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c6_p005_e026,1,True,0.12420845031738281,0.4499979019165039,0.0007032096162930448 c8_p005_e027,2,True,0.1080465316772461,0.45000267028808594,-0.006253133050362751,0.01195100484305214,-8.828521427401341,plate_24_clear,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.2987661431626888,964.3091411348972,rect,0.3637846819434889,-0.3027976996083892,2.600158213870678,5647.953525989911,3752.3414899926092,sphere,0.47890092811550655,0.6645563960329095,2.747595978329964,9160.901036858093,6271.283985829963,0.047753676772117615,0.0009215090540237725,-0.033274080604314804,-0.27981841564178467,0.643842339515686,0.6592641472816467,-0.2693314552307129,0.05532155930995941,0.6036698222160339,1.9566147327423096,0.04148520529270172,0.0027820647228509188,0.2616593837738037,0.9642642736434937,1166,1,,2.0539166927337646,0.32911810129389535,0.0,0.007289060857146978,0.5377358490566038,12,release,0.042224109172821045,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p007_e024,0,True,-0.058585166931152344,0.45000648498535156,0.00986488422030971,0.008999831782552294,-7.8135520264857234,deep_well_96_2ml,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.21026630046830283,799.5477675748211,rect,-0.5086328781027043,0.5184652263861032,3.0390110308949465,8562.11613661611,6765.860996925574,sphere,-1.4697706563762982,-0.5002668839233555,1.8641039139471896,1559.6118324388144,5032.301412298206,0.047827571630477905,-0.0013089448912069201,-0.029303446412086487,-0.26965996623039246,0.6478961706161499,0.6586691737174988,-0.2714202404022217,0.06817594170570374,0.5904936194419861,1.9729605913162231,0.029684878885746002,0.007961899042129517,0.2656182646751404,0.9635882377624512,1223,1,,2.121485948562622,0.24815002925023352,0.0,0.007507943548262119,0.5233033524121014,12,release,0.04238605499267578,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p007_e025,1,True,0.06359577178955078,0.45000362396240234,-0.005122127505731296,-0.011471246126881718,7.521999870058039,plate_96_white,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.21568016955947095,799.5477675748211,rect,0.2822704036437693,-0.05352079343877225,2.7898500997589113,9452.038272915259,3583.6835524397156,disk,0.27380034079985793,-0.5218410689583652,1.9720520032490427,8405.09626038709,7189.133429459555,0.04981029033660889,-0.0004223491996526718,-0.028964662924408913,-0.2771185636520386,0.6564218401908875,0.6370086669921875,-0.29416951537132263,0.045440010726451874,0.600202739238739,1.9736453294754028,0.037246737629175186,0.012381874956190586,0.26468393206596375,0.9635360836982727,1236,1,,2.0890729427337646,0.29220928571375415,0.0,0.0073096053674817085,0.5258899676375405,12,release,0.042279601097106934,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False 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+c1_p005_e010,1,True,0.006320953369140625,0.4499979019165039,-0.009025238670206884,0.011813419744819377,7.669180024644334,pcr_384_red,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.2996215616518847,1021.8214918910802,rect,0.17118124701517468,0.29702076675651556,2.7075125237016398,8568.774181865807,6538.89461132969,sphere,0.33525842269365147,-0.30315176777559016,2.6088507646301453,2029.5673558462236,3180.040501622358,0.050829511135816574,0.0007161230896599591,-0.030102062970399857,-0.28190046548843384,0.6527999639511108,0.639438271522522,-0.2924090325832367,0.0418672114610672,0.5890949964523315,1.9428508281707764,0.040728285908699036,0.012439277023077011,0.273885577917099,0.9608190059661865,1317,1,,2.0705487728118896,0.26997904287156077,0.0,0.006830247119069099,0.5337889141989369,12,release,0.0420914888381958,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p005_e011,3,True,0.047478675842285156,0.4499988555908203,-0.013259560194997681,0.007182725886666769,-7.381236529270126,plate_384_white,0.4740161895751953,0.06911849975585938,-89.43864623708913,0.286532805523184,1021.8214918910802,rect,0.7413029537438068,-0.029542612571013982,3.0475999885086265,6896.965578140716,5506.75841406072,sphere,1.4493637408647606,1.3042607236704666,2.3922578328679656,5433.591752375526,5148.848941952239,0.048902083188295364,0.0017453847685828805,-0.028971679508686066,-0.2735615670681,0.6516034603118896,0.6417195200920105,-0.29794806241989136,0.058807991445064545,0.580011785030365,1.9726120233535767,0.04031377285718918,0.000463068310637027,0.2851822078227997,0.9576250314712524,1231,1,,2.105541706085205,0.31680107961982196,0.0,0.007417171262204647,0.511779041429732,12,release,0.04226219654083252,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e024,1,True,0.11493396759033203,0.45000457763671875,0.0071202819110614945,-0.010549778262198224,8.99378553382175,plate_12_clear,0.5104236602783203,0.09545230865478516,-93.25554149054526,0.18435982860647518,1114.442224871615,rect,0.16551952617926147,0.5000567703453471,2.900390228230598,13042.860703556325,4392.6669379918385,disk,-0.27457662224420165,0.6114552773684006,2.301983190383522,10444.6199503576,6797.91401331142,0.04952183738350868,-0.0004392311384435743,-0.032651111483573914,-0.2779626250267029,0.6482477188110352,0.655522882938385,-0.26981738209724426,0.029874162748456,0.6022632122039795,1.9395252466201782,0.04824364185333252,-0.00019213263294659555,0.2627274692058563,0.9636632204055786,1184,1,,2.1069655418395996,0.32802518688168236,0.0,0.007317866198718548,0.543918918918919,12,release,0.042725563049316406,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e025,2,True,0.1493511199951172,0.45000267028808594,-0.011621256412223415,0.007027657923868443,-2.9268359843071607,plate_1536_black,0.5135993957519531,0.10516643524169922,-87.88800592830745,0.18517182805295493,1226.7791743595474,rect,0.2255166325926562,-0.2722778283332418,3.0208287455184726,12706.718594344198,5370.688574488491,sphere,0.5276725787322736,-0.2820817900271593,2.471010363689014,4145.900770729412,5047.938283690963,0.04638904333114624,0.00021689373534172773,-0.029849983751773834,-0.28904256224632263,0.6442544460296631,0.6528082489967346,-0.2742844223976135,0.05181759595870972,0.5975970029830933,1.9547837972640991,0.030750950798392296,0.012266730889678001,0.2812857925891876,0.9590527415275574,1156,1,,2.11189341545105,0.32109425671779973,0.0,0.00734323263168335,0.5493079584775087,12,release,0.042329609394073486,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e026,3,True,-0.14400482177734375,0.4500007629394531,0.006864243419265575,0.0035625599696827324,0.918905091069746,plate_384_white,0.4724998474121094,0.052265167236328125,-92.16766996430009,0.21827907887769044,1114.442224871615,rect,-0.2918631792946099,0.07722732357515516,2.7963564295746326,5399.710369391367,4959.604924252266,sphere,-0.18215384179264804,0.6812775181818918,2.2894378329834595,7591.861186300439,5197.937032642969,0.048471760004758835,-0.002005247166380286,-0.030739661306142807,-0.28249043226242065,0.6374312043190002,0.6680893301963806,-0.25987929105758667,0.07273004204034805,0.5634656548500061,1.973833441734314,0.05695744976401329,0.016540654003620148,0.27031758427619934,0.9609425663948059,1234,1,,2.0731637477874756,0.319696516231027,0.0,0.007435937412083149,0.5129659643435981,12,release,0.04239124059677124,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e027,0,True,0.043976783752441406,0.45000171661376953,0.006791296748990818,-0.0025133939380929957,-0.9124826186533426,pcr_96_blue,0.4996671676635742,0.1175851821899414,-89.63538658672277,0.18244530668239428,1226.7791743595474,rect,-0.42463817686215705,0.4574138671764304,2.6624179370140384,14125.255830567648,4324.987468141707,sphere,-1.0478659178591598,-0.2059423254533007,2.2989868346528564,2837.838917546307,4276.979311388921,0.04612213373184204,-0.001759131671860814,-0.03287668153643608,-0.28032928705215454,0.6453904509544373,0.6536034941673279,-0.27872759103775024,0.05376455560326576,0.5985037088394165,1.949241042137146,0.04881938919425011,0.02091272361576557,0.27800726890563965,0.9591096043586731,1190,1,,2.0619404315948486,0.2579469078012929,0.0,0.006877481937408447,0.5453781512605042,12,release,0.042148709297180176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p005_e020,0,True,-0.13286495208740234,0.4499988555908203,-0.0116334823490478,0.009814725434137191,9.25453412108746,plate_96_black,0.5093593597412109,0.1066446304321289,-90.2537113813263,0.28489872716578846,1261.129694675141,rect,0.14445379616605603,-0.20371513226581311,2.9409906229536587,5594.519099441873,4377.375906794405,disk,0.9551492197188747,-0.9101358522077847,2.1475208406820814,4230.562608054853,5066.586567945222,0.05206744745373726,0.001830082735978067,-0.030636457726359367,-0.28435996174812317,0.6470383405685425,0.6449148654937744,-0.29080161452293396,0.039405204355716705,0.5936681628227234,1.9335761070251465,0.04795662313699722,0.002582894405350089,0.26512640714645386,0.9630168676376343,1231,1,,2.0880331993103027,0.3094114215313582,0.0,0.007291100919246674,0.5150284321689683,12,release,0.04257559776306152,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False 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+c4_p005_e025,0,True,-0.1369485855102539,0.4499969482421875,-0.013351003366367128,-0.010564402774987427,0.7794713646057403,deep_well_96_2ml,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.20944690236276203,727.6383773278563,rect,0.2808687551746366,-0.39422124084959403,2.977270805638156,13981.215881228902,5107.108695072913,sphere,0.8163034011748498,-1.0394661450657074,1.6513806811037175,2514.576042539214,2817.7773439904026,0.050935789942741394,-0.0003272067115176469,-0.028082210570573807,-0.28126126527786255,0.6492099761962891,0.6501957774162292,-0.2768826186656952,0.030000021681189537,0.5725184082984924,1.9429740905761719,0.024864425882697105,-0.00033186477958224714,0.25390326976776123,0.9669098854064941,1249,1,,2.030719518661499,0.31368099938694693,0.0,0.007503179833292961,0.5028022417934348,12,release,0.04226642847061157,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p005_e000,3,True,-0.1034698486328125,0.44729042053222656,0.011272631187707388,-0.009366341108825282,1.4892237055181283,reservoir_12ch,0.5050344467163086,0.06483745574951172,-86.25063902752741,0.1816245668036729,618.3223056527382,rect,0.5517668880367582,-0.3018625607065957,3.1834025835287125,6121.60467153918,4158.952300493388,disk,-0.15723029195960048,1.1735009667221366,2.399374396266867,8528.512977183796,5128.580607913693,0.04853815212845802,-0.0015998240560293198,-0.028445269912481308,-0.2888353765010834,0.64466392993927,0.6521309614181519,-0.2751504182815552,0.026898093521595,0.5600309371948242,1.9611343145370483,0.03931345045566559,-0.0037975648883730173,0.25526854395866394,0.9660631418228149,1185,1,,2.081380844116211,0.29952267464695204,0.0,0.007441556081175804,0.5375527426160338,12,release,0.04232943058013916,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p005_e001,0,True,-0.057007789611816406,0.4499979019165039,0.006225660660258253,-0.00837988070503662,-2.8896606557502764,deep_well_96_2ml,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.20174530217770875,618.3223056527382,rect,0.7402233456444883,-0.2441661279486957,3.055012500516506,12729.561991227996,5141.18193802327,sphere,1.7350425970318186,-1.045325629609158,2.5265779836312405,9008.708041954409,5539.692625307267,0.05173595994710922,0.003088158555328846,-0.028741421177983284,-0.26959121227264404,0.659027636051178,0.6437336802482605,-0.28037482500076294,0.039391323924064636,0.5920029282569885,1.9722280502319336,0.05218543857336044,0.019409839063882828,0.27229830622673035,0.9606006145477295,1255,1,,2.0984103679656982,0.3195516383744127,0.0,0.007493605837225914,0.5553784860557769,12,release,0.04320710897445679,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p005_e002,1,True,-0.0916748046875,0.450042724609375,0.012883795785341429,-0.008248826535490694,-2.4767681644513573,plate_12_clear,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.21842496981467685,618.3223056527382,rect,0.668460364004391,0.19467465752651858,2.8586371603278877,14621.666838213365,3530.1222843529063,sphere,0.8567748519260903,-1.0709052992152983,2.7080882521437424,8176.5422796764215,4291.562338190459,0.05175897479057312,0.0013752927770838141,-0.03200891986489296,-0.2692197263240814,0.6469415426254272,0.6550426483154297,-0.2826773226261139,0.07461559027433395,0.6047395467758179,1.956297755241394,0.046331990510225296,0.006460212636739016,0.2588479518890381,0.9647846221923828,1207,1,,2.0536956787109375,0.28227549429241205,0.0,0.0073691923171281815,0.5252692626346314,12,release,0.04241514205932617,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p005_e003,2,True,-0.012994766235351562,0.44745922088623047,-0.013268986190001997,0.009143433503599143,6.929342082704608,plate_24_clear,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.2034911737189809,618.3223056527382,rect,0.1485659263139677,0.4532929433105577,3.061128162750712,15988.738234588025,4738.462255082117,sphere,0.9821903639297638,-0.758173715799779,2.0189786926981665,9746.15811853069,3597.008647749072,0.050078921020030975,-0.001698045525699854,-0.03425968065857887,-0.28164830803871155,0.6512407660484314,0.653379499912262,-0.26392224431037903,0.04753855615854263,0.5693977475166321,1.9691200256347656,0.03932248428463936,0.013327439315617085,0.2650744318962097,0.9633336067199707,1305,1,,2.0571296215057373,0.29911874617879197,0.0,0.00732456985861063,0.5402298850574713,12,release,0.04233598709106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p005_e027,0,True,0.06893062591552734,0.4499979019165039,-0.015296278728876171,0.011788937368552691,-5.442081775116407,plate_6_clear,0.4748668670654297,0.09039306640625,-92.62509431410274,0.21742076508700742,607.0246978666105,rect,0.4901588043834494,0.44883969471671437,2.8047892236009684,13168.309484269146,6382.421238755029,disk,0.9044506012528362,-0.5925264058898598,2.5551739046874555,9933.720414942038,6352.226550872558,0.04957271367311478,-0.003279870143160224,-0.028661251068115234,-0.2801991403102875,0.651468813419342,0.6479377150535583,-0.2779451906681061,0.07429845631122589,0.5770654082298279,1.9310661554336548,0.05418500676751137,0.020340943709015846,0.28701382875442505,0.9561764001846313,1191,1,,2.0448555946350098,0.2858156414445813,0.0,0.007382575422525406,0.5331654072208228,12,release,0.042215824127197266,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e020,3,True,0.06003284454345703,0.4499988555908203,-0.009863701123310633,-0.009628451954052267,-10.761554126616033,plate_384_white,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.19225261305431934,691.109321798567,rect,0.27138982773249476,0.5855983785340326,2.7511524816104016,8746.080593439528,4319.026886741085,disk,-1.1836148089915235,0.9542354303501106,1.909957946130259,4459.419870851236,3785.8682200727612,0.04875471070408821,-0.0029434962198138237,-0.02587858773767948,-0.2700038254261017,0.6582081317901611,0.6375749111175537,-0.2955642640590668,0.043184634298086166,0.5897755026817322,1.9734755754470825,0.048134978860616684,0.012218836694955826,0.278592973947525,0.9591244459152222,1166,1,,2.1348063945770264,0.2615191760423329,0.0,0.0073797875083982944,0.5471698113207547,12,release,0.04212719202041626,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e021,1,True,-0.07054710388183594,0.44762420654296875,-0.01059128677125923,0.006216464149498439,-5.552892234300572,pcr_384_red,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.2766754703314591,691.109321798567,rect,-0.08563229800978889,-0.42176654690717663,2.7132887257326512,11974.026415028111,6396.228961086735,disk,0.15716636857552602,1.4490012289207461,1.7177274909767117,10121.920050718167,4411.594133948917,0.04772581160068512,0.0007809899980202317,-0.030163642019033432,-0.2705065906047821,0.6452561020851135,0.6581616401672363,-0.2780180871486664,0.03968052193522453,0.5928353071212769,1.946350336074829,0.04993235319852829,-0.004400182049721479,0.2868276834487915,0.9566698670387268,1212,1,,2.107130289077759,0.3134006930830602,0.0,0.006792676635086536,0.5264026402640264,12,release,0.04215669631958008,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e022,0,True,0.0928955078125,0.45000171661376953,0.010423882711887256,-0.002869751862824306,7.647987452246781,plate_6_clear,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.23201841959851469,691.109321798567,rect,0.8293740615038346,0.2533762419200114,3.0394309006564577,15647.49748118273,6601.813772151001,disk,-0.3270647269639624,0.8656364372412593,1.9838234095741463,4157.0989485229575,7440.530898170913,0.04700697958469391,0.0011599315330386162,-0.03247326612472534,-0.27818045020103455,0.6569948792457581,0.6487464308738708,-0.26476678252220154,0.07131876796483994,0.574134349822998,1.9454991817474365,0.04630403593182564,-0.005155585706233978,0.26064857840538025,0.9643089175224304,1286,1,,2.0741372108459473,0.2896030964127139,0.0,0.007340293377637863,0.5031104199066874,12,release,0.04216575622558594,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e023,2,True,-0.03562164306640625,0.44743919372558594,0.0010814712476275644,0.005823424401548515,4.447203426174809,deep_well_24_10ml,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.22600951721105283,691.109321798567,rect,-0.4374881081775576,-0.14795350288116282,3.1746194098224523,4240.005687375429,3243.560732877562,disk,-0.8013469637557944,0.21944557456503921,1.897893056119845,10444.917484110969,4791.193512412032,0.05096954479813576,-0.0026498588267713785,-0.030085494741797447,-0.27475810050964355,0.6460139155387878,0.6582583785057068,-0.27179017663002014,0.07400520890951157,0.603518545627594,1.931268572807312,0.034539900720119476,0.01679973304271698,0.27877262234687805,0.9595887660980225,1349,1,,2.0325896739959717,0.2712984698768584,0.0,0.00753247132524848,0.5218680504077094,12,release,0.04302048683166504,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p005_e028,3,True,0.03641319274902344,0.4472484588623047,-0.005334271567007675,-0.0026964739331762546,10.153889947480536,reservoir_12ch,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.1703490077888689,964.3091411348972,rect,0.024591803187871908,-0.33449444935804057,3.1501336944926996,6524.917189747927,6690.546010389289,sphere,1.4784224543183115,0.4926376950459228,2.3988443595005977,3666.4116003929807,6840.306710006309,0.04918172210454941,0.003598474897444248,-0.029778584837913513,-0.2824867069721222,0.6505572199821472,0.6450721621513367,-0.2843562662601471,0.03209527209401131,0.5708281397819519,1.9555944204330444,0.02562747336924076,0.005970753729343414,0.26590418815612793,0.9636402726173401,1267,1,,2.0368597507476807,0.28320047263102605,0.0,0.0074370624497532845,0.5082872928176796,12,release,0.042218923568725586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p005_e029,1,True,-0.09077167510986328,0.45000267028808594,-0.0015749179558825416,0.011478368968742601,-3.0412082286620716,pcr_384_red,0.5099220275878906,0.11313915252685547,-93.78635380310023,0.2013803302494222,1084.7960396186072,rect,-0.3003049656023648,-0.2967419599144274,2.882411339791803,10970.787728491276,7073.677092504245,disk,-1.3476262903385603,0.7706001524387591,2.1610704141486985,5251.005405143882,5170.087952510628,0.05118211358785629,0.004883016925305128,-0.032191354781389236,-0.28276464343070984,0.6590216159820557,0.6439387202262878,-0.26660391688346863,0.06723789125680923,0.5727653503417969,1.9682055711746216,0.023507853969931602,0.01069373358041048,0.27948108315467834,0.9598038196563721,1187,1,,2.0911872386932373,0.34223122734450045,0.0,0.006820182781666517,0.5349620893007582,12,release,0.04230785369873047,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p007_e026,3,True,0.12164974212646484,0.44724082946777344,0.007292362567161843,0.0034269180781038356,0.6495874109245392,plate_48_clear,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.18271240439707112,799.5477675748211,rect,-0.4051030933575241,-0.460371421676757,2.8290223725570374,10737.636345168445,6903.170690423289,sphere,0.11124286632449465,0.21381618588933837,2.5125374439163517,2835.559903236874,4705.52281617482,0.053305208683013916,-0.00043741846457123756,-0.02642754837870598,-0.28563183546066284,0.6494975686073303,0.6471033692359924,-0.2789706289768219,0.05218426138162613,0.5981662273406982,1.9568854570388794,0.06203299015760422,0.02404455468058586,0.26950791478157043,0.9606972932815552,1239,1,,2.1705849170684814,0.25820642130423127,0.0,0.007290326990187168,0.5157384987893463,12,release,0.04216182231903076,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p007_e027,2,True,0.008739471435546875,0.45002269744873047,0.01413390228662724,0.0009185589407247826,-10.371468517763333,plate_1536_black,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2703510177988475,799.5477675748211,rect,0.8607564108399158,0.5854567178525083,3.1034963831037743,10654.013873067437,5613.212388123746,disk,-0.23488959377461338,0.43743651681586226,2.054759434179343,6452.442975607694,3325.677308389143,0.04969487339258194,0.0026459088549017906,-0.03082103468477726,-0.2809440791606903,0.6514174938201904,0.6418222188949585,-0.2911870777606964,0.06790804117918015,0.5807461738586426,1.9423021078109741,0.05535236746072769,0.008622240275144577,0.2733074128627777,0.9602941274642944,1273,1,,2.0791001319885254,0.2705104598148876,0.0,0.007382623851299286,0.5553809897879026,12,release,0.04233896732330322,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False