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+c5_p012_e018,1,True,0.03021717071533203,0.4500007629394531,-0.0017071126450235042,-0.0011395874528314098,2.4377200837020325,plate_12_clear,0.5245914459228516,0.1290273666381836,-93.62455683547671,0.23680311627419814,1330.490303227348,rect,-0.2931962406564037,0.3535730854072565,2.9414861531045258,15596.828356803308,4788.565146663826,sphere,-0.9869471034366524,-0.7285123249442411,2.778014131947372,7044.328116311759,5082.642343678157,0.051538627594709396,-0.0036722125951200724,-0.02995784766972065,-0.27656081318855286,0.6448085308074951,0.6605658531188965,-0.26718682050704956,0.07359866797924042,0.5629090666770935,1.9528815746307373,0.05240229517221451,0.020801836624741554,0.28193968534469604,0.9577741622924805,1238,1,,2.056089401245117,0.33110711126981757,0.0,0.007360939867794514,0.5258481421647819,12,release,0.04214942455291748,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p012_e019,2,True,-0.055896759033203125,0.44727134704589844,0.007466961351708752,0.0005930040399620419,-8.69630082688252,plate_24_clear,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.25854898050861114,1330.490303227348,rect,0.6753045613115832,-0.400107632978449,2.7513817794388076,12081.355392393434,4905.8672056922305,disk,-0.1255854432446024,1.5005031755018183,1.7047400515954085,8421.762322953835,3726.3451070696237,0.052441731095314026,0.002580811735242605,-0.029892470687627792,-0.29080715775489807,0.6444956064224243,0.6544203758239746,-0.2679376006126404,0.07045145332813263,0.5739859342575073,1.9613226652145386,0.04812963679432869,0.01988695003092289,0.27614179253578186,0.9597050547599792,1337,1,,2.0718727111816406,0.33475614145023364,0.0,0.007288430817425251,0.5243081525804039,12,release,0.042786240577697754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p013_e012,3,True,0.06518936157226562,0.44747066497802734,0.00996089310789868,0.0020510362784291105,-3.9831390997350127,plate_48_clear,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.2613215454265247,1570.9163655884233,rect,-0.29980777455608,0.41761381265657804,3.188052057009748,8659.275335164897,5600.8846811805815,disk,0.43922931600675863,-1.1847163455706544,1.9514348298913544,9782.97841222604,6225.247789184248,0.05418820679187775,0.0030369104351848364,-0.025781219825148582,-0.2758999466896057,0.6573004722595215,0.640541672706604,-0.285554975271225,0.03511133790016174,0.5819004774093628,1.9323327541351318,0.049091119319200516,-0.0056858547031879425,0.28453871607780457,0.9573898911476135,1228,1,,2.080493927001953,0.2553310276096769,0.0,0.007325070910155773,0.5260586319218241,12,release,0.04248452186584473,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p013_e013,1,True,-0.134765625,0.4474000930786133,0.01120751866151058,-0.0066012758688913445,-1.8488124927510796,deep_well_96_1ml,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.20804639042074183,1570.9163655884233,rect,-0.15301291542566803,0.24355856457935432,2.9516990858652914,4369.1569839817175,4537.5044229688465,sphere,0.09333920188234335,-0.6005312434452942,2.066555405192229,2357.8205319621757,5342.688371244774,0.048328109085559845,0.002227267948910594,-0.029138565063476562,-0.27734747529029846,0.6556786298751831,0.64357990026474,-0.2810139060020447,0.03252706304192543,0.5654532313346863,1.9311078786849976,0.037210769951343536,0.007230290677398443,0.2645634710788727,0.9636229872703552,1177,1,,2.0760064125061035,0.3247800787587795,0.0,0.00743352435529232,0.5352591333899746,12,release,0.042365312576293945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p013_e014,2,True,0.13349151611328125,0.45000171661376953,0.005811073784820944,-0.010217475437584457,7.920605692465301,plate_24_clear,0.478240966796875,0.061928749084472656,-94.39775395472809,0.23276786864398957,1570.9163655884233,rect,0.5214684726699194,0.46981402443387243,2.8527718153295702,14249.36337752033,6955.428800612215,disk,-1.4721255696552502,1.5330650600999525,2.3038083379625194,5197.968145229598,2824.2496210656677,0.05002642050385475,-0.004285657778382301,-0.028057176619768143,-0.2701351046562195,0.6599861979484558,0.6462587118148804,-0.2716522216796875,0.026798438280820847,0.5600183010101318,1.9406999349594116,0.03131885826587677,-0.0034817152190953493,0.27329733967781067,0.9614133238792419,1167,1,,2.0441439151763916,0.28863882440918204,0.0,0.007338939234614372,0.5475578406169666,12,release,0.04235324263572693,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e004,0,True,0.13433837890625,0.4500007629394531,-0.012097291272909256,0.009738052212566628,-2.6919647669458584,pcr_96_blue,0.5013265609741211,0.12685012817382812,-86.2240741152387,0.1708910780224714,1273.5169290234012,rect,-0.3767866468179568,-0.3659830561574364,2.6624933044901846,12744.977046693468,5539.563530646898,sphere,-1.486899011877652,-0.49856395641715257,2.123292012142603,5551.717032640665,7249.850590900164,0.04960854724049568,0.0011571780778467655,-0.03313571214675903,-0.2701086103916168,0.6570609211921692,0.6422754526138306,-0.2877403497695923,0.04784604534506798,0.5590873956680298,1.949991226196289,0.0348224900662899,-4.198050191916991e-06,0.25604674220085144,0.9660369753837585,1199,1,,2.095280647277832,0.2745663988691264,0.0,0.006855003535747528,0.5329441201000834,12,release,0.04215967655181885,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e005,1,True,-0.09496593475341797,0.4472980499267578,-0.00887349261680431,0.008406166118266526,1.7459795046517286,plate_96_white,0.4789695739746094,0.08251476287841797,-93.08367378637153,0.17635052758985043,1273.5169290234012,rect,0.5488905119029878,0.5759641757396474,3.0044500378877403,13740.421741444212,6606.839821361624,sphere,-1.4136440136976334,-0.47985127984954046,1.6873148278027512,3509.5603707509053,4566.1833181924785,0.04906001314520836,0.005442645866423845,-0.028798270970582962,-0.2682824432849884,0.6582309007644653,0.646864116191864,-0.2762669324874878,0.050246670842170715,0.6015951633453369,1.9486098289489746,0.053631339222192764,0.01260395534336567,0.2706727385520935,0.9610937237739563,1186,1,,2.0773141384124756,0.2724220525464874,0.0,0.007257498800754547,0.5337268128161888,12,release,0.04241514205932617,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e006,2,True,0.06877803802490234,0.4499959945678711,-0.01146921107804577,0.00836709469069409,4.237580265205253,plate_1536_black,0.4706087112426758,0.09150505065917969,-88.49097733404378,0.15807640416054006,1273.5169290234012,rect,0.023797590289854287,0.37545244395358235,2.7097656151424063,15820.76156009051,4882.6247370142555,sphere,1.3333092919167484,1.4270117665831419,2.5418217099330676,5776.063342927742,3258.6960422597117,0.047899533063173294,0.0026471943128854036,-0.030398817732930183,-0.28250357508659363,0.6419408917427063,0.6490663886070251,-0.29464632272720337,0.07410217076539993,0.5591429471969604,1.9539633989334106,0.02845371700823307,0.01949138194322586,0.2806577980518341,0.9591880440711975,1259,1,,2.109140396118164,0.3351094651506465,0.0,0.007373804692178965,0.5091342335186656,12,release,0.04232203960418701,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e007,3,True,-0.07799816131591797,0.45000362396240234,0.0006482757761186346,0.006587050430430782,9.164563217694251,plate_48_clear,0.5025548934936523,0.05330467224121094,-93.69862331648446,0.1940843320695609,1273.5169290234012,rect,0.8931442330906548,0.4132057407361377,2.6979187518617826,10131.997030743509,3790.1795172604584,sphere,-0.3333350927404408,0.675566317135893,2.638842597574754,5570.942430164221,7490.937244097785,0.049958016723394394,-5.210628660279326e-05,-0.029798394069075584,-0.28156957030296326,0.6436571478843689,0.6600470542907715,-0.266011118888855,0.07058996707201004,0.5823483467102051,1.9363234043121338,0.03743774816393852,0.005208443384617567,0.2657428979873657,0.9633026719093323,1296,1,,2.1315226554870605,0.26149992970944475,0.0,0.007346603088080883,0.5378086419753086,12,release,0.043096065521240234,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p014_e024,3,True,0.1488637924194336,0.45001697540283203,-0.005846495559650792,-0.004140414682768918,-10.833144937218805,plate_48_clear,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.22055750446020117,975.1069382128369,rect,0.4568372241215549,-0.3089913432812346,3.002245634044572,10565.73094078464,4749.5532057580085,disk,0.26237704949715335,1.0517587049976143,2.0980884693683484,7344.236541733476,5896.116412373338,0.05323856323957443,0.0021296655759215355,-0.030230294913053513,-0.2789227068424225,0.6461992263793945,0.6578071713447571,-0.2681761384010315,0.0412435345351696,0.5952051877975464,1.9302873611450195,0.02818954363465309,0.02816486917436123,0.27420657873153687,0.960844874382019,1229,1,,2.141897201538086,0.2676264984524459,0.0,0.007290257140994072,0.5215622457282343,12,release,0.04244983196258545,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p014_e025,2,True,0.06262683868408203,0.45000362396240234,0.00538103418244017,-0.005426960291419937,-3.138370328718935,plate_24_clear,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.29504504393360104,1274.8244538731308,rect,0.10568399865761346,0.2590406054913844,2.8376357072710836,13681.141574475589,4785.526014398743,disk,-0.22461651347871525,0.6496825554724144,2.5665013528428604,2275.3974068188477,7022.257971044204,0.05178423970937729,0.0038859411142766476,-0.034718647599220276,-0.28636977076530457,0.6406618356704712,0.6550041437149048,-0.28020402789115906,0.02967854030430317,0.5790970325469971,1.9353783130645752,0.05337877571582794,0.01104156393557787,0.25694403052330017,0.9648878574371338,1204,1,,2.106894016265869,0.27754461834646643,0.0,0.0073252334259450436,0.5299003322259136,12,release,0.0421137809753418,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p014_e026,0,True,0.14851760864257812,0.45000171661376953,0.013631790050200562,-0.007711908817134647,-10.811875864352714,plate_96_black,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.18955559666385555,1274.8244538731308,rect,0.6257292982103914,-0.3459218130798283,2.8475487042247813,8061.111036650122,6476.007233927501,disk,0.3083484950295847,-0.6170505704402707,2.2695958998441728,7598.993558301873,5465.294264862473,0.04846436530351639,-0.0010214158101007342,-0.03399014472961426,-0.26817619800567627,0.6527246236801147,0.6495377421379089,-0.28307750821113586,0.056720882654190063,0.578140377998352,1.9317820072174072,0.042454641312360764,-0.002828975673764944,0.26965561509132385,0.9620163440704346,1192,1,,2.098451614379883,0.28821626615132784,0.0,0.00729089742526412,0.5385906040268457,12,release,0.04239529371261597,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p014_e027,1,True,0.05276679992675781,0.45000267028808594,-0.01307992009504842,0.007606030282517998,9.226585470878035,pcr_384_red,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.153678295594321,1274.8244538731308,rect,0.22618671369672516,0.28422692331893573,2.6740312362496175,14294.118758258812,6334.80889739488,disk,-0.6027695114761457,-0.1852463944905658,2.382354120944115,6570.490271141541,5726.841765418627,0.05173679068684578,0.0026492569595575333,-0.026675991714000702,-0.2833288013935089,0.6529356837272644,0.6395515203475952,-0.2904714047908783,0.04409433901309967,0.5743475556373596,1.9506474733352661,0.03179033100605011,0.007597454357892275,0.2546965181827545,0.9664685130119324,1230,1,,2.089179754257202,0.294835526846931,0.0,0.006785777863115072,0.5211382113821138,12,release,0.04233193397521973,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p018_e032,2,True,0.03401374816894531,0.45000648498535156,0.003171183084499018,-0.0020443427414023572,-3.4964445955999395,deep_well_24_10ml,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.1502186778781793,1473.3548871302257,rect,-0.5294658984005154,-0.3835921993490634,2.975018864365756,6839.429970207512,5631.057985547772,sphere,1.3662069343821033,0.8764793782121514,1.9504223740111626,1836.8007180624295,4833.6146130211455,0.05114176496863365,-0.00034684163983911276,-0.02807408571243286,-0.2724195420742035,0.6594893932342529,0.6412904858589172,-0.2821485102176666,0.057495780289173126,0.6004728078842163,1.9709868431091309,0.05532928183674812,0.025146495550870895,0.26563531160354614,0.9621559977531433,1224,1,,2.083479404449463,0.31525254874383823,0.0,0.007542173378169537,0.5196078431372549,12,release,0.04240494966506958,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p018_e033,3,True,-0.1445608139038086,0.4477043151855469,-0.0027782267994574525,-0.006668827105602585,-0.7178624737424002,plate_96_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1522714130567747,454.286189730691,rect,0.37780376974798113,0.14691319909807887,2.892457314303679,11578.885528745663,6892.933725116376,sphere,1.2678448042902475,0.9065027844209788,1.6701805322366121,2144.683413330443,6414.475586833796,0.04898242652416229,-0.0016461907653138041,-0.029540641233325005,-0.282090425491333,0.6480063796043396,0.651344358921051,-0.276157945394516,0.03465459123253822,0.5942968726158142,1.953905463218689,0.03796248883008957,0.01573789119720459,0.287416011095047,0.9569238424301147,1253,1,,2.027423620223999,0.3017903034831671,0.0,0.007308031432330608,0.5498802873104549,12,release,0.04223811626434326,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p018_e034,0,True,-0.046459197998046875,0.44740772247314453,0.008791624351230857,-0.010154086361871886,-4.684851318278561,plate_96_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.28649075105524835,454.286189730691,rect,0.09311649862230287,0.021665281674004166,2.6980785719781193,12317.162569093949,7195.827130684485,sphere,0.8941130712253882,-0.7521223507669637,1.8024951770819542,3036.4818842069317,7426.894585148972,0.04553152620792389,0.002579647349193692,-0.03309977427124977,-0.2777390778064728,0.6469305157661438,0.6482844352722168,-0.28994688391685486,0.07273048907518387,0.5658019781112671,1.9459025859832764,0.041434645652770996,0.01784856617450714,0.28758808970451355,0.9566910266876221,1281,1,,2.1324586868286133,0.26672066232824837,0.0,0.007305563427507877,0.5472287275565965,12,release,0.04286932945251465,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p018_e035,1,True,0.057403564453125,0.45000171661376953,-0.006207464817289265,-0.010789467024375835,6.1701469542323935,deep_well_96_1ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26835865024876493,454.286189730691,rect,-0.4844660848616037,0.24223277850418734,2.9570725140279714,10401.952928168057,3858.5580382805515,sphere,-1.0762229613882144,0.06258150319893052,2.554123671844051,5594.579112403488,5318.152702880894,0.05166541412472725,0.0022626440040767193,-0.02956104464828968,-0.27372467517852783,0.6499009132385254,0.6546043753623962,-0.2723907232284546,0.04823418706655502,0.6034977436065674,1.9478213787078857,0.0259334035217762,0.009051459841430187,0.2818179428577423,0.9590746164321899,1253,1,,2.065178394317627,0.32664847185549084,0.0,0.007470802403986454,0.5147645650438947,12,release,0.04221463203430176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False