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+c4_p016_e026,0,True,-0.14651870727539062,0.45000171661376953,-0.002577431291781998,0.0054342024558411035,3.186023153031556,plate_6_clear,0.4817361831665039,0.11155509948730469,-85.32433135693418,0.17044787264052588,402.38506868478254,rect,0.5666250809802024,0.24148467918224892,2.672303374090025,8432.319891206507,5257.967934539003,sphere,-0.8883995036868647,0.39561329910748544,2.188653987493967,6634.728625117547,3506.8034223335185,0.051139526069164276,0.0018241808284074068,-0.02893964573740959,-0.28760379552841187,0.6511418223381042,0.6434420347213745,-0.28156837821006775,0.06321745365858078,0.5639289021492004,1.9585062265396118,0.02159895747900009,0.0018546287901699543,0.27746832370758057,0.9604901671409607,1316,1,,2.0569534301757812,0.26559091193471385,0.0,0.007379376329481602,0.526595744680851,12,release,0.04217362403869629,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p016_e027,3,True,-0.022995948791503906,0.4473905563354492,-0.005554110076651751,-0.0018481553158117773,0.081234705678213,plate_96_clear,0.47423839569091797,0.06496906280517578,-87.8337007184409,0.27548745501445143,402.38506868478254,rect,0.009303667648242975,0.3574647840671523,2.7677646679499484,8590.899810489318,5822.423681157623,sphere,-0.6885255868676067,0.9888339025552695,2.277679705739488,5989.8830669393865,4645.649221671066,0.04887736961245537,-0.002939200261607766,-0.029710760340094566,-0.27634939551353455,0.6578903794288635,0.6481143832206726,-0.2660055458545685,0.05355905741453171,0.5672983527183533,1.9602506160736084,0.05708197504281998,0.017799727618694305,0.2638857066631317,0.9626988768577576,1324,1,,2.097879409790039,0.2820183699874749,0.0,0.007256357930600643,0.5302114803625377,12,release,0.04317522048950195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p017_e019,0,True,0.12747478485107422,0.4499988555908203,0.00775225828593407,0.010892028412568873,10.411389414660533,pcr_96_blue,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.19688718487959164,1477.6587393451427,rect,-0.4778748085471612,0.22682968552748584,2.9844132254784004,15864.352776441356,3301.4300139837346,disk,0.07246963373341986,1.4854499442156575,2.1520183751886632,4822.211643258203,6822.101632177867,0.047463275492191315,-0.003746982431039214,-0.02995714545249939,-0.2753363847732544,0.6443819403648376,0.658301055431366,-0.27495723962783813,0.0415993295609951,0.5691513419151306,1.9688584804534912,0.032927658408880234,0.0028506270609796047,0.2590300738811493,0.9653035998344421,1299,1,,2.0863025188446045,0.2738562918830058,0.0,0.006853012368083,0.49345650500384913,12,release,0.04215109348297119,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False