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+c3_p002_e037,2,True,-0.07324504852294922,0.4476127624511719,0.0048563754695170784,-0.005012011574359552,-4.15120492122432,plate_384_black,0.48330020904541016,0.09565353393554688,-90.8017142586604,0.2941723417055497,363.5027951953751,rect,0.06731080036472681,0.425914205567808,2.60434750444141,12756.347447969014,5056.8987748363215,disk,0.6738759124923348,1.4270885334295993,1.7141257843941622,4054.620269616792,4210.6795521681815,0.05224226415157318,0.0004900378407910466,-0.028842134401202202,-0.2809949517250061,0.6502810716629028,0.6410292387008667,-0.29539433121681213,0.04766964539885521,0.5985108613967896,1.9293147325515747,0.043881963938474655,0.0091064078733325,0.25591737031936646,0.9656592011451721,1246,1,,2.069215774536133,0.27880374459677604,0.0,0.007416534703224897,0.5120385232744783,12,release,0.042101502418518066,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c3_p002_e038,3,True,-0.09798336029052734,0.4499969482421875,-0.001836760171274394,0.0020351559389100706,-9.437316882576312,plate_96_clear,0.5093593597412109,0.1066446304321289,-90.2537113813263,0.2977495071523699,363.5027951953751,rect,-0.5878713321047543,0.3765712151631375,2.656768205395851,12918.4631418374,5792.914330416223,disk,0.25426732258020857,0.08837299058759451,2.500769207287052,2095.710979333412,7397.176047492802,0.05018039420247078,0.002043534070253372,-0.029762141406536102,-0.26923999190330505,0.6499199271202087,0.6507014632225037,-0.2858346998691559,0.0722062960267067,0.5602121949195862,1.9302127361297607,0.03946986049413681,-0.005361026152968407,0.27387720346450806,0.9609394669532776,1190,1,,2.019284248352051,0.3293247094268206,0.0,0.007234056014567614,0.5336134453781513,12,release,0.04221045970916748,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c4_p002_e032,2,True,-0.005085945129394531,0.44750308990478516,0.009814640342548659,0.007780355568192822,7.712073918114243,plate_24_clear,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.19858790734385384,429.72184313811806,rect,-0.5072812352024849,0.535617262123046,3.016058787139375,15629.363806090756,4462.957628438491,disk,-1.52953306421081,-0.6843821621463352,2.2680799766963995,3472.0554827326623,5937.737266785813,0.049828317016363144,-0.0054590655490756035,-0.02765601873397827,-0.28615260124206543,0.6398888826370239,0.6576086282730103,-0.27606111764907837,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1272,1,,2.131096124649048,0.2774799924249551,0.0,0.007290453650057316,0.5542452830188679,12,release,0.04223597049713135,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c4_p002_e033,3,True,-0.08406448364257812,0.44730091094970703,-0.015716577692910152,0.0023208054726312558,-1.8951724207254301,plate_48_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.26738555667684505,429.72184313811806,rect,-0.5109716996069138,-0.28929197458659667,2.8458630809329994,10674.720607898256,5758.763188443577,sphere,-0.6350793809102805,1.0440329692539299,2.1179881761401385,3689.8031707831465,4050.3298030009487,0.04981546476483345,0.0013168065343052149,-0.03227018937468529,-0.275396466255188,0.6534646153450012,0.6520646214485168,-0.2682396471500397,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1282,1,,2.0557363033294678,0.29074742628330724,0.0,0.007289954926818609,0.5413416536661466,12,release,0.04222989082336426,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c4_p002_e034,1,True,0.08561420440673828,0.44737911224365234,0.010561881038354258,0.0020560177361796253,-11.49216433612105,plate_96_white,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.299668432063264,429.72184313811806,rect,0.7756507520620729,0.13774322322649368,2.7252708537249077,12654.561094161181,6694.965492170637,sphere,0.8075407562411261,-0.7985891150765159,2.0606546806288115,6245.767613659251,3646.7088040825934,0.05536160618066788,0.002912440337240696,-0.029166653752326965,-0.2742144763469696,0.6591247916221619,0.6387578845024109,-0.28696560859680176,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1202,1,,2.076136827468872,0.3337985508031398,0.0,0.007307526655495167,0.5341098169717138,12,release,0.04230979084968567,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c6_p002_e037,0,True,0.14978599548339844,0.4499998092651367,-0.007961437282759175,-0.00655535797060894,-3.4305043202398053,pcr_96_blue,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.23539182097075584,1375.0770519849293,rect,-0.3300290885754671,0.21097341062572406,3.005663082140166,9161.010648471827,6911.144167302064,sphere,1.7056406294066644,1.5301055770793817,2.4402189659934983,6654.793782408187,7340.312472804705,0.04755276441574097,8.346055255969986e-05,-0.028131153434515,-0.28136786818504333,0.6492021679878235,0.6407222747802734,-0.29806652665138245,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1190,1,,2.0966081619262695,0.31612636552515533,0.0,0.006842341739684343,0.5327731092436975,12,release,0.0423431396484375,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c6_p002_e038,3,True,-0.0064029693603515625,0.44736194610595703,-0.009477959735826042,0.010228525590277433,6.881032568886695,plate_48_clear,0.4748668670654297,0.09039306640625,-92.62509431410274,0.19200416181728458,1375.0770519849293,rect,-0.28182479853604103,0.5612570967706363,3.1487644248762146,15275.00014235344,3802.4754095326584,disk,0.880689303187927,-0.12900947413235464,1.667065159186398,9637.152345899005,5254.68084558272,0.05031900107860565,0.0013563060201704502,-0.028770895674824715,-0.28619909286499023,0.6544131636619568,0.6360588669776917,-0.29199761152267456,0.054720547050237656,0.5640926957130432,1.938389778137207,0.033738888800144196,-0.0015778782544657588,0.2760651111602783,0.9605453014373779,1277,1,,2.0842173099517822,0.296508697967582,0.0,0.007277837023139,0.5544244322631167,12,release,0.042379140853881836,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c6_p002_e039,2,True,-0.06635761260986328,0.44748497009277344,-0.013895284691567882,0.003994993511383564,3.4220353613624184,plate_1536_black,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.22205456563981651,1375.0770519849293,rect,0.34963764577020806,0.34832464082061687,3.001178891714613,13840.62587028515,3804.602240179431,disk,0.7763316030921126,1.0177968251477252,1.9125440682190442,2150.6954112106114,3294.09258235535,0.050534993410110474,0.002566157141700387,-0.0317627489566803,-0.2818893492221832,0.6510995030403137,0.6459110975265503,-0.2817918360233307,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1241,1,,2.085001230239868,0.290656782694197,0.0,0.00737979868426919,0.5165189363416599,12,release,0.0422595739364624,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c8_p002_e032,0,True,0.08310317993164062,0.45000362396240234,0.000709094975944112,-0.008338011869930051,9.051138503214503,plate_96_black,0.5038890838623047,0.09006023406982422,-85.40875273040885,0.1811626019811447,913.4448766721906,rect,0.18905051117616833,0.33378304006830517,2.9801181602365756,12914.475750460517,3806.9151743475604,sphere,1.7325983570922876,-1.116467391522654,1.8552114706217278,8233.96218174242,5985.334203184502,0.05064007267355919,0.0014949655160307884,-0.03364863619208336,-0.2897730767726898,0.6460583209991455,0.6476514339447021,-0.2814033031463623,0.03948301821947098,0.558908998966217,1.9428083896636963,0.05412495881319046,0.02383420430123806,0.2576894760131836,0.9644161462783813,1242,1,,2.108299493789673,0.299387740228709,0.0,0.0073205241933465,0.5193236714975845,12,release,0.04233741760253906,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c8_p002_e033,2,True,0.0658416748046875,0.4499998092651367,0.014390426297289243,-0.007218448363608967,3.871371035790645,plate_384_black,0.48504161834716797,0.08316230773925781,-92.94365989847441,0.1581598752145061,913.4448766721906,rect,0.3421776626608618,0.18319978159829942,3.149510092363657,11159.81059347283,3874.0584043745507,sphere,1.2981650209995403,-0.3527010727391632,2.48926009567967,7194.869567155897,4589.371256135161,0.046321071684360504,-0.00395028293132782,-0.03297875449061394,-0.284861296415329,0.6425588130950928,0.6587167382240295,-0.26844826340675354,0.05698876082897186,0.5892879366874695,1.9297404289245605,0.050817374140024185,0.0077971480786800385,0.2646329700946808,0.9629777669906616,1201,1,,2.0906381607055664,0.27132265808193107,0.0,0.007375536020845175,0.5362198168193172,12,release,0.04214954376220703,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c8_p002_e034,3,True,0.006131172180175781,0.44683361053466797,-0.0036238589420533895,0.00765858041645157,7.607154468073844,plate_48_clear,0.46468257904052734,0.11106586456298828,-93.20486904541943,0.1726511533064583,913.4448766721906,rect,-0.5089953202914919,0.5784486993435207,3.1317716375912115,10478.610085392498,6214.630751170807,sphere,1.5591443735712973,-0.5077189839581828,2.2796479885009355,5265.160721649431,6957.083192698793,0.05181702971458435,-0.00022149142751004547,-0.031182419508695602,-0.292872816324234,0.64029461145401,0.652923583984375,-0.27917566895484924,0.04747368022799492,0.5903465151786804,1.9281243085861206,0.037579942494630814,0.01918615587055683,0.2808019816875458,0.9588378071784973,1202,1,,2.069220542907715,0.30888643225581225,0.0,0.007289673667401075,0.538269550748752,12,release,0.04212546348571777,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False +c9_p004_e036,3,True,0.1432485580444336,0.44719505310058594,-0.009058444111144056,0.007201530385114637,-6.675464842883059,plate_48_clear,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.22799553538459796,496.37526390390826,rect,-0.02724597417667718,-0.1483638631097151,2.9179897256432006,8843.443334432319,5896.008604304017,sphere,-1.0042579542549674,-0.7885550276578439,2.4503170891869046,6884.2879373405285,6333.535049177388,0.05194050818681717,-0.0019256110535934567,-0.028546042740345,-0.28049999475479126,0.6494566798210144,0.6501676440238953,-0.2771422266960144,0.04264943301677704,0.5806810855865479,1.9258204698562622,0.04921723157167435,-0.006114681717008352,0.2786427140235901,0.9591134190559387,1160,1,,2.1074423789978027,0.2832547190474154,0.0,0.007289208471775055,0.5482758620689655,12,release,0.04207277297973633,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False