Problem: Once upon a time in the galaxy of far, far away...

Darth Wader found out the location of a rebels' base. Now he is going to destroy the base (and the whole planet that the base is located at), using the Death Star.

When the rebels learnt that the Death Star was coming, they decided to use their new secret weapon — space mines. Let's describe a space mine's build.

Each space mine is shaped like a ball (we'll call it the mine body) of a certain radius r with the center in the point O. Several spikes protrude from the center. Each spike can be represented as a segment, connecting the center of the mine with some point P, such that <image> (transporting long-spiked mines is problematic), where |OP| is the length of the segment connecting O and P. It is convenient to describe the point P by a vector p such that P = O + p.

The Death Star is shaped like a ball with the radius of R (R exceeds any mine's radius). It moves at a constant speed along the v vector at the speed equal to |v|. At the moment the rebels noticed the Star of Death, it was located in the point A.

The rebels located n space mines along the Death Star's way. You may regard the mines as being idle. The Death Star does not know about the mines' existence and cannot notice them, which is why it doesn't change the direction of its movement. As soon as the Star of Death touched the mine (its body or one of the spikes), the mine bursts and destroys the Star of Death. A touching is the situation when there is a point in space which belongs both to the mine and to the Death Star. It is considered that Death Star will not be destroyed if it can move infinitely long time without touching the mines.

Help the rebels determine whether they will succeed in destroying the Death Star using space mines or not. If they will succeed, determine the moment of time when it will happen (starting from the moment the Death Star was noticed).

Input

The first input data line contains 7 integers Ax, Ay, Az, vx, vy, vz, R. They are the Death Star's initial position, the direction of its movement, and its radius ( - 10 ≤ vx, vy, vz ≤ 10, |v| > 0, 0 < R ≤ 100).

The second line contains an integer n, which is the number of mines (1 ≤ n ≤ 100). Then follow n data blocks, the i-th of them describes the i-th mine.

The first line of each block contains 5 integers Oix, Oiy, Oiz, ri, mi, which are the coordinates of the mine centre, the radius of its body and the number of spikes (0 < ri < 100, 0 ≤ mi ≤ 10). Then follow mi lines, describing the spikes of the i-th mine, where the j-th of them describes the i-th spike and contains 3 integers pijx, pijy, pijz — the coordinates of the vector where the given spike is directed (<image>).

The coordinates of the mines' centers and the center of the Death Star are integers, their absolute value does not exceed 10000. It is guaranteed that R > ri for any 1 ≤ i ≤ n. For any mines i ≠ j the following inequality if fulfilled: <image>. Initially the Death Star and the mines do not have common points.

Output

If the rebels will succeed in stopping the Death Star using space mines, print the time from the moment the Death Star was noticed to the blast.

If the Death Star will not touch a mine, print "-1" (without quotes).

For the answer the absolute or relative error of 10 - 6 is acceptable.

Examples

Input

0 0 0 1 0 0 5
2
10 8 0 2 2
0 -3 0
2 2 0
20 0 0 4 3
2 4 0
-4 3 0
1 -5 0


Output

10.0000000000

Input

8 8 4 4 4 2 6
1
-2 -2 -1 3 0


Output

-1

Input

30 30 2 1 2 1 20
3
0 0 40 5 1
1 4 4
-10 -40 -5 7 0
100 200 95 8 1
-10 0 0


Output

74.6757620881

Solution (in CPP):

Solution:
#include <bits/stdc++.h>
using namespace std;
typedef long long int64;
typedef unsigned long long uint64;
const double pi = acos(-1.0);
const double eps = 1e-11;
template <class T>
inline void checkmin(T &a, T b) {
  if (b < a) a = b;
}
template <class T>
inline void checkmax(T &a, T b) {
  if (b > a) a = b;
}
template <class T>
inline T sqr(T x) {
  return x * x;
}
typedef pair<int, int> ipair;
template <class T>
inline T lowbit(T n) {
  return (n ^ (n - 1)) & n;
}
template <class T>
inline int countbit(T n) {
  return (n == 0) ? 0 : (1 + countbit(n & (n - 1)));
}
template <class T>
inline T gcd(T a, T b) {
  if (a < 0) return gcd(-a, b);
  if (b < 0) return gcd(a, -b);
  return (b == 0) ? a : gcd(b, a % b);
}
template <class T>
inline T lcm(T a, T b) {
  if (a < 0) return lcm(-a, b);
  if (b < 0) return lcm(a, -b);
  return a * (b / gcd(a, b));
}
template <class T>
inline T euclide(T a, T b, T &x, T &y) {
  if (a < 0) {
    T d = euclide(-a, b, x, y);
    x = -x;
    return d;
  }
  if (b < 0) {
    T d = euclide(a, -b, x, y);
    y = -y;
    return d;
  }
  if (b == 0) {
    x = 1;
    y = 0;
    return a;
  } else {
    T d = euclide(b, a % b, x, y);
    T t = x;
    x = y;
    y = t - (a / b) * y;
    return d;
  }
}
template <class T>
inline vector<pair<T, int> > factorize(T n) {
  vector<pair<T, int> > R;
  for (T i = 2; n > 1;) {
    if (n % i == 0) {
      int C = 0;
      for (; n % i == 0; C++, n /= i)
        ;
      R.push_back(make_pair(i, C));
    }
    i++;
    if (i > n / i) i = n;
  }
  if (n > 1) R.push_back(make_pair(n, 1));
  return R;
}
template <class T>
inline bool isPrimeNumber(T n) {
  if (n <= 1) return false;
  for (T i = 2; i * i <= n; i++)
    if (n % i == 0) return false;
  return true;
}
template <class T>
inline T eularFunction(T n) {
  vector<pair<T, int> > R = factorize(n);
  T r = n;
  for (int i = 0; i < R.size(); i++) r = r / R[i].first * (R[i].first - 1);
  return r;
}
const int MaxMatrixSize = 40;
template <class T>
inline void showMatrix(int n, T A[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++) {
    for (int j = 0; j < n; j++) cout << A[i][j];
    cout << endl;
  }
}
template <class T>
inline T checkMod(T n, T m) {
  return (n % m + m) % m;
}
template <class T>
inline void identityMatrix(int n, T A[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++) A[i][j] = (i == j) ? 1 : 0;
}
template <class T>
inline void addMatrix(int n, T C[MaxMatrixSize][MaxMatrixSize],
                      T A[MaxMatrixSize][MaxMatrixSize],
                      T B[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++) C[i][j] = A[i][j] + B[i][j];
}
template <class T>
inline void subMatrix(int n, T C[MaxMatrixSize][MaxMatrixSize],
                      T A[MaxMatrixSize][MaxMatrixSize],
                      T B[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++) C[i][j] = A[i][j] - B[i][j];
}
template <class T>
inline void mulMatrix(int n, T C[MaxMatrixSize][MaxMatrixSize],
                      T _A[MaxMatrixSize][MaxMatrixSize],
                      T _B[MaxMatrixSize][MaxMatrixSize]) {
  T A[MaxMatrixSize][MaxMatrixSize], B[MaxMatrixSize][MaxMatrixSize];
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++)
      A[i][j] = _A[i][j], B[i][j] = _B[i][j], C[i][j] = 0;
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++)
      for (int k = 0; k < n; k++) C[i][j] += A[i][k] * B[k][j];
}
template <class T>
inline void addModMatrix(int n, T m, T C[MaxMatrixSize][MaxMatrixSize],
                         T A[MaxMatrixSize][MaxMatrixSize],
                         T B[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++) C[i][j] = checkMod(A[i][j] + B[i][j], m);
}
template <class T>
inline void subModMatrix(int n, T m, T C[MaxMatrixSize][MaxMatrixSize],
                         T A[MaxMatrixSize][MaxMatrixSize],
                         T B[MaxMatrixSize][MaxMatrixSize]) {
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++) C[i][j] = checkMod(A[i][j] - B[i][j], m);
}
template <class T>
inline T multiplyMod(T a, T b, T m) {
  return (T)((((int64)(a) * (int64)(b) % (int64)(m)) + (int64)(m)) %
             (int64)(m));
}
template <class T>
inline void mulModMatrix(int n, T m, T C[MaxMatrixSize][MaxMatrixSize],
                         T _A[MaxMatrixSize][MaxMatrixSize],
                         T _B[MaxMatrixSize][MaxMatrixSize]) {
  T A[MaxMatrixSize][MaxMatrixSize], B[MaxMatrixSize][MaxMatrixSize];
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++)
      A[i][j] = _A[i][j], B[i][j] = _B[i][j], C[i][j] = 0;
  for (int i = 0; i < n; i++)
    for (int j = 0; j < n; j++)
      for (int k = 0; k < n; k++)
        C[i][j] = (C[i][j] + multiplyMod(A[i][k], B[k][j], m)) % m;
}
template <class T>
inline T powerMod(T p, int e, T m) {
  if (e == 0)
    return 1 % m;
  else if (e % 2 == 0) {
    T t = powerMod(p, e / 2, m);
    return multiplyMod(t, t, m);
  } else
    return multiplyMod(powerMod(p, e - 1, m), p, m);
}
double dist(double x1, double y1, double x2, double y2) {
  return sqrt(sqr(x1 - x2) + sqr(y1 - y2));
}
double distR(double x1, double y1, double x2, double y2) {
  return sqr(x1 - x2) + sqr(y1 - y2);
}
template <class T>
T cross(T x0, T y0, T x1, T y1, T x2, T y2) {
  return (x1 - x0) * (y2 - y0) - (x2 - x0) * (y1 - y0);
}
int crossOper(double x0, double y0, double x1, double y1, double x2,
              double y2) {
  double t = (x1 - x0) * (y2 - y0) - (x2 - x0) * (y1 - y0);
  if (fabs(t) <= eps) return 0;
  return (t < 0) ? -1 : 1;
}
bool isIntersect(double x1, double y1, double x2, double y2, double x3,
                 double y3, double x4, double y4) {
  return crossOper(x1, y1, x2, y2, x3, y3) * crossOper(x1, y1, x2, y2, x4, y4) <
             0 &&
         crossOper(x3, y3, x4, y4, x1, y1) * crossOper(x3, y3, x4, y4, x2, y2) <
             0;
}
bool isMiddle(double s, double m, double t) {
  return fabs(s - m) <= eps || fabs(t - m) <= eps || (s < m) != (t < m);
}
bool isUpperCase(char c) { return c >= 'A' && c <= 'Z'; }
bool isLowerCase(char c) { return c >= 'a' && c <= 'z'; }
bool isLetter(char c) { return c >= 'A' && c <= 'Z' || c >= 'a' && c <= 'z'; }
bool isDigit(char c) { return c >= '0' && c <= '9'; }
char toLowerCase(char c) { return (isUpperCase(c)) ? (c + 32) : c; }
char toUpperCase(char c) { return (isLowerCase(c)) ? (c - 32) : c; }
template <class T>
string toString(T n) {
  ostringstream ost;
  ost << n;
  ost.flush();
  return ost.str();
}
int toInt(string s) {
  int r = 0;
  istringstream sin(s);
  sin >> r;
  return r;
}
int64 toInt64(string s) {
  int64 r = 0;
  istringstream sin(s);
  sin >> r;
  return r;
}
double toDouble(string s) {
  double r = 0;
  istringstream sin(s);
  sin >> r;
  return r;
}
template <class T>
void stoa(string s, int &n, T A[]) {
  n = 0;
  istringstream sin(s);
  for (T v; sin >> v; A[n++] = v)
    ;
}
template <class T>
void atos(int n, T A[], string &s) {
  ostringstream sout;
  for (int i = 0; i < n; i++) {
    if (i > 0) sout << ' ';
    sout << A[i];
  }
  s = sout.str();
}
template <class T>
void atov(int n, T A[], vector<T> &vi) {
  vi.clear();
  for (int i = 0; i < n; i++) vi.push_back(A[i]);
}
template <class T>
void vtoa(vector<T> vi, int &n, T A[]) {
  n = vi.size();
  for (int i = 0; i < n; i++) A[i] = vi[i];
}
template <class T>
void stov(string s, vector<T> &vi) {
  vi.clear();
  istringstream sin(s);
  for (T v; sin >> v; vi.push_bakc(v))
    ;
}
template <class T>
void vtos(vector<T> vi, string &s) {
  ostringstream sout;
  for (int i = 0; i < vi.size(); i++) {
    if (i > 0) sout << ' ';
    sout << vi[i];
  }
  s = sout.str();
}
template <class T>
struct Fraction {
  T a, b;
  Fraction(T a = 0, T b = 1);
  string toString();
};
template <class T>
Fraction<T>::Fraction(T a, T b) {
  T d = gcd(a, b);
  a /= d;
  b /= d;
  if (b < 0) a = -a, b = -b;
  this->a = a;
  this->b = b;
}
template <class T>
string Fraction<T>::toString() {
  ostringstream sout;
  sout << a << "/" << b;
  return sout.str();
}
template <class T>
Fraction<T> operator+(Fraction<T> p, Fraction<T> q) {
  return Fraction<T>(p.a * q.b + q.a * p.b, p.b * q.b);
}
template <class T>
Fraction<T> operator-(Fraction<T> p, Fraction<T> q) {
  return Fraction<T>(p.a * q.b - q.a * p.b, p.b * q.b);
}
template <class T>
Fraction<T> operator*(Fraction<T> p, Fraction<T> q) {
  return Fraction<T>(p.a * q.a, p.b * q.b);
}
template <class T>
Fraction<T> operator/(Fraction<T> p, Fraction<T> q) {
  return Fraction<T>(p.a * q.b, p.b * q.a);
}
class Point {
 public:
  int64 x, y, z;
  Point(int64 _x = 0, int64 _y = 0, int64 _z = 0) {
    x = _x;
    y = _y;
    z = _z;
  }
  void readin() {
    int a, b, c;
    scanf("%d%d%d", &a, &b, &c);
    x = a;
    y = b;
    z = c;
  }
};
Point operator+(const Point &a, const Point &b) {
  return Point(a.x + b.x, a.y + b.y, a.z + b.z);
}
Point operator-(const Point &a, const Point &b) {
  return Point(a.x - b.x, a.y - b.y, a.z - b.z);
}
Point A, V;
int R;
double solve1(Point A, Point V, int64 R, Point O, int64 r) {
  R += r;
  A = A - O;
  int64 a = sqr(V.x) + sqr(V.y) + sqr(V.z);
  int64 b = 2 * A.x * V.x + 2 * A.y * V.y + 2 * A.z * V.z;
  int64 c = sqr(A.x) + sqr(A.y) + sqr(A.z) - sqr(R);
  int64 delta = b * b - 4 * a * c;
  if (delta < 0) return 1e100;
  double v1 = (-(double)b + sqrt((double)delta)) / (2.0 * (double)a);
  double v2 = (-(double)b - sqrt((double)delta)) / (2.0 * (double)a);
  if (v1 >= 0 && v2 >= 0) return min(v1, v2);
  if (v1 >= 0) return v1;
  if (v2 >= 0) return v2;
  return 1e100;
}
int main() {
  A.readin();
  V.readin();
  scanf("%d", &R);
  double result = 1e100;
  int n;
  for (scanf("%d", &n); n > 0; n--) {
    int r, m;
    Point O;
    O.readin();
    scanf("%d%d", &r, &m);
    checkmin(result, solve1(A, V, R, O, r));
    for (; m > 0; m--) {
      Point D;
      D.readin();
      D = D + O;
      checkmin(result, solve1(A, V, R, D, 0));
    }
  }
  if (result > 1e99)
    printf("-1\n");
  else
    printf("%.18lf\n", result);
  return 0;
}