.033 | 5.112 | 4.139 | -147.243 | 66.191 | -3.196 | 67.417 | -0 | 0 | -0 | -115.234 | -52.632 | -93.386 | 87.802 | 0 | -27.383 | 0 |
65 | 54.5833 | 102.6735 | 70.2767 | 169.296 | 24.38 | -28.888 | 16.416 | 37.969 | 20.409 | 9.739 | 23.89 | 15 | -44.229 | -49.287 | -30.8 | 5.021 | 7.344 | 15 | -1.4 | 7.56 | 5.423 | -149.095 | 64.969 | 73.585 | 64.832 | -0 | 0 | -0 | -116.457 | -51.455 | -103.588 | 95.81 | 0 | -31.453 | 0 |
66 | 55.6236 | 104.1035 | 70.701 | 165.457 | 26.065 | -28.349 | 18.785 | 36.686 | 21.303 | 9.874 | 17.88 | 15 | -51.893 | -48.62 | -23.693 | 5.874 | 3.707 | 15 | -2.292 | 9.788 | 7.206 | -151.741 | 60.856 | 143.942 | 79.575 | -0 | 0 | -0 | -115.941 | -51.478 | -91.75 | 92.728 | 0 | -36.696 | 0 |
67 | 56.703 | 105.627 | 71.1143 | 161.108 | 28.186 | -28.65 | 20.673 | 35.931 | 23.166 | 9.541 | 15.38 | 15 | -58.392 | -47.564 | -16.756 | 6.522 | 2.543 | 15 | -3.871 | 12.045 | 9.564 | -154.341 | 57.722 | 57.998 | 79.059 | -0 | 0 | -0 | -114.41 | -52.247 | -57.366 | 78.924 | 0 | -43.283 | 0 |
68 | 57.835 | 107.2189 | 71.5037 | 155.821 | 30.299 | -29.926 | 22.138 | 35.594 | 26.413 | 8.863 | 17.487 | 15 | -63.656 | -46.532 | -11.18 | 7.113 | -2.898 | 15 | -5.831 | 14.305 | 12.292 | -157.144 | 55.537 | -27.946 | 72.412 | 0 | 0 | -0 | -111.891 | -53.951 | -0.176 | 54.546 | 0 | -50.976 | 0 |
69 | 59.0123 | 108.8184 | 71.8379 | 150.23 | 32.254 | -31.523 | 22.729 | 34.613 | 27.394 | 8.232 | 14.766 | 15 | -68.002 | -45.685 | -7.5 | 7.617 | 0.184 | 15 | -7.641 | 16.567 | 15.044 | -159.375 | 51.182 | -90.305 | 57.22 | 0 | 0 | -0 | -110.282 | -55.936 | 20.628 | 38.597 | 0 | -59.121 | 0 |
70 | 60.2397 | 110.4121 | 72.0603 | 144.526 | 34.152 | -33.409 | 20.894 | 34.494 | 44.017 | 8.184 | 17.922 | 15 | -71.654 | -45.055 | -5.853 | 8.095 | 3.188 | 15 | -9.234 | 18.857 | 17.644 | -161.366 | 45.808 | -106.262 | 58.872 | 0 | 0 | 0.316 | -111.851 | -56.609 | 51.565 | 46.415 | 0 | -66.646 | 0 |
71 | 61.5808 | 112.0068 | 72.1478 | 138.867 | 36.099 | -35.576 | 21.624 | 31.677 | 35.008 | 6.711 | 24.533 | 15 | -74.751 | -44.417 | -5.231 | 8.538 | 8.011 | 15 | -10.157 | 21.201 | 19.698 | -161.528 | 39.768 | -132.288 | 71.463 | 0 | 0 | 0.28 | -114.037 | -56.764 | 50.779 | 63.931 | 0 | -72.308 | 0 |
72 | 63.0418 | 113.611 | 72.1122 | 133.055 | 37.867 | -37.551 | 26.016 | 26.277 | 20.835 | 3.539 | 19.087 | 15 | -77.243 | -43.536 | -4.789 | 9.174 | 15.237 | 15 | -10.535 | 23.33 | 21.372 | -161.178 | 36.036 | -136.497 | 73.514 | 0 | 0 | -0.324 | -114.415 | -57.284 | 59.893 | 71.034 | 0 | -75.084 | 0 |
73 | 64.5906 | 115.2036 | 71.9199 | 127.231 | 39.693 | -39.277 | 28.519 | 21.921 | -31.273 | 1.404 | 8.003 | 15 | -79.153 | -42.107 | -3.201 | 10.795 | 13.185 | 15 | -10.078 | 25.422 | 22.536 | -158.395 | 34.204 | -133.976 | 70.162 | -0 | 0 | -1.399 | -113.944 | -58.291 | 63.849 | 75.056 | 0 | -74.432 | 0 |
74 | 66.1824 | 116.7635 | 71.5269 | 121.166 | 41.827 | -41.359 | 27.076 | 19.235 | -117.216 | 0.56 | 7.171 | 15 | -80.361 | -40.486 | -1.801 | 13.519 | 4.204 | 15 | -9.115 | 27.122 | 23.271 | -155.017 | 32.384 | -119.031 | 64.77 | -0 | 0 | -2.845 | -111.752 | -59.673 | 61.858 | 76.311 | 0 | -70.497 | 0 |
75 | 67.7987 | 118.3223 | 70.9378 | 114.774 | 44.111 | -44.001 | 28.494 | 15.299 | -31.273 | -1.295 | -2.914 | 15 | -80.978 | -38.511 | -0.464 | 17.579 | -7.734 | 15 | -7.583 | 28.389 | 23.632 | -151.95 | 30.9 | -76.168 | 67.026 | 0 | 0 | -4.609 | -108.002 | -61.392 | 53.389 | 74.438 | 0 | -63.95 | 0 |
76 | 69.5098 | 119.9364 | 70.1641 | 107.412 | 46.071 | -47.63 | 27.342 | 13.398 | 54.671 | -1.986 | -3.525 | 15 | -81.048 | -36.212 | 0.348 | 22.941 | -22.69 | 15 | -5.288 | 29.161 | 23.595 | -149.549 | 28.812 | 2.042 | 85.316 | 0 | 0 | -6.525 | -102.81 | -63.611 | 38.878 | 69.63 | 0 | -55.439 | 0 |
77 | 71.3379 | 121.6044 | 69.2364 | 100.162 | 47.675 | -50.966 | 23.037 | 12.765 | 78.715 | -1.088 | -4.718 | 15 | -80.953 | -33.533 | 0.567 | 29.306 | -29.824 | 15 | -2.392 | 29.453 | 23.28 | -147.21 | 26.318 | 18.32 | 91.589 | 0.001 | 0 | -8.308 | -96.481 | -66.038 | 17.97 | 61.47 | 0 | -45.597 | 0 |
78 | 73.1673 | 123.2978 | 68.1933 | 93.101 | 49.811 | -54.843 | 15.755 | 14.006 | 69.294 | 0.995 | 4.8 | 15 | -80.753 | -30.426 | -0.079 | 35.889 | -39.672 | 15 | 0.648 | 29.562 | 22.83 | -144.985 | 27.835 | 27.564 | 87.635 | 0.001 | 0 | -9.719 | -92.38 | -66.677 | 24.383 | 67.868 | 0 | -34.912 | 0 |
79 | 74.9484 | 125.0055 | 67.1746 | 85.867 | 52.035 | -59.166 | 11.073 | 12.849 | 56.76 | 1.596 | 15.709 | 15 | -80.514 | -26.972 | -1.291 | 41.76 | -43.231 | 15 | 4.387 | 29.628 | 21.873 | -140.385 | 31.624 | 41.578 | 79.759 | 0.002 | 0 | -11.312 | -87.403 | -67.648 | 21.132 | 69.017 | 0 | -24.197 | 0 |
80 | 76.7418 | 126.7032 | 66.3394 | 78.741 | 53.917 | -63.477 | 8.071 | 10.441 | 61.542 | 0.986 | 19.697 | 15 | -80.166 | -23.291 | -2.801 | 46.418 | -47.203 | 15 | 7.994 | 29.565 | 21.122 | -137.675 | 36.421 | -4.419 | 49.336 | 0.002 | 0 | -12.822 | -83.716 | -67.902 | 16.249 | 70.687 | 0 | -14.047 | 0 |
81 | 78.4868 | 128.3289 | 65.7967 | 71.701 | 55.383 | -67.802 | 1.903 | 9.074 | 41.338 | 1.694 | 19.824 | 15 | -79.735 | -19.742 | -4.509 | 49.154 | -34.824 | 15 | 11.604 | 29.549 | 20.499 | -133.453 | 42.263 | -63.102 | 14.155 | 0.001 | 0 | -13.971 | -80.525 | -68.334 | 12.986 | 71.721 | 0 | -5.017 | 0 |
82 | 80.0905 | 129.8722 | 65.536 | 64.974 | 56.395 | -72.224 | -5.518 | 7.888 | 11.326 | 2.543 | 22.356 | 15 | -79.144 | -16.654 | -6.42 | 50.612 | -28.578 | 15 | 14.935 | 29.492 | 20.024 | -126.607 | 45.119 | -104.12 | -15.425 | 0.001 | 0 | -14.697 | -76.778 | -68.48 | -9.408 | 71.681 | 0 | 2.068 | 0 |
83 | 81.5195 | 131.3493 | 65.5449 | 58.647 | 56.796 | -76.796 | -7.824 | 4.608 | 23.425 | 1.337 | 14.539 | 15 | -78.473 | -14.139 | -8.154 | 51.392 | -24.465 | 15 | 17.322 | 29.437 | 20.142 | -118.635 | 45.542 | -111.789 | -27.995 | 0.001 | 0 | -15.074 | -76.322 | -69.213 | 3.945 | 75.064 | 0 | 6.613 | 0 |
84 | 82.805 | 132.7821 | 65.8082 | 52.432 | 56.474 | -81.2 | -11.166 | 3.109 | 21.943 | 0.952 | 5.961 | 15 | -77.868 | -12.22 | -9.631 | 52.357 | -25.892 | 15 | 18.724 | 29.355 | 20.817 | -109.959 | 42.481 | -86.364 | -19.361 | 0.197 | 0 | -15.164 | -75.187 | -70.502 | 14.551 | 77.328 | 0 | 8.481 | 0 |
85 | 83.9872 | 134.1737 | 66.2634 | 46.68 | 55.439 | -84.817 | -13.725 | 2.562 | 22.132 | 0.879 | 0.733 | 15 | -77.642 | -10.983 | -11.086 | 54.103 | -28.143 | 15 | 18.558 | 29.332 | 22.209 | -100.156 | 40.426 | -89.329 | -24.155 | 1.235 | 0 | -15.067 | -74.076 | -71.53 | 21.595 | 78.492 | 0 | 7.397 | 0 |
86 | 85.0507 | 135.4721 | 66.7942 | 42.008 | 53.883 | -87.486 | -15.368 | 2.847 | 23.333 | 0.873 | -0.688 | 15 | -77.773 | -10.433 | -12.641 | 56.721 | -33.833 | 15 | 17.607 | 29.471 | 23.708 | -92.275 | 35.564 | -77.683 | 1.098 | 0.093 | 0 | -15 | -70.781 | -73.1 | 25.978 | 78.137 | 0 | 3.686 | 0 |
87 | 86.0469 | 136.6893 | 67.2471 | 37.952 | 52.146 | -89.195 | -16.115 | 3.744 | 25.263 | 0.713 | 2.744 | 15 | -78.11 | -10.63 | -14.331 | 59.846 | -39.139 | 15 | 15.66 | 29.562 | 25.416 | -83.71 | 32.46 | -30.608 | 16.61 | -2.58 | 0 | -15 | -66.909 | -74.811 | 29.864 | 76.931 | 0 | -1.886 | 0 |
88 | 87.0103 | 137.8524 | 67.5699 | 34.505 | 50.234 | -89.94 | -16.07 | 5.082 | 27.688 | 0.453 | 10.769 | 15 | -78.278 | -11.427 | -16.217 | 62.874 | -46.178 | 15 | 13.201 | 29.35 | 27.034 | -79.074 | 26.881 | 19.564 | 38.919 | -6.133 | 0 | -15 | -61.805 | -75.44 | 22.959 | 74.972 | 0 | -8.021 | 0 |
89 | 87.9074 | 138.9408 | 67.8384 | 31.799 | 48.051 | -89.934 | -15.533 | 6.488 | 29.309 | 0.759 | 6.776 | 15 | -77.858 | -12.637 | -18.394 | 64.717 | -40.766 | 15 | 10.891 | 28.751 | 28.14 | -73.412 | 23.086 | 105.508 | 57.415 | -9.918 | 0 | -15 | -55.644 | -75.717 | 11.142 | 72.462 | 0 | -13.711 | 0 |
90 | 88.7411 | 139.954 | 68.1002 | 29.766 | 45.784 | -89.425 | -14.485 | 8.108 | 31.347 | 0.624 | 18.426 | 15 | -76.665 | -14.071 | -20.853 | 65.32 | -32.096 | 15 | 8.734 | 27.789 | 28.906 | -66.847 | 21.72 | 19.564 | 57.51 | -13.285 | 0 | -15 | -49.863 | -74.835 | -12.316 | 70.751 | 0 | -18.33 | 0 |
91 | 89.5147 | 140.9015 | 68.3674 | 27.802 | 43.67 | -88.66 | -13.11 | 9.624 | 33.263 | 0.775 | 20.497 | 15 | -74.768 | -15.562 | -23.42 | 64.92 | -26.347 | 15 | 7.138 | 26.543 | 29.258 | -61.125 | 19.814 | 105.508 | 69.974 | -15.585 | 0 | -15 | -46.568 | -73.888 | -1.531 | 73.641 | 0 | -21.507 | 0 |
92 | 90.2477 | 141.7998 | 68.6451 | 26.316 | 41.601 | -87.715 | -11.632 | 10.841 | 34.412 | 1.19 | 14.443 | 15 | -72.488 | -16.934 | -25.921 | 63.996 | -27.007 | 15 | 5.909 | 25.083 | 29.505 | -54.569 | 20.662 | 19.564 | 60.742 | -16.168 | 0 | -15 | -42.708 | -72.637 | -1.765 | 75.641 | 0 | -23.262 | 0 |
93 | 90.9676 | 142.6668 | 68.9376 | 24.914 | 39.61 | -86.776 | -10.211 | 11.753 | 34.933 | 1.548 | 13.773 | 15 | -70.319 | -18.191 | -28.205 | 62.99 | -25.943 | 15 | 5.339 | 23.718 | 29.47 | -49.102 | 21.187 | 105.508 | 59.581 | -15 | 0 | -15 | -38.86 | -70.999 | -6.175 | 77.505 | 0 | -24.28 | 0 |
94 | 91.6902 | 143.5132 | 69.2534 | 23.719 | 37.791 | -85.695 | -8.798 | 12.291 | 34.727 | 1.812 | 10.002 | 15 | -68.415 | -19.365 | -30.232 | 62.235 | -29.489 | 15 | 5.402 | 22.62 | 29.149 | -44.92 | 20.79 | 32.648 | 71.602 | -15 | 0 | -15 | -35.103 | -69.529 | -15.439 | 78.992 | 0 | -24.92 | 0 |
95 | 92.4123 | 144.3426 | 69.6045 | 22.675 | 36.134 | -84.445 | -7.42 | 12.584 | 34.388 | 1.754 | 12.616 | 15 | -66.811 | -20.542 | -31.983 | 61.831 | -38.304 | 15 | 5.353 | 21.721 | 28.981 | -39.767 | 22.998 | 35.337 | 61.22 | -15 | 0 | -15 | -32.586 | -68.283 | -20.794 | 80.249 | 0 | -25.337 | 0 |
96 | 93.1301 | 145.1618 | 69.989 | 21.808 | 34.601 | -83.061 | -6.019 | 12.973 | 35.063 | 1.987 | 3.777 | 15 | -65.354 | -21.755 | -33.64 | 61.213 | -36.83 | 15 | 5.566 | 21.078 | 28.457 | -35.856 | 23.907 | 11.797 | 66.213 | -15 | 0 | -15 | -30.751 | -66.336 | -36.518 | 80.673 | 0 | -25.787 | 0 |
97 | 93.8445 | 145.9725 | 70.3864 | 20.937 | 33.106 | -81.587 | -4.739 | 13.375 | 36.034 | 2.087 | 2.975 | 15 | -63.849 | -22.974 | -35.265 | 60.304 | -30.06 | 15 | 5.633 | 20.635 | 27.838 | -31.44 | 26.538 | -10.222 | 54.766 | -15.029 | 0 | -15 | -30.091 | -65.506 | -37.057 | 81.805 | 0 | -26.585 | 0 |
98 | 94.5518 | 146.7758 | 70.7884 | 20.072 | 31.653 | -79.978 | -3.581 | 13.889 | 37.316 | 2.311 | 5.685 | 15 | -62.18 | -24.102 | -36.883 | 59.022 | -20.376 | 15 | 5.509 | 20.262 | 27.217 | -27.088 | 30.074 | -47.558 | 36.17 | -14.982 | 0 | -15 | -30.179 | -64.832 | -32.983 | 82.707 | 0 | -27.791 | 0 |
99 | 95.2216 | 147.5893 | 71.1984 | 19.265 | 30.142 | -78.317 | -2.504 | 14.448 | 38.73 | 2.584 | 3.402 | 15 | -60.305 | -25.106 | -38.46 | 57.701 | -19.901 | 15 | 5.445 | 19.9 | 26.55 | -24.299 | 31.867 | -49.198 | 36.059 | -14.943 | 0 | -15 | -30.182 | -64.227 | -26.303 | 83.066 | 0 | -29.359 | 0 |
End of preview. Expand in Data Studio
ZEST G1 Cartwheel Motion Library (SONIC motion_lib format)
Derived dataset: the ZEST G1 cartwheel reference
(reference_motions_g1/23_cartwheel.h5, Zenodo 10.5281/zenodo.21135719,
CC-BY-4.0), converted to the SONIC / GEAR-SONIC motion_lib pickle format
for motion-imitation training on the Unitree G1.
Contents
| File | Description |
|---|---|
zest_motions.pkl |
Both motion entries (zest_cartwheel_core, zest_cartwheel_full) |
motions_zest_cartwheel_full.pkl |
Full cartwheel — 353 samples @ 50 Hz, ~7.1 s, ~2.0 m travel |
motions_zest_cartwheel_core.pkl |
Core flip clip — 140 samples @ 50 Hz, 2.8 s |
zest_cartwheel_full.csv / zest_cartwheel_core.csv |
Bones-SEED flat CSV (cm/deg) intermediate |
motion_lib keys per entry: root_trans_offset, pose_aa, dof,
root_rot, smpl_joints, fps (50).
Provenance
- Source: ZEST (Zenodo 21135719), manuscript aec7695 — a G1 cartwheel reference associated with ZEST's hardware-evaluated cartwheel experiments (Table 1: MAE(q) = 0.078 rad, multi-contact = yes).
- Conversion (
convert_zest.py): 120 Hz → 50 Hz quaternion resampling; root pose taken directly from the HDF5 pelvis (yaw-normalized, XY zeroed at frame 0). The ZEST poses were converted into the SONIC MJCF convention with per-frame optimization (position IK) because the ZEST URDF and the SONIC MJCF use different joint conventions; the 6 wrist DOFs are handled separately (fixed to the reference values, fitted sign for the right wrist yaw) because of URDF/MJCF hand frame differences. - FK-reconstruction QC vs. the raw reference: full — mean 1.0 cm / p95 5.1 cm; core — mean 1.4 cm / p95 8.8 cm.
- Known residual: 25–33 cm wrist link-frame difference between the ZEST URDF and the SONIC MJCF under hand support (frame convention; not alignable by joint-space values).
Attribution
- ZEST dataset — CC-BY-4.0, DOI 10.5281/zenodo.21135719 ("ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control", Science Robotics aec7695).
- SONIC / GEAR-SONIC — NVIDIA (
github.com/NVlabs/GR00T-WholeBodyControl). - Motion Data by Bones Studio.
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